Programming Manual Elektor Proton Robot - ELEKTOR.se

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The Ultrasonic sensor in the nose (SRF02)This program uses reads the measured value of the SRF02 sensor and displays it on the LCD.PIC16F887ATMEGA32Demoprogram Flowcode PIC V4Demoprogram Flowcode AVR V4PROTDEM_FCPIC_SRF02.fcfPROTDEM_FCAVR_SRF02.fcf_avrDemoprogram Hitech C lite for PICDemoprogram WinAVR C for AVR#include #include #include "PIC_PROTON_LIB.h"#define _XTAL_FREQ 19660800__CONFIG(0x2ff2); // set HS Xtal etc__CONFIG(0x3fff);void DELAYSEC (void){for (char i = 0; i < 10 ; i++) __delay_ms(100);}void main(){// init AD & Option regANSEL = 0;ANSELH = 0;OPTION = 0xC0;// end of init__delay_ms(250);__delay_ms(250); //wait for stable power supplyI2C_INIT(); // initialize I2C - LCD03 is a I2C LCDvolatile unsigned char SRF=0;while (1){I2C_SEND_MESSAGE(0xE0,0,81); //burst - result inCM__delay_ms(70); // wait for sound pulse to returnSRF = I2C_RECEIVE_MESSAGE(0xE0,3); //read lowrange value
Proton robot developer’s notes:The ultrasonic sensor in the nose can ‘look’ quite far and has a wide ‘viewing’ angle. It’sideal for locating obstacles and persons at distances greater that 20cm. It does not workwell for distances under 20 cm.SRF02 Ultrasonic range finderTechnical SpecificationOverviewThe SRF02 is a single transducer ultrasonic rangefinder in a small footprint PCB. It featuresboth I2C and a Serial interfaces. Up to 16 SRF02's may be connected together on a singlebus, either I2C or Serial. New commands in the SRF02 include the ability to send anultrasonic burst on its own without a reception cycle, and the ability to perform a receptioncycle without the preceding burst. Because the SRF02 uses a single transducer for bothtransmission and reception, the minimum range is higher than our other dual transducerrangers. The minimum measurement range varies from around 17-18cm (7 inches) on awarm day down to around 15-16cm (6 inches) on a cool day. Like all our rangefinders, theSRF02 can measure in uS, cm or inches.Operating ModesThere are two operating modes for the SRF02. I2C mode and Serial Mode. This is set with theMode pin, connected to 0v Ground for Serial Mode and left unconnected (or tied to +5v Vcc)for I2C Mode. The one used in this elektor robot is put in the I2C mode by leaving the modepin unconnected.I2C CommunicationTo use the SRF02 in I2C mode, make sure nothing is connected to the mode pin, it must beleft unconnected.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 65
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V1.0Programming ManualElektor Proto
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Communications Protocol ...........
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Blok schematic:Bart Huyskens Manual
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Different modules on PCB levelBart
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AVR add-on board• The AVR board h
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Servo moduleSCL-SDAHeadSCL-SDAUS di
Page 13 and 14: List of all the connectors on the m
Page 15 and 16: J26J27J28J29 +-J30J31J33J34J35GND12
Page 17 and 18: char I2C_RECEIVE_BYTE(char Last);vo
Page 19 and 20: How to set up Flowcode 4 (PIC) for
Page 21 and 22: How to set up Flowcode 4 (AVR) for
Page 23 and 24: How to set op AVRSTUDIO - WINAVR /
Page 25 and 26: Click on the gear-logo “Edit curr
Page 27 and 28: Make sure that your fuses tab scree
Page 29 and 30: How to set up MPLAB - HITECH C Lite
Page 31 and 32: We choose not to add any file to th
Page 33 and 34: •Copy paste the “PIC_PROTON_LIB
Page 35 and 36: Bart Huyskens Manual Elektor Proton
Page 37 and 38: }{PORTD = 0x0F;__delay_ms(200);PORT
Page 39 and 40: PIC16F887Demoprogram Flowcode PIC V
Page 41 and 42: These are 2 normally open push butt
Page 43 and 44: • After the readbyte instruction
Page 45 and 46: READ DATA FROM THE SLAVEFor example
Page 47 and 48: void main(){// init AD & Option reg
Page 49 and 50: Experience: We use this LCD in I2C
Page 51 and 52: Commands to write in the command re
Page 53 and 54: Custom char generatorCustom charact
Page 55 and 56: The servo motors in the head and th
Page 57 and 58: This robot can be equipped with up
Page 59 and 60: Although the signal for the positio
Page 61 and 62: The head with ldr’s, RGB-led’s
Page 63: Head I2C Slave address = 0x10Index
Page 67 and 68: When a ranging command in cm is giv
Page 69 and 70: address of a sonar currently at 0xE
Page 71 and 72: The MD25 motor driver moduleThis pr
Page 73 and 74: Proton robot developer’s notes:Th
Page 75 and 76: The MD25 has 17 registers numbered
Page 77 and 78: ultimate speed, the MD25 has a regi
Page 79 and 80: Changing the I2C Bus AddressTo chan
Page 81 and 82: The line sensor module with 3 IR li
Page 83 and 84: Photo of the 3 line follow sensorsT
Page 85 and 86: Analogue to digital conversion expl
Page 87 and 88: }}Proton robot developer’s notes:
Page 89 and 90: RS232 communication explainedRS-232
Page 91 and 92: Proton robot developer’s notes:Th
Page 93 and 94: • Supportso MMC, SDC, SDHC card f
Page 95 and 96: Communications ProtocolDescriptionT
Page 97 and 98: Prompt CharacterSetting name: PThis
Page 99 and 100: BoostSetting name: BSets the defaul
Page 101 and 102: Input/Output Interface SettingsInpu
Page 103 and 104: SettingsDescriptionNon-volatile set
Page 105 and 106: Play NextDescriptionThis plays the
Page 107 and 108: StopDescriptionStops playback.Forma
Page 109 and 110: Playback StatusDescriptionThis show
Page 111 and 112: Play ToneDescriptionThis command pl
Page 113 and 114: Reset AudioDescriptionResets the au
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Loop CountDescriptionGets or sets t
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1 1 0001 1 +1.5 dB2 2 0010 2 +3 dB3
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This command will copy data from an
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CloseDescriptionCloses an open file
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Parameters• path is the absolute
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InfoDescriptionGives the file posit
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Card InfoDescriptionGets card speci
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List DirectoryDescriptionThe List D
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L /PICTURES/*.JPG«sp»----A 2008/0
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RenameDescriptionRenames/moves a fi
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O 1 R /LOGS/JANUARY/JAN03.LOGOpen a
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DescriptionYou can read up to 512 b
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Read LineDescriptionThe Read Line c
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WriteDescriptionYou can write up to
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E /LOG.TXTO 1 RW /LOG.TXTS E0I 10/0
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Table of SettingsCommunication Sett
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Input/Output Interface SettingsSett
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Proton main program for PIC in C:/*
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void UART_STRING_RECEIVE(char *rece
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}SSPBUF=Data;//Send bytewhile((PIR1
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}}// Writes an integer value to the
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s++;}}//bit STRING_IN( const char *
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eturn;}}}}}/***********************
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Proton main program for AVR in C:/*
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char STR_PREFIX( const char *p, con
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}TWCR = (1
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LCD_WRITE_STRING(String);alsoLCD_WR
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n--;}}//bit char_in( char c, const
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}} else {_delay_us( 100 );t++;if( t
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Cheat sheet C - for Hitech C compil
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Version changes summary09/04/2011 v
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Programming Manual Elektor Proton Robot - ELEKTOR.se

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