Programming Manual Elektor Proton Robot - ELEKTOR.se

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Jumper SelectionI2C mode with no jumpers installed, up to 100 kHz clock.Serial mode at 9600 bps, 1 start bit, 2 stop bits, no parityMotor VoltageThe MD25 is designed to work with a 12v battery. In practical terms, this means the 9v-14vswing of a flat/charging 12v battery is fine. Much below 9v and the under-voltage protectionwill prevent any drive to the motors.Motor Noise SuppressionWhen using our EMG30 encoded motors, you will find that a 10n noise suppressioncapacitor has already been fitted. Other motors may require suppression. This is easilyachieved by the addition of a 10n snubbing capacitor across the motors. The capacitorshould also be capable of handling a voltage of twice the drive voltage to the motor.Led’sThe Red Power Led indicates power is applied to the module.A Green Led indicates communication activity with the MD25. In I2C mode the green led willalso initially flash the address it has been set to. See I2C documentation for further details.Automatic Speed regulationBy using feedback from the encoders the MD25 is able to dynamically increase power asrequired. If the required speed is not being achieved, the MD25 will increase power to themotors until it reaches the desired rate or the motors reach their maximum output. Speedregulation can be turned off in the command register.Automatic Motor TimeoutThe MD25 will automatically stop the motors if there is no I2C communications within 2seconds. This is to prevent your robot running wild if the controller fails. The feature can beturned off, if not required. See the command register.Controlling the MD25The MD25 is designed to operate in a standard I2C bus system on addresses from 0xB0 to0xBE (last bit of address is read/write bit, so even numbers only), with its default addressbeing 0xB0. This is easily changed by removing the Address Jumper or in the softwaresee Changing the I2C Bus Address.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 74
The MD25 has 17 registers numbered 0 to 16 as follows;Register Write Read Description0 Speed1 Speed1 Motor1 speed (mode 0,1) or speed (mode 2,3)1 Speed2/Turn Speed2/Turn Motor2 speed (mode 0,1) or turn (mode 2,3)2 Enc1a xEncoder 1 position, 1st byte (highest), capture countwhen read3 Enc1b x Encoder 1 position, 2nd byte4 Enc1c x Encoder 1 position, 3rd byte5 Enc1d x Encoder 1 position, 4th (lowest byte)6 Enc2a xEncoder 2 position, 1st byte (highest), capturecount when read7 Enc2b x Encoder 2 position, 2nd byte8 Enc2c x Encoder 2 position, 3rd byte9 Enc2d x Encoder 2 position, 4th byte (lowest byte)10 Battery volts x The supply battery voltage11 Motor 1 current x The current through motor 112 Motor 2 current x The current through motor 213 Software Revision x Software Revision Number14 Acceleration rate Acceleration rate Optional Acceleration register15 Mode Mode Mode of operation (see below)Used for reset of encoder counts and module16 Command Command address changesNotes of the developer:• The speed registers work as follows: 128 = stop / 0 = full speed reverse / 1 = full speedforward• If you want to read the encoder value of one of the motors – be sure to first read theEncxd register – this will copy the current encoder value of the 4 bytes into a 4 bytebuffer which gives you time to read out all 4 registers (if necessary). So – always firstread out the High byte – then one or all of the others!Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 75
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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
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How to set up Flowcode 4 (PIC) for
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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 and 70: address of a sonar currently at 0xE
Page 71 and 72: The MD25 motor driver moduleThis pr
Page 73: Proton robot developer’s notes:Th
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
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
Page 123 and 124: 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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