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1. delay BUZ_DLY1 BUZZER_OFF delay BUZ_DLY1 for i 0 i lt 50 i BUZZER_ON delay BUZ_DLY0 BUZZER_OFF delay BUZ_DLY0 Makes a buzzing sound using the BTG 47 buzzer The BTG 47 is frequency pulse activated void until switch intput void loop until bit is clear PINB 0 loop until bit is set PINB 0 Push button switch S2 input function which waits until the S2 key is pressed and released 3 nter c n the source two different interrupts are used The interrupts are exclusive This means when one interrupt service routine is served the other one must vvait SIGNAL SIG OVERFLOWO outw TCNTIL 0 outp 178 TCNTO 256 178 78 gt 78 32usec 2 496msec sbi PORTD No if Pulse No gt Init No Deg No 71 Speed No 2 Pulse No Speed No else Pulse No lt Init No Deg No 71 Speed No 2 Pulse No Speed No else Flag_motor amp 1 lt lt No outw OCR1A Pulse No sbi TIMSK OCIE1A set OCIE1 Timer1 Output Compare Interrupt enable No No amp 0x07 cbi TIFR TOVO clear OCIE1 Output Compare Flag1 clear SIGNAL SIG OUTPUT COMPARE1A outp 0 PORTD clear Port D cbi TIMSK OCIE1A clear OCIE1 Timer1 Output Compare Interrupt disable Timer0 overflow interrupt occurs every 2 5 ms n the interrupt service routine one of eight servomotor control pins is activated by turns This means each2. 90 100 same absolute deg S01S2 S2 90 100 buzzer Buzzing sound Special test mode function to adjust all servomotors Press and release the S3 Reset key while pressing the S2 key and then release the S2 key to enter this mode Each servomotor should turn 90 int main void int i system_init System Initialize buzzer Buzzer motor_enable sei Global interrupt enable iffbit is clear PINB 0 adjust mode until switch intput delay 1ms 500 buzzer delay 1ms 2000 while 1 for i 0 i lt 5 i creepi motion 200 Crawling forward delay 1ms 1000 head up motion 100 Raising the head delay 1ms 1000 for i 0 i lt 5 i creep2 motion 200 Crawling backward delay 1ms 1000 tail up motion 100 lift the tail delay 1ms 1000 Main function Initialization interrupt enable and robot action functions www microrobot com
3. Set the of the Port B to use the internal full up resistor outp 0 PORTC outp 0 PORTD Initializes ports void motor_init void outp 4 TCCRO TIMER 0 CK 256 gt 1 32usec outp 0 TCCR1A outp 1 TCCR1B CTC1 clear TIMER 1 CK 1 gt 8 1usec outw OGR1A Oxffff 65535 gt 65535 8 usec 8 192msec nitializes two timers to generate continuous pulses with a constant period 20 ms which are used to control the servomotors MCU main clock is 8 MHz 1 8 us The timer0 s prescaler is set to 256 This means that the timer0 clock is 32 us 1 8 us 256 Timer1 uses the main clock 1 8 us without prescaling void motor enable void outp 178 TCNTO 256 178 78 gt 78 32usec 2 496msec outw TCNT1L 0 cbi TIFR TOVO clear TOVO Timer0 Overflow Flag clear sbi TIMSK TOIEO set TOIEO Timer0 overflow Interrupt enable cbi TIFR OCF1A clear OCIF1 Timer1 Output Compare A Mach Flag clear sbi TIMSK OCIE1A set OCIETA Timer1 Output Compare A Mach Interrupt Enable Sets time constant to the timer0 and enables timer0 interrupt Even if the timer0 interrupt is enabled the timer0 interrupt will not occur until the global interrupt bit is enabled void motor disable void outw TCNTIL 0 outp 0 TCNTO outp 0 PORTD cbi TIMSK OCIE1A clear OCIE1A Timer1 Output Compare Interrupt disable cbi TIMSK TOIEO clear TOIE
4. servomotor has a controlled focus every 20 ms 2 5msec 8 No is an index variable that indicates the port number to be serviced The No value can be set from 0 to 7 The corresponding port pin is set high and OCR1A is set to the high pulse time variable Pulse No After the set time has elapsed the output compare1a interrupt occurs which makes the pulse low The Speed No value is used to control the servomotor turning speed For example when the Speed No is set to 71 the servo turns 1 20ms 50 sec It takes time for a servomotor to turn to its destination The Flag motor variable is used to check whether the servomotors are finished turning Flag motor is a one byte variable The bit value indicates the servomotor s status 1 means the motor is still turning and 0 means the turning is done The servomotor turns 1 when the pulse width is changed by 8 888 us The timer1 s clock is 1 8 us Thus the servomotor turns 1 per 71 timer1 clock ticks Init No is the time constant that sets the servomotor s axle at the center 0 position 4 Motion c void wait until move void Flag motor Oxff Initialze with Oxff all servos are still turning while Flag motor Wait until all servomotor finish turning Waits until all servomotors have finished turning before starting the new next action Turn the servo to the absolute angle at the speed void absolute_deg int no int deg int s
5. INCHVVORM ROBOT User Manual DIGI l Robot KEN ey Microrobot CONTENTS PART 1 Inchworm Robot 1 Introduction 2 Features 3 Control 4 Actions PART 2 CPU Board 1 Placement Diagram Silkscreen 2 Circuit Diagram 3 Parts List PART 3 Software Tools 1 AVR Development Program Installation 2 How to use WinAVR GCC 3 How to use PonyProg2000 PART 4 Robot Operation 1 Compile and Download 2 R C servomotor HES 288 3 Adjusting motors PART 5 Source Codes 1 Init c 2 Function c 3 Inter c 4 Motion c 5 Inchworm c PART1 Inchworm Robot 1 Introduction INCHWORM ROBOT is fashioned after an inchworm and utilizes four RC servomotors Its CPU is an ATmega8 with an In System Programming ISP function Thus the user can download a program to the robot without a ROM Writer A free C compiler Microrobot AVR GCC is provided In building this kit the user learns how to control multi RC servomotors In addition the free C compiler and ISP function helps beginners 2 Features ATmega8 Atmel AVR series 16MHz X tal 16 MIPS but internal 8MHz RC Oscillator setting is required for the RC Servo Source Example Refer to Security Bit Settings for ATMega Family pdf for the setting Four R C servomotors 16 R C servos connectable 16 I O port pins Controls up to 8 R C servomotors at the same time C source code Free Windows C compile WinAVR AVR GCC In
6. O Timer0 overflow Interrupt disable Function to disable the servomotors void motor zero void int i Init Init Init Init 0 SERVO 0 1 2 3 Init 4 5 6 7 SERVO 1 SERVO 2 SERVO 3 SERVO 4 SERVO 5 SERVO 6 SERVO 7 Init Init Init Factor Factor Factor Factor Factor Factor Factor Factor FAGTOR 0 FAGTOR 1 FAGTOR 2 FAGTOR 3 FAGTOR 4 FAGTOR 5 FAGTOR 6 FACTOR 7 AAA AAA AA 19 05 WN za for i 0 i lt 8 i Deg i Speed i 0 Pulse i Init i Copies user adjusted defined constants to the variables The constants can be used directly instead of being copied to the variables However for the upgrade version the variables are used In the upgrade version the variables may be also filled out with constants from the PC void system_init void port_init motor_init motor_zero System initialization 2 Function c void delay int ticks while ticks 1msec UNIT delay function void delay ims unsigned int i word j while i j 2000 8Mhz while j 1 ms based delay function For example to make a 1 sec time delay call delay_1ms 1000 This function does not consider other interrupts This means that other interrupts during the delay function can make the delay time longer void buzzer void word i for i 0 i lt 50 i BUZZER_ON
7. cluded ISP downloader On board piezo Buzzer 3 Control The Inchworm Robot s CPU board has sixteen I O port pins and can control 8 servomotors at the same time The Inchworm Robot has an ATmega8 CPU board as a controller ATmega8 CPU has three internal counters The CPU board generates up to eight periodic pulses using the timers The periodic pulses control R C servomotors 4 Actions Six actions are available vvith the provided sample program Crawling forward Raising and nodding the head e Crawling backward e lifting and wagging the tail BOARD 1 Placement Diagram Silkscreen PART 2 R2 J4 me N memo T ce JEN sue 6 1598 90 rig ee Fig 1 ATmega8 Servomotor control board silkscreen 2 Circuit Diagram PDO RXD PC5 ADC5 STG PDO RXD PC5 ADC5 SCL DOM ADE BN TO PD1 TXD PCA ADC4 SDA PD2 INTO PC3 ADC3 PD3 INT1 PC2 ADC2 PD3 INT1 PC2 ADC2 PDA TO PC1ADC1 PD5 T1 PD4 TO XCK 1 1 PCO ADCO C1 20pF SSANG PD5 T1 PCO ADCO PD6 AINO 57 PD7 AIN1 PB6 XTAL1 TOST1 Y1 16MHz VCC PB7 XTAL2 TOST2 GND PB5 SCK LED PBS SCK PBA MISO C2 20 pF AVCC PB4 MISO PB3 MOSI PB5 SCK 20 AREF PB3 MOSI OC2 2 55 i GND PB2 SS OC1B PB1 OCT mu PB1 OC1 BUT CP RESET ee PC6 RESET PBO ICP Q 00000000090 29 100 00 3
8. er wire is for the PWM control signal input HES 288 Specification Torque 2 5 kg cm Speed 60 degrees 0 2sec Size 41 x 20 x 35 mm length x depth x height e Weight 42g e Voltage 4 6V e Operating Frequency 50Hz 100Hz Period 10msec 20msec VVire connection Red Vcc DC 4 6V Brown Gnd Orange PWM control signal input RED PHM ORANGE GND BROAN Fig 4 1 Control signal 0 7 msec 90 R 1 5 msec 0 Center Da 2 3 msec 90 4 5ms 4 5ms To keep the desired position or holding torque the pulses must be provided every 10 ms to 20 1 5ms ms 2 3ms 3 Adiusting motors When the power is on the servos which are connected to the board should turn to the center but they might not This is because the characteristics of the individual servomotors are a little different To adiust each motor the initial setting values in the source code must be changed The ATmega8 CPU board can control eight servomotors at the same time The eight servomotors are named SERVO 0 SERVO 1 SERVO 7 in the program source On the upper part of the PCB index numbers from 1 to 16 are marked for the servomotor ports Refer to Fig 1 above Port numbers 1 to 8 correspond to SERVO 0 to SERVO 7 respectively Inchworm Robot uses the follovving four servomotors SERVO 0 Head SERVO 2 First body SERVO 4 Second body SERVO 6 Tail Fig 4 3 S
9. ervo Motor Connections Run your editor and open the file Inchworm c Atthe beginning of the source code there are some user definition codes kkkkkkkkkkkkkkkkkkk kkkkkkkkkkkkkkkkkkkkkkkkkkk User definition define SERVO 0 1500 8 define SERVO 1 1550 8 define SERVO 2 1450 8 define SERVO 3 1400 8 define SERVO 4 1350 8 define SERVO 5 1550 8 define SERVO 6 1480 8 define SERVO 7 1500 8 Note The actual values might differ from those above The defined values are initial center pulse values for each servomotor The center value refers to a time constant which makes a servomotor s axle turn to the center 0 Refer to Fig 4 2 The user must determine these center values by actually testing their servomotors In the above definition 1500 8 means 1 5 ms which is a typical center value When the value is changed by 1 8 the axle turns approximately 0 1125 Repeat the process of source modification compiling and downloading to the robot to determine the final correct center values For example when one servomotor s axle turns 5 degrees counter clockwise past the center position subtract 44 5 0 1125 from the initial value Below are some other definitions in the source file define FACTOR 0 1024 define FACTOR 1 1024 define FACTOR 2 1165 define FACTOR 3 1024 define FACTOR 4 960 define FACTOR 5 1024 define FACTOR 6 980 define FACTOR 7 1024 Note The actual values might di
10. ffer from the above The above values constants are used as turning factors To make the servos turn properly the above values should be adiusted along vvith a testing process There is a special test mode to determine the above constants Press and release the S3 Reset key while pressing the S2 key and then release the S2 key Each servomotor should turn 90 If not change the corresponding FACTOR values in the source code For example if the SERVO 0 turns more than 90 degrees reduce FACTOR 0 If the SERVO 2 turns less than 90 degrees increase FACTOR 2 Fig 4 4 Servo Motor Angle Settings After determining the proper values press the S3 Reset key to cause the robot to lie straight Press the S2 key to start the robot vvorking PART 5 Source Codes Be aware that the following source code assumes that the CPU crystal is 8MHz nchvvorm c Main program io h Header file which has AVR CPU s registers and I O pin definitions signal h Interrupt vectors functions and interrupts vector table definitions init c Basic initialization function c Delay buzzer and switch functions motion c Servomotor control functions inter c Interrupt routine functions 1 Init c void port init void outp Oxfe DDRB LSB of the port B input pin the other pins output pin outp Oxff DDRC Set all PORTC pins to output outp Oxff DDRD Set all PORTD pins to output outp 1 PORTB
11. for AVR microcontrollers Atmel the AVR CPU manufacturer provides some AVR development tools free WinAVR GCC is a free Windows C compiler VVavrasm AVR assembler Atmel AVR Studio AVR Emulator Simulator Atmel AVR ISP ISP downloading program Atmel PonyProg2000 ISP downloading program Lancos Recommended WinAVR GCC C compiler GNU Recommended System requirements for AVR development tools e Windows 9X ME or NT 2000 XP Pentium 133 or higher Atleast 4 Mbytes of RAM CD ROM Drive AVR ISP installation Run setup exe in the CD s avr_isp folder WinAVR GCC installation Refer to How to use VVinAVR for Microrobot AVR Products Eng pdf 2 How to use WinAVR Gcc Refer to How to use WinAVR for Microrobot AVR Products Eng pdf 3 How to use PongProg2000 Refer to the PonyProg Manual for Microrobot AVR Products pdf and the Security Bit Setting for ATMega Family pdf files PART 4 Robot Operation 1 Compile and Download Compile the Inchworm Robot source file and download the executable file in the following order Put four batteries into the battery holder and insert the power connector to J1 of the Main PCB Connect the downloading adapter to the PC printer port Then connect the downloading adapter to the CPU board by using the ribbon cable Turn on the power switch S1 on the control board LED D1 turns on Download sample code from our website How to use VV nAVR fo
12. motors 0 and 4 turn to the 45 degree position at the set speed same absolute deg S01S2 S2 15 speed Enables motors 0 and 2 Motor 0 turns to the 15 degree position and motor 2 turns to the 15 degree position at the set speed relative angle turning function for the each motor void relative deg int no int deg int speed int temp temp int long Deg no lt lt 10 long Factor no deg temp Deg no int long deg long Factor no gt gt 1 0 Speed no int long speed long Factor no gt gt 10 Turns motors to the relative angle at the given speed The relative angle means the angle relative to the current position as opposed to the start position void same relative deg byte flag byte dir int deg int speed int i wait_until_move for i 0 i lt 8 i if flag amp 1 lt lt i if dir amp 1 lt lt i relative_deg i deg speed else relative_deg i deg speed This function can be used when several motors need to move to the same relative angle or angle This is the same function as the same_absolute_deg except that the deg is a relative angle creep1_motion Crawling forward head up motion Raising and nodding the head creep2 motion Cravvling backvvard tail up motion Lifting and wagging the tail 5 Inchworm c void adjust mode void until_switch_intput same absolute deg S41S6 S4
13. peed Deg no int long deg long Factor no gt gt 1 0 Speed no int long speed long Factor no gt gt 10 Turns the servo no to the absolute angle deg at the given speed speed The shift operation gt gt is used instead of a divide operation to increase the operation speed The Factor no is used to calculate the Speed no as well as the Deg no This is because each individual motor has different characteristics void same absolute deg byte flag byte dir int deg int speed int i wait_until_move for i 0 i lt 8 i if flag amp 1 lt lt i if dir amp 1 lt lt i absolute_deg i deg speed else absolute_deg i deg speed Moves the motors up to eight motors at the same time to the same absolute angle The angle deg and the speed are applied to all enabled servomotors equally but the direction can be selected with the dir parameter clockwise or counterclockwise lt Parameters gt flag Motor Enable flags Each bit enables the corresponding servomotor 1 enable 0 disable dir Direction flags for each motor 1 use deg 0 use deg deg Absolute angle to turn speed Turning speed This function is used when several motors need to move to the same angle or symmetric angle For example same absolute deg SO S2 S4 S6 S2 S4 45 speed Enables motors 0 2 4 and 6 Motors 1 and 3 turn to the 45 degree position and
14. r Microrobot AVR Products Eng pdf Create a source folder and copy the prototype sample code including the makefile from the file you ve downloaded Type make all on the DOS command line platform to compile it Debug and recompile if there are any errors or warnings If there are no errors the Errors none message appears Run PonyProg2000 Do I O port setup properly Refer to PonyProg Manual for Microrobot AVR Products pdf Select Device gt AVR micro gt ATmega8 Select File gt Open Program File and load the hex file Select Command Program or press Ctrl P to start downloading If a Program Failed message appears select Command Erase or press Ctrl E to erase the flash memory and then try to program it again Remove the ribbon cable from the CPU board and restart the board 2 R C servomotor HES 288 An R C servomotor is a special type of geared motor t has its own internal controller which uses feedback to control the DC motor according to the PWM Pulse Width Modulation position signal The degree of turn of the servomotor s axle depends upon the input pulse width signal Generally it turns from 0 to 180 or 90 90 Therefore the servomotor does not need an encoder to get the axle s current position HES 288 is used in this Robot It is controlled using three wires as is general servomotor Two wires are for the power input and the oth
15. s3 JO 6 GND ADC6 C3 VCC ADC7 SERVO HEADER 48 1uF Tack ATMega8 TOFP 3 X 8 Header 100mil C5 PBO ICP 104 UCE SLIDE VCC R5 VCC 10K S1 5267 2P J1 C4 100uF 10V 5045 2P 5267 2P www microrobot com itle MR Servo4433 ize Document Number Rev Sheet 1 of 1 3 Parts List NO Reference Part name Value Qty Remark 1 C1 C2 Capacitor 30pF 2 Ceramic Condenser 2 C3 1uF 1 Electrolytic Condenser 3 C4 100uF 10V 1 Electrolytic Condenser 4 C5 C6 104 0 1uF 2 Monolithic Condenser 5 D1 D2 D3 LED RED 3 3 6 J1 Connector 5045 1 5V Power Part 7 J2 i HEADER PIN Male 1 SERVO HEADER 48PIN 8 J3 CON10AP 1 HIF3F 10PIN 9 J4 05 5267 2 Battery Povver Part 10 R1 R2 R3 Resistor 470Q 3 11 R4 R5 R 10K 2 12 SP1 BUZZER BTG 47 1 PIEZO 13 S1 S W SLIDE S W 1 14 S2 S3 2 Tack S VV 2 15 Ut MCU ATmega8 TQFP 1 AVR Microcontroller 16 Y1 X TAL 16MHz 1 ATS type Printed Circuit 17 Board PCB 1 Main PCB 18 Servomotor HES 288 4 19 5397 5051 2P 1 AA size 4 Povver Connector 20 Pin head Screvv 4 3 21 Nut 12 3 22 Flat head Screw 4 3 Downloading Adapter l 24 Ribbon Cable 1 1 meter Fig 2 2 Ribbon cable Fig 2 3 Battery Holder 8 Povver Connector PART 3 Softvvare Tools 1 AVR Development Program installation AVR Development Tools There are many different kinds of development tools
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