DT-ROBOT - Innovative Electronics
Contents
1. 8 2 2 9 Left Motor cccissecssesosncdscetsedeacscstoacesbecsboncasatestend ecdetasessovsbbascbesteseess 8 2 2 10 Left Motor Speed 8 2 2 11 Right Motor Action 8 2 2 12 Right Motor Speed 1 8 2 2 13 Send Setting to 9 2 2 14 DT ROBOT LINE FOLLOWER Model 9 3 Line Following Program 2 9 3 1 LED Nit GIZAT iie 9 3 2 Send Byte 9 3 3 Display Message to LCD cscssssssscsssssssscsesssessssssesescssesssesessesesesseseses 10 3 4 Display Decimal to Eases 10 3 5 Display Binary si 10 3 6 MOVE 10 3 7 Redd 10 3 8 DT ROBOT LINE FOLLOWER BASE 11 3 9 Left Motor 11 3 10 Right Motor Control 11 4 DT ROBOT LINE FOLLOWER BASE 12 4 1 DT ROBOT LINE FOLLOWER BASE Component 12 4 2 Connectors and Components 13 5 Testing Proced Ure vvs2. no flow control Connection Status B This section displays the connection status between the PC and DT ROBOT LINE FOLLOWER BASE If the connection is successful then a green colored Connected to DT ROBOT text will appear And if the connection fails then a red colored Not Connected to DT ROBOT text will appear During parameter update if the update is successful then Parameter update success will appear for 1 second 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 2 2 8 2 2 9 Test Connection C This section is used to test the connection between PC and DT ROBOT LINE FOLLOWER BASE The test results will be displayed on the Connection Status section When this button is pressed the GUI software will read and display the track mode and threshold settings stored DT ROBOT LINE FOLLOWER BASE Track Mode D This section is used to set the track mode Two available track modes are Black Track which is a dark line on a bright surface or White Track which is a bright line on a dark surface Raw Data E When DT ROBOT LINE FOLLOWER BASE is connected to PC this section will display sensors readings values Track Threshold F This section is used to set the Limit value which decides whether the sensor reading value is categorized as a line or not For Black Track mode a value higher than the Limit will be categorized as a line has a value of 1 While for White Track mode a value lower than the Limit will be
3. 1 M21 Output to the 1 right motor pin 2 M22 Output to the 27 right motor pin S4 slide switch is used as an ON OFF switch with LED PWR IND D13 as its indicator VR LCD CONTRAST R5 is used to set the LCD contrast VR AINO ADJ R6 is connected to AINO This VR can be used for Analog Comparator Multiplexed Input Tactile switch RESET 51 is connected to the reset circuitry Tactile switch TS1 S2 is connected to PortD 7 can be functioned as input Tactile switch TS2 S3 is connected to PortB 5 can be functioned as input LCD and motor driver connection can be seen in the schematics attachment 5 TESTING PROCEDURE 1 Connect DT SENSE LINE TRACKING CDS SFH 4 SENSOR or compatible sensor circuitry to SENSOR PORT J4 connector 2 Connect DT ROBOT MINI METAL GEAR HIGH SPEED MOTOR SET DT ROBOT MINI METAL GEAR MOTOR SET DT ROBOT PLASTIC GEAR MOTOR SET DT ROBOT PLASTIC GEAR MOTOR L SET or compatible motors to M1 J5 dan M2 J6 connectors 3 Connect power supply to JZ blue terminal from the batteries or other power source 4 Turn on the DT ROBOT LINE FOLLOWER BASE using the available ON OFF switch 5 LCD will show Tracking Menu marked with the inscription READY on the bottom line and digital combination of sensors reading value on the top line 6 Press 51 so that the DT ROBOT LINE FOLLOWER BASE will start to perform line following left and or right motor will spin 7 Press the TS2 Button to
4. valid value is 1 up to 8 for an 8x2 character LCD Example locate 1 1 will place the cursor 17 line and 1 column upper left corner Read ADC Syntax Tae Me Cedi Function Reads the sensor voltage value Desc gt adc_input is ADC channel number The valid value is 4 up to 7 Example read_ade 4 will read the leftmost sensor s voltage value _ 5 will read the 274 from the left sensor s voltage value 6 will read the 3 from the left sensor s voltage value _ 7 will read the rightmost sensor s voltage value 10 3 8 3 9 3 10 DT ROBOT LINE FOLLOWER BASE Initialization Syntax eee Function Initializes all ports and DT ROBOT LINE FOLLOWER BASE peripherals including LCD Desc gt Call this procedure to perform the LCD initialization process It s only needed to be performed once at the beginning of program Example initIMain Left Motor Control Syntax TCM Cue ed Lit Function Arranges the speed and spin direction of the left motor Desc gt arah can have a value of O for forward 1 for reverse or 2 for stop gt speed is the speed of the motor PWM value The valid value is 0 to 1023 The greater the speed value the faster the motor spins Example motorKiri 0 500 will command the left motor to drive forward with a PWM value of 500 Right Motor Con
5. CC SCK PBS PB6 XTALI TOSC1 PB7 XTAL2 TOSC2 1A 1Y ate VMOTOR 4 O 1 vec vec avcc vec Ic ESIB 2 3 Li 12 D9 ei O R9 BLM31PG121SNIL BLM31PG121SNIL M21 10K 151 M c10 R 10uF 35V VMOTOR 500K V MGND 15 B DT ROBOT LINE FOLLOWER BASE PARTS EXPLANATION gt Bolts on battery case need to be loosened when replacing the bracket when using different type of motor Bolts for LCD need to be loosened when replacing the spacer when using different type of motor Bolts for bracket under battery case need to be loosened when replacing the bracket when using different type of motor to be loosened when replacing the spacer when using different type of motor Bolts for castor upper need 16
6. D contents default hex default eep GUI folder testing folder CodeVisionAVR Evaluation folder datasheets and DT ROBOT Line Follower Base Manual 3 1 3 1 4 DT ROBOT LINE FOLLOWER BASE MOVEMENTS DT ROBOT LINE FOLLOWER BASE has a driver to control two wheels driven by motors Differential Drive Therefore there are at least 9 kinds of movement can be done by the robot as shown in the following table Movement Description Straight Left and right motor drives forward with the same speed Turn Left Left and right motor drives forward with the right motor faster than the left Turn Right Left and right motor drives forward with the left motor faster than the right Sharp Turn Left motor stops while right motor drives forward with a Left certain speed Sharp Turn Right motor stops while left motor drives forward with a Right certain speed Spin Left Left motor drives backward and right motor drives forward Spin Right Left motor drives forward and right motor drives backward Reverse Left and right motor drives backward Stop Left and right motor stop LINE FOLLOWING ALGORITHM If the line sensor module mounted on DT ROBOT has 4 sensors then robot s movements are determined by reading the results of those sensors As an example if a sensor is located directly above the line then its reading will have a value of 1 and if the sensor does not detect the line then the reading value is 0 The
7. DT ROBOT LINE FOLLOWER BASE Trademarks amp Copyright AT IBM and PC are trademarks of International Business Machines Corp Pentium is a registered trademark of Intel Corporation Windows is a registered trademark of Microsoft Corporation CodeVisionAVR is copyright by Pavel Haiduc HP InfoTech s r l Table Of Contents 1 INMODUCHION ss ccciicsiscciccisccsssescesecesaccsscesticnsecoesssssasectsscdscsacd caceeecebasessoesnessecase 3 1 1 DT ROBOT LINE FOLLOWER BASE 3 1 2 3 1 3 DT ROBOT LINE FOLLOWER BASE 4 1 4 Line Following 4 2 Operating DT ROBOT LINE FOLLOWER 5 2 1 Default Tester Prograim ssssssssceccssscssseccesccsesessecseseccsceececeseesecsesseseceese 5 2 2 DT ROBOT LINE FOLLOWER 7 2 2 1 COM Setting A 7 2 2 2 Connection Status 7 2 2 3 Test 8 2 24 Track Mode 8 2 2 5 Data 8 2 2 6 Track Threshold 8 2 27 8 2 228 _
8. ash memory Example Icd_putsf START will display the START text on the LCD Display Decimal to LCD Syntax Ce Function Displays the input values in decimal to the LCD s current cursor position Desc gt value is the value to be displayed gt dispNum value contains the number of characters that will be displayed gt The valid dispNum value is 1 up to 5 Example Icd_putInt 1234 4 will write 1234 on the LCD led_putInt number 3 will write the contents of the number variable on the LCD as many as 3 characters hundreds tens units Display Binary to LCD With eameavoid Icd_putBin unsigned char value unsigned char dispNum Function Displays the input values in binary to the LCD s current cursor position Desc gt value is the value to be displayed gt dispNum value contains the number of characters to be displayed gt The valid dispNum value is 1 up to 8 Example Icd_putBin 12 4 will write 1100 on the LCD led_putInt number 5 will write the contents of the number variable on the LCD as many as 5 characters Move Cursor Position Syntax Maite a Function Arranges the cursor position so that it will be placed in a certain line and column Desc gt The lines value is the line position The valid value is 1 up to 2 for an 8x2 character LCD gt The cols value is the column position The
9. categorized as a line digital data has a value of 1 Digital Data G When DT ROBOT LINE FOLLOWER BASE is connected to PC this section will display the comparison results of Raw Data and Track Threshold Sensor H This section is used to choose the sensor reading digital value combinations If DT ROBOT LINE FOLLOWER BASE is connected to PC when a combination is selected via mouse or the S key on keyboard it will display the corresponding action setting stored in DT ROBOT LINE FOLLOWER BASE The setting result will be displayed on the Left Right Motor Action section along with each motor s speed setting Left Motor Action I This section is used to set the action the left motor will do for the selected digital value combination on Sensor section The available actions are Forward drive forward Stop or Reverse drive backward 2 2 10 Left Motor Speed J This section is used to set the left motor speed PWM value for the selected digital value combination on Sensor section The allowed value is ranging from to 1023 The bigger the value the faster the left motor will spin 2 2 11 Right Motor Action K This section is used to set the action the right motor will do for the selected digital value combination on Sensor section The available actions are Forward drive forward Stop or Reverse drive backward 2 2 12 Right Motor Speed L This section is used to set the right motor speed PWM value for the sele
10. cessssisssseacscsscsvesssiencevessssssescssdsscecneseescosesceuescosssscaesessss 14 Attachment A DT ROBOT LINE FOLLOWER BASE 15 B DT ROBOT LINE FOLLOWER BASE Parts 16 1 1 1 2 INTRODUCTION A line following robot also called line follower is very common and often made by robot hobbyists A lot of robotic competitions are in the form of line following race The line or path followed is usually a dark line on a bright surface or vice versa The robot detects the line by measuring the intensity of light reflected from the surface of its path The intensity of light reflected by dark surface is less than the light reflected from brighter colored surface DT ROBOT LINE FOLLOWER BASE is a robot controller module suitable as a learning tools about the line follower robot for beginner to advanced programming level For beginner level DT ROBOT LINE FOLLOWER BASE is equipped with a standard line following algorithm that has been tested on various models of line following tracks ranging from simple to difficult path Beginner level users can experiment with setting the parameters available in the included GUI software For intermediate level we provide a sample program of the line follower robot that has been tested with DT ROBOT LINE FOLLOWER BASE The user can learn about the robot line follower programming with the assistance from the framewo
11. cted digital value combination on Sensor section The allowed value is ranging from 1023 The bigger the value the faster the right motor will spin 8 2 2 13 Send Setting to DT ROBOT M This button is used to send the Mode Track Track Threshold Left Right Motor Action and Speed parameter settings from PC to DT ROBOT LINE FOLLOWER BASE The above parameters will be sent to LINE FOLLOWER BASE when the software has been connected to DT ROBOT LINE FOLLOWER BASE and the Send Setting to DT ROBOT button is pressed If the parameter update is successful then Parameter update success will appear for 1 second on Connection Status section 2 2 14 DT ROBOT LINE FOLLOWER Model N 3 1 3 2 This section is used to give an illustration for the possible positions of DT ROBOT LINE FOLLOWER BASE toward the line based on the selected digital value combination on Sensor section LINE FOLLOWING PROGRAM ROUTINES For intermediate level we provide a sample program of the line follower robot that has been tested with DT ROBOT LINE FOLLOWER BASE Users can learn about the line follower robot programming with the assistance from the framework of existing program Users can experiment with the line following algorithm create or add a variety of algorithms themselves so that their line follower robots become more intelligent In the DVD the program example is stored in testing folder The program can be opened us
12. d reference 3 TX 5 232 serial output from DT ROBOT LINE FOLLOWER BASE 4 RX RS 232 serial input to DT ROBOT LINE FOLLOWER BASE ISP HEADER J1 header is the connector for ISP programming Pin Name Function 1 MOSI to microcontroller s MOSI 2 5 volts output voltage from DT ROBOT LINE FOLLOWER BASE 3 NC Not connected 5 ISP_RST Connected to microcontroller s RESET circuitry 7 SCK Connected to microcontroller s SCK pin 9 MISO Connected to microcontroller s MISO 4 6 8 10 GND Ground reference SENSOR PORT J4 connector is the connector for the sensor module Pin Name Function 1 513 Input connected to microcontroller s internal ADC channel 7 2 512 Input connected to microcontroller s internal ADC channel 6 3 51 Input connected to microcontroller s internal ADC channel 5 4 SIO Input connected to microcontroller s internal ADC channel 4 5 SEN Output to turn on or off the LED on the sensor module 6 Not connected 7 5 volts output voltage from DT ROBOT LINE FOLLOWER BASE 8 PGND Ground reference M1 J5 connector is the connector for the left motor Pin Name Function 1 M11 Output to the 17 left motor pin 2 M12 Output to the 2 left motor pin 13 M2 J6 connector is the connector for the right motor Pin Name Function
13. decisions can be taken based on sensors reading value can be seen in the following table Sensor Result Example of Decisions Taken 0110 The line is right on the middle Robot moves straight 0010 The line deviates slightly to the right Robot turns right 0011 The line deviates to the right Robot makes sharp turn to the right 0001 The line is in the far right Robot spins right 0111 There is a possible right turn Robot spins right 0100 The line deviates slightly to the left Robot turns left 1100 The line deviates to the left Robot makes sharp turn to the left 1000 The line is in the far left Robot spins left 1110 There is a possible left turn Robot spins left 1111 There is a possible crossroads Robot moves straight 0000 Robot is off track Run the algorithm to get back on track Others Robot moves the way it was before If all of the sensors does not detect the line which results in OOOO then the robot must run the algorithm to get back on track There are various algorithms 4 2 1 that can be used to find the line One simple algorithm is to store the results of last decisions of the robot For example if previously the robot is trying to do a sharp turn left before getting off track then when the line disappears the robot can be ordered to spin left to go back to the line Else if the robot have tried to do a sharp right turn before getting off track then
14. go back to Tracking Menu 8 Hold the TS2 Button for 2 seconds 9 DT ROBOT LINE FOLLOWER BASE enter the Raw Data Menu and LCD will display the sensors reading values Place the sensor above a bright or dark surface The sensor value will change depend on the surface brightness level 11 Connect DT ROBOT LINE FOLLOWER BASE and PC using the included serial cable 12 DT ROBOT LINE FOLLOWER GUI software 13 Set Serial Port configuration via the COM Setting button 14 Press the Test Connection button 15 If the connection is successful then Connected to DT ROBOT will appear on the Connection Status section Thank you for your confidence in using our products if there are difficulties questions or suggestions regarding this product please contact our technical support support innovativeelectronics com 14 ATTACHMENTS A DT ROBOT LINE FOLLOWER BASE SCHEMATICS MMBT3906LT1 11 0592 MHz ABLS cs XTALL 20pF 34 48 co TS1 a 21 14 d SCK 1 2 5 6 1 4 8 SENSOR PORT LD1117ADT R12 7 2 9VDC ON OFF 15 100 35 100uF 16V 470uE 16V XZ gt INTO PD2 TXD PDI RXD PDO RESET PC6 L PCS ADC3 ADC2 PC2 5 PD3 INT1 PD4 GND ADC1 PC1 ADCO PCO ADC7 ADC4 SDA PC4 Ul ay ATmegal68 20AU AREF ADC6 AV
15. h to the next menu which is Raw Data Menu If SENSOR PORT 14 is connected to DT SENSE LINE TRACKING CDS SFH 4 SENSOR then on this Raw Data Menu the LCD will show sensors reading values so that users can adjust the variable resistor on each sensor and record the value of the sensor when it s on top of the track and off the track Moving from Raw Data Menu to the next menu can be done by pressing 52 Button for 2 seconds The next menu is Threshold Menu which is marked with an LCD display that resembles the following display Threshold or Limit is a value that is used to categorize whether the sensor is above the line or not For the Black Track mode which is dark lines on a brighter surface if the value is higher than the Limit then it will be categorized as a line has a value of 1 While for White Track mode which is bright line on a dark surface if the value is lower than the Limit then it will be categorized as a line digital data has a value of 1 Raising the Limit value can be done by pressing the TS1 Button while lowering the Limit value can be done by pressing the TS1 Button and TS2 Button simultaneously The Limit value will be stored in the DT ROBOT LINE FOLLOWER BASE EEPROM if the user switches to the next menu by pressing 52 Button for 2 seconds The next menu is the Track Mode Menu which is marked with an LCD display that resembles the following display On the Track Mode Menu the user can decide whether
16. ing CodeVisionAVR evaluation version The program has 3 main files which is testing c that contains the line following main algorithm LCDRoutine c that contains LCD related functions and OtherRoutine c that contains other functions such as directional control and motor speed PWM values There are several procedures and functions on the program that can be used to help the user in programming The following are some of the procedures and functions used LCDRoutine c and OtherRoutine c LCD Initialization Syntax Function Initializes LCD Desc gt Call this procedure to perform the LCD initialization process It s only needed to be performed once at the beginning of program gt This procedure is used by the initMain procedure Example initled Send Byte to LCD Syntax CIC Function Sends 1 byte Command or Data to LCD Desc gt The valid moda value is if LCD command is sent and 1 if LCD data is sent gt The comm value is the value of the sent LCD command or data gt The list of LCD command and data can be seen in the LCD datasheet Example putled 0 0x01 will clear the LCD screen 9 3 3 3 4 3 5 3 6 3 7 Display Message to LCD Syntax WJC RCM Chum ei lcm Function Displays a string message on the LCD s current cursor position Desc gt str contains the message s initial address in the fl
17. rk of existing programs The user can experiment with the line following algorithm create or add a variety of algorithms themselves so that their line follower robots becomes more intelligent For advanced level the whole series of electronics and components of the DT ROBOT LINE FOLLOWER BASE will be explained in detail so that the robot and electronics enthusiasts can be creative and experiment freely with it DT ROBOT LINE FOLLOWER BASE could be developed for robot with different functions sensors or motor movements There are also available optional components of DT ROBOT LINE FOLLOWER BASE such as motors and sensors that sold separately DT ROBOT LINE FOLLOWER BASE SPECIFICATION DT ROBOT LINE FOLLOWER BASE specification is as follows e Uses 6 x AA batteries 1 2 1 5 VDC as the power supply e Based ATmegal 68 e Uses SN754410 motor driver IC with dual full H Bridge configuration and 1 A continuous current capacity for each driver Equipped with 8 x 2 characters LCD 2 tactile switches as inputs and 1 tactile switch for reset are available Communication line uses the UART RS 232 interface Input Output pins are compatible with TTL and CMOS voltage level SUGGESTED SYSTEM Suggested system for DT ROBOT LINE FOLLOWER BASE is Hardware e Pentium Compatible with COM USB serial port DVD ROM Drive and Hard disk Software e Windows XP operating system e CodeVisionAVR e Program CD DV
18. the line that will be passed by the DT ROBOT LINE FOLLOWER BASE is in the Black Track category which is a dark line in a bright surface or White Track which is a bright line on a dark surface 6 2 2 2 2 1 2 2 2 Changing the track mode can be done by pressing 51 Button Track mode will be saved on DT ROBOT LINE FOLLOWER BASE EEPROM if the user switches to the next menu by pressing 52 Button for 2 seconds DT ROBOT LINE FOLLOWER BASE GUI To simplify the experiment of setting the provided line following algorithm parameters the DT ROBOT LINE FOLLOWER BASE pack also includes a GUI software DT ROBOT LINE FOLLOWER GUI To set the parameters stored in DT ROBOT LINE FOLLOWER BASE connect DT ROBOT LINE FOLLOWER BASE with a PC through UART communication using the supplied serial cable UART communication parameters can be seen on the COM Settings The following is the interface of the GUI as well as explanations of its functions DT ROBOT LINE FOLLOWER GUI Bax Black Tract Data 000 000 000 000 Track Threshold 0 s Sjensor 010 Left Right Motor Action Settings efi Motor Forward Left Left Speed 0 Right Speed 0 Send Setting to DT ROBOT COM Setting A With this button the user can select the Serial COM port Other parameters of the UART communication used are as follows e 115200 bps 8 data bits 1 stop bit no parity bit
19. the robot can be ordered to spin right If the robot is moving straight forward and the lines disappear then the robot can be ordered to move backward OPERATING DT ROBOT LINE FOLLOWER BASE DEFAULT TESTER PROGRAM DT ROBOT LINE FOLLOWER BASE is equipped with a standard line following algorithm that has been tested on various models of line following tracks ranging from simple path to difficult path Beginner level users can experiment by setting the parameters that are available through the included GUI software The algorithm is already programmed in the robot Inside the DVD the default algorithm is stored with the file name default hex for the program and default eep for the initial parameters Le ta Port ON OFF Switch Se amp Battery RS 232 Terminal Battery Case Reset Button TS1 Button TS2 Button At the time DT ROBOT LINE FOLLOWER BASE was first turned on LCD will show a Tracking Menu marked with the string READY on the bottom line and digital combination of sensors reading value on the top line If TS1 Button is pressed then DT ROBOT LINE FOLLOWER BASE will start the line following and LCD will show this text 5 To stop the line following press TS2 Button so that DT ROBOT LINE FOLLOWER BASE returns to Tracking menu If DT ROBOT LINE FOLLOWER BASE is in Tracking Menu and TS2 Button is pressed for 2 seconds then DT ROBOT LINE FOLLOWER BASE will switc
20. trol Syntax motorKanan unsigned char arah unsigned int speed Function Arranges the speed and spin direction of the right motor Desc gt arah can have a value of O for forward 1 for reverse or 2 for stop gt speed is the speed of the motor PWM value The valid value is 0 to 1023 The greater the speed value the faster the motor spins Example motorKanan 2 0 will command the right motor to stop 11 4 DT ROBOT LINE FOLLOWER BASE HARDWARE 4 1 DT ROBOT LINE FOLLOWER BASE COMPONENT LAYOUT fins Lt 02 RS 100K LCD CONTRAST J2 LCD PORT Toe 2 5 eatyeaouuy Ag OTA 4 INTI LOAOH IA 1 Z AINO ADI Tourz iors 100uF 16 o C 20 lt gt OFF PHR TNO 100pF Q 2 LuF SOU 2 r _ HBT3S04LT1 r o2 MMBT3SO6LT1 f 1904 805 35 Di ES18 D4 ESIB u2 51754410 On 680R acd LD1117ADT 4 2 CONNECTORS AND COMPONENTS FUNCTIONS The J7 blue terminal is the connector for power supply Pin Name Function 1 GND Ground reference for power supply input 2 7 2 9VDC Connected to power supply for input 7 2 9 Volt UART RS232 J3 RJ11 connector is the connector for UART RS 232 interface Pin Name Function 1 Not connected 2 SGND Groun
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