Programming Manual Elektor Proton Robot - ELEKTOR.se

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The two EMG30 DC motors with encodersThe EMG30 (encoder, motor, gearbox 30:1) is a 12v motor fully equipped with encoders anda 30:1 reduction gearbox. It is ideal for small or medium robotic applications, providing costeffective drive and feedback for the user. It also includes a standard noise suppressioncapacitor across the motor windings.ConnectorThe EMG30 is supplied with a 6 way JST connector (part no PHR-6) at the end of approx90mm of cable as standard. The connections are:Wire colour ConnectionPurple (1) Hall Sensor B VoutBlue (2) Hall sensor A VoutGreen (3) Hall sensor groundBrown (4) Hall sensor VccRed (5) + MotorBlack (6) - MotorspecificationRated voltage12vRated torque1.5kg/cmRated speed170rpmRated current530mANo load speed 216No load current150mAStall Current 2.5ARated output 4.22WEncoder counts per output shaft turn 360Measured Shaft Speed when used off-load with MD23 and 12v supply.Minimum SpeedMaximum Speed1.5rpm200rpmBart Huyskens Manual Elektor Proton V1.0 3 April 2011 80
The line sensor module with 3 IR line sensorsThis demo program demonstrated a basic line follow algorithm. The state of the 3 sensors is visualised onthe LCD.PIC16F887Demoprogram Flowcode PIC V4PROTDEM_FCPIC_LINE.fcfDemoprogram Hitech C lite for PIC#include ATMEGA32Demoprogram Flowcode AVR V4PROTDEM_FCAVR_LINE.fcf_avrDemoprogram WinAVR C for AVR#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 LF_L, LF_R, LF_C, LFT_WHEEL,RGT_WHEEL;TRISB |=0b00000111; //B0,B1,B2 = Line sensorsI2C_SEND_MESSAGE(0xB0,16,50); // Disable 2 sectimeout in command regLCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(21);char enc[20] = "WHEEL R C L WHEEL ";LCD_WRITE_STRING(enc);while (1){LF_L = ((PORTB & 0b00000001)); //B0LF_C = ((PORTB & 0b00000010)>>1); //B1LF_R = ((PORTB & 0b00000100)>>2); //B2LCD03_SET_CURSOR(41);char enc[20] = ".................. ";LCD_WRITE_STRING(enc);LCD03_SET_CURSOR(41);LCD03_WRITE_BYTE(RGT_WHEEL);LCD03_SET_CURSOR(45);LCD03_WRITE_BYTE(LF_R);LCD03_SET_CURSOR(48);LCD03_WRITE_BYTE(LF_C);LCD03_SET_CURSOR(51);LCD03_WRITE_BYTE(LF_L);#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 LF_L, LF_R, LF_C, LFT_WHEEL,RGT_WHEEL;I2C_SEND_MESSAGE(0xB0,16,50); // Disable 2 sectimeout in command regLCD03_CLEAR_SCREEN();LCD03_SET_CURSOR(21);LCD03_WRITE_STRING("WHEEL R C L WHEEL");while (1){LF_L = ((PIND & 0b00010000)>>4); //D4LF_C = ((PIND & 0b00100000)>>5); //D5LF_R = ((PIND & 0b01000000)>>6); //D6LCD03_SET_CURSOR(41);LCD03_WRITE_STRING("LCD03_SET_CURSOR(41);LCD03_WRITE_BYTE(RGT_WHEEL);LCD03_SET_CURSOR(45);LCD03_WRITE_BYTE(LF_R);LCD03_SET_CURSOR(48);LCD03_WRITE_BYTE(LF_C);LCD03_SET_CURSOR(51);LCD03_WRITE_BYTE(LF_L);LCD03_SET_CURSOR(58);LCD03_WRITE_BYTE(LFT_WHEEL);"); //line 2 clearBart Huyskens Manual Elektor Proton V1.0 3 April 2011 81
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V1.0Programming ManualElektor Proto
Page 3 and 4:
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
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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 and 78: ultimate speed, the MD25 has a regi
Page 79: Changing the I2C Bus AddressTo chan
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
Page 129 and 130: 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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