Programming Manual Elektor Proton Robot - ELEKTOR.se

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varies with temperature and from transducer to transducer, but is normally the equivalentof 11 to 16cm (4" to 6"), a bit more if the transducer is warm. The SRF02 is able to detect thetransducer ring time and move its detection threshold right up to it, giving the SRF02 thevery best performance possible. On power up, the detection threshold is set to 28cm (11").The tuning algorithms quickly back this right up to the transducer ring. This happens within5-6 ranging cycles - less than half a second at full scan speed. After this the tuning algorithmscontinue to monitor the transducer, backing the threshold up even further when possible oreasing it out a bit when necessary. The tuning algorithms work automatically, in thebackground and with no impact on scan time.The minimum range can be checked, if required by reading registers 4 and 5. This value isreturned in uS, cm or inches, the same as the range. It is also possible to make the SRF02 retuneby writing command 96 but you can ignore this command. It is used during our testing.Beam WidthIn comparison with the IR Sharp sensors – the SRF02 has a quite wide viewing angle, but itcan ‘look’ much further. It does – however have a threshold of aprox 16 cm.The manufacturers beam pattern, showing thesensitivity of the transducer in db.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 70
The MD25 motor driver moduleThis program displays the battery voltage – measured by the MD25 module.If you press the red button, the robot will drive backward – the encoder decrements until it reaches 165and the motor stops (255- 90 = 165)If you press the black button, the robot will drive forward until the encoder reaches 90 and at that timethe motors stopsPIC16F887Demoprogram Flowcode PIC V4PROTDEM_FCPIC_MD25.fcfDemoprogram Hitech C lite for PIC#include #include "PIC_PROTON_LIB.h"#define _XTAL_FREQ 19660800__CONFIG(0x2ff2); // set HS Xtal etc__CONFIG(0x3fff);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 ENC=0, VOLT=0;I2C_SEND_MESSAGE(0xB0,16,50); // Disable 2 sectimeout in command regTRISB |=0b00110000; //B4-B5 input - SWITCHESwhile (1){VOLT = I2C_RECEIVE_MESSAGE(0xB0,10);LCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(1);char String[20] = "BATT_VOLT: ";LCD_WRITE_STRING(String);LCD03_WRITE_BYTE(VOLT);if (PORTB & 0b00010000) //red switch{I2C_SEND_MESSAGE(0xB0,16,32); //clear allencoder registersI2C_SEND_MESSAGE(0xB0,0,121);I2C_SEND_MESSAGE(0xB0,1,121);ENC = 255;ATMEGA32Demoprogram Flowcode AVR V4PROTDEM_FCAVR_MD25.fcf_avrDemoprogram WinAVR C for AVR#include #define F_CPU 19660800UL#include #include "AVR_PROTON_LIB.h"#include "AVR_PROTON_LIB.c"int main ( void ){_delay_ms(250);_delay_ms(250); //wait for stable power supplyI2C_INIT(); // initialize I2C - LCD03 is a I2C LCDvolatile unsigned char ENC=0, VOLT=0;I2C_SEND_MESSAGE(0xB0,16,50); // Disable 2 sectimeout in command regwhile (1){VOLT = I2C_RECEIVE_MESSAGE(0xB0,10);LCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(1);LCD03_WRITE_STRING("BATT_VOLT: ");LCD03_WRITE_BYTE(VOLT);if (PIND & 0b00000100) //red switch{I2C_SEND_MESSAGE(0xB0,16,32); //clear allencoder registersI2C_SEND_MESSAGE(0xB0,0,121);I2C_SEND_MESSAGE(0xB0,1,121);ENC = 255;_delay_ms(30); // When read to fast - value is still0while (ENC > 165) // wheels turn backwards -encoder counts back{ENC = I2C_RECEIVE_MESSAGE(0xB0,2); //Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 71
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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
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List of all the connectors on the m
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J26J27J28J29 +-J30J31J33J34J35GND12
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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 and 64: Head I2C Slave address = 0x10Index
Page 65 and 66: Proton robot developer’s notes:Th
Page 67 and 68: When a ranging command in cm is giv
Page 69: address of a sonar currently at 0xE
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 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
Page 115 and 116: Loop CountDescriptionGets or sets t
Page 117 and 118: 1 1 0001 1 +1.5 dB2 2 0010 2 +3 dB3
Page 119 and 120: This command will copy data from an
Page 121 and 122:
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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