robot_line(project 1).pdf

5/26/2018 robot_line(project 1).pdf

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................................................................................................................

.........................................................................................11.1 ...................................................................................................................................................................1.2....................................................................1.3

..............................................................................1.3.1................................................................................IR1.3.2................................................................................IR1.3.3..................................................................................1.3.4

.....................................................................................1.41.4.1 ..........................................................................

.....................................................1.4.1.1...............................................................1.4.1.2

1.4.2Timer-555..............................................................................

............................................................................1.4.3..................................................................................IR1.4.4....................................................................................1.4.5....................................................................................1.4.6.............................................................................1.4.7

............................................................................................2..........................................................................................2.1

......................................3 .........................................................................)................................................................................(4

.........................................................................................................................


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1

1.1,,-

,..,

:.)(.-)(..)(.

.,;.

.,-.)(,

:..


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1.2

1.1:

1.3 .


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1.3.1 ,)1.1(1114ORB

.((IR.

IR1.3.2)1.2(IR.))IR

..

.

1.3.3. .

.

1.1 1114ORB

1.2 IR


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1.4.

1.4.1.

.'

1.4.1.1:,

..1..2..3..4..56

..:.7

))CPU

,.-.2.1

))RAM.))CPU.))I/O/

2.1: /


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PICmicrocontroller16F876- .MICROCHIP

:4 F87616

28 .25Mhz

)ABS ( ///


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9.1.2 5 .

:5 16F84

6Bit A .

. 8Bit B . 8Bit C PWM .

.I2C 6


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2.5 .

2.5

.VSS5vVDD

: ..)(

.4MHzOSC2 16OSC1 15

.

RESET ""1.""0MCLR'4

RC.

.

Flash.MikroCCcompilerC.

..HexC


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:1.4.1.2

H-BRIDGE",H-Bridge.,

- .,

.293L.,.

.))Enable.4DC.V36A1

:

L293


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:

ENABLE DIRA DIRB Function

H H L Turn Right

H L H Turn Left

H L/H H/L Fast Stop

L Either Either Slow Stop

:

L293.L2933.5v

.L2934.5vL293.PWM

P.W.MPulse Width Modulation

PWM,.

.PWM

On;-T.-T.offTOff;-OnT


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.,TonT":PWM

off

on

T

T

Vavg =Vin

"+Vduty cycle.duty cycle

PWM/*************************************************************/

void speed(char index)

{

char i,j;

EN=ON;

EN1=ON;

for(i=0;i


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AL293.B4B

PORTAL293

..

Vin

Motor1

l293-out1 L293-out2


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."12V .-80V (

,)..

L293PORTA=0x05 ; //Forward

MB1MA1A4/EN1A1 / DIRB1A0 / DIRA1

0PWMPWM10

0v5vL293.PWMVin =9v


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) .)IR-,

.,,1

-,,

:1

.,,,

,(,(..

).')'1,)')'0:

1.4.2

1

2.

."

.

IR


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R110k

R2220

1

26

5

5v

5

6

7

8

4

U3:BLM258

5v

RV210k

5v

6 .

.

.

6" ."0

" ."16

.LM258


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.1B0B

L293

/**************************************************************/

void read_sensor()

{

char sensor;

while(1)

{

rd_ir();

if(!stp) break;

sensor=PORTB&0x03;

speed(55);

switch( sensor )

{

case 0x00: PORTA=0x0A ; break; //Back

case 0x01: PORTA=0x04 ; break; // Left

case 0x02: PORTA=0x01 ; break; //Right

case 0x03: PORTA=0x05 ; break; //Forward}

}

}

/**************************************************************/


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IR1.4.3

."""". -.,

"" --LED.,

,.,.

:

,.,

.100000-700nm,""900-700nm

.""100000-900nm

""..

LED,-LED..


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IR LED940nm.5V

IR LED

.tfms 5400 Infrared ReceiverIR

.,IR


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Infrared Receiver

R310k

5v

VI 1

VO3

GND

2

TFMS5400

IR Receiver

RB2

R2330

C40.01u

.40k Hz55540k HzIR

.

.B2RBIR40k HzIR""1

.""0


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.40k HzIRInfrared Receiver. 555 555

40k Hz.

R4

DC7

Q3

GND

1

VCC

8

TR2

TH6

CV5

U4

555

R2150

R11k

D1IR

R3330

C40.01u

RV1

10k

BAT9V

C10.01u

1*)2211(

44.1

CRRVRf

++

=

40k HzR1+RV1 = 3.3K

RV1 40k Hz 555.3

5559v.IR3.5553


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.

IR.1.""1""1

""0IRIR

2. /**********************************************************/

3. void rd_ir()

4. {

5. char ir_sens;

6.

7. while((IR&&!stp)) ;

8. //delay_ms(20);

9. if(!IR) stp=~stp;

10. while(!IR);

11. }

12.

/*************************************************/

WHILE""17 .


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.2""1.""0

3. /*******************************************************/

4. void read_sensor()

5. {

6. char sensor;

7.

8. while(1)

9. {

10. rd_ir();

11. if(!stp) break;

12. sensor=PORTB&0x03;

13. speed(55);

14. switch( sensor )

15. {

16. case 0x00: PORTA=0x0A ; break; //Back

17. case 0x01: PORTA=0x04 ; break; // Left

18. case 0x02: PORTA=0x01 ; break; //Right19. case 0x03: PORTA=0x05 ; break; //Forward

20. }

21. }

22. }

23.

24. /***************************************************/

()rd_ir-IR()read_sensor-L293PWMIR

.


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IR=1

SR=1

SL=1 SL=1

" """

SRSL

IR=1

SR=1

SL=1 SL=1

" """

SRSL

IR=1

SR=1

SL=1 SL=1

" """

SRSL


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#define IR PORTB.F2

#define EN PORTA.F4

#define EN1 PORTB.F4

#define ON 1

#define OFF 0

char stp;

/**************************************************/

void rd_ir()

{

char ir_sens;

while((IR&&!stp)) ;

//delay_ms(20);

if(!IR) stp=~stp;

while(!IR);}

/*******************************************************/

void speed(char index)

{

char i,j;

EN=ON;

EN1=ON;

for(i=0;i


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void init_pic()

{

INTCON = 0; // disable all interrupts

TRISA=0x00;

TRISB=0x0F;

}

/*****************************************************/

void main()

{

init_pic();

stp=0;

while(1)

{

PORTA=0x00;

rd_ir();

read_sensor();}

}

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robot_line(project 1).pdf