Programming Manual Elektor Proton Robot - ELEKTOR.se

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Mode RegisterThe mode register selects which mode of operation and I2C data input type the userrequires. The options being:0, (Default Setting) If a value of 0 is written to the mode register then the meaning of thespeed registers is literal speeds in the range of 0 (Full Reverse) 128 (Stop) 255 (FullForward).1, Mode 1 is similar to Mode 0, except that the speed registers are interpreted as signedvalues. The meaning of the speed registers is literal speeds in the range of -128 (FullReverse) 0 (Stop) 127 (Full Forward).2, Writing a value of 2 to the mode register will make speed1 control both motors speed,and speed2 becomes the turn value.Data is in the range of 0 (Full Reverse) 128 (Stop) 255 (Full Forward).3, Mode 3 is similar to Mode 2, except that the speed registers are interpreted as signedvalues.Data is in the range of -128 (Full Reverse) 0 (Stop) 127 (Full Forward)Command registerCommandDec HexAction32 0x20 Resets the encoder registers to zero48 0x30 Disables automatic speed regulation49 0x31 Enables automatic speed regulation (default)50 0x32 Disables 2 second timeout of motors (Version 2 onwards only)51 0x33Enables 2 second timeout of motors when no I2C comms (default)(Version 2 onwards only)160 0xA0 1st in sequence to change I2C address170 0xAA 2nd in sequence to change I2C address165 0xA5 3rd in sequence to change I2C addressBart Huyskens Manual Elektor Proton V1.0 3 April 2011 78
Changing the I2C Bus AddressTo change the I2C address of the MD25 by writing a new address you must have only onemodule on the bus. Write the 3 sequence commands in the correct order followed by theaddress. Example; to change the address of an MD25 currently at 0xB0 (the default shippedaddress) to 0xB4, write the following to address 0xB0; (0xA0, 0xAA, 0xA5, 0xB4 ). Thesecommands must be sent in the correct sequence to change the I2C address, additionally, noother command may be issued in the middle of the sequence. The sequence must be sent tothe command register at location 16, which means 4 separate write transactions on the I2Cbus. Because of the way the MD25 works internally, there MUST be a delay of at least 5mSbetween the writing of each of these 4 transactions. When done, you should label the MD25with its address, however if you do forget, just power it up without sending any commands.The MD25 will flash its address out on the green communication LED. One long flashfollowed by a number of shorter flashes indicating its address. Any command sent to theMD25 during this period will still be received and writing new speeds or a write to thecommand register will terminate the flashing.AddressDecimalHexLongFlashShortFlashes176 B0 1 0178 B2 1 1180 B4 1 2182 B6 1 3184 B8 1 4186 BA 1 5188 BC 1 6190 BE 1 7Take care not to set more than one MD25 to the same address, there will be a bus collisionand very unpredictable results.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 79
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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
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How to set op AVRSTUDIO - WINAVR /
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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 75 and 76: The MD25 has 17 registers numbered
Page 77: ultimate speed, the MD25 has a regi
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
Page 123 and 124: Parameters• path is the absolute
Page 125 and 126: InfoDescriptionGives the file posit
Page 127 and 128: 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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