SMART COLOR SORTING ROBOT

SITI NADRAH BINTI SELAMAT

This report is submitted in partial fulfillment of the requirements for the award of the

Bachelor of Electronic Engineering(Electronic Telecommunication) With Honours

Faculty of Electronic and Computer Engineering

Universiti Teknikal Malaysia Melaka

April 2010

UNIVERSTI TEKNIKAL MALAYSIA MELAKA FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN

PROJEK SARJANA MUDA II

Tajuk Projek : ………………………………………………………………………………

Sesi

Pengajian :

Saya …………………………………………………………………………………………………..

(HURUF BESAR)

mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-

syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi

pengajian tinggi.

4. Sila tandakan ( √ ) :

SULIT*

*(Mengandungi maklumat yang berdarjah keselamatan atau

kepentingan Malaysia seperti yang termaktub di dalam AKTA

RAHSIA RASMI 1972)

TERHAD**

**(Mengandungi maklumat terhad yang telah ditentukan oleh

organisasi/badan di mana penyelidikan dijalankan)

TIDAK TERHAD

Disahkan oleh:

__________________________ ___________________________________

(TANDATANGAN PENULIS) (COP DAN TANDATANGAN PENYELIA)

Tarikh: ……………………….. Tarikh: ………………………..

“I hereby declare that this report is the result of my own except for quotes as cited in the

references”

Signature :

Author : Siti Nadrah Binti Selamat

Date : 30 April 2010

“I hereby declare that I have read this report and in my opinionthis report is sufficient in

terms of the scope and quality for the award of Bachelor of Electronic Engineering

(Telecommunication Electronics) With Honours.”

Signature :

Supervisor‟s Name : Madam Nurmala Irdawaty Bt Hassan

Date : 30 April 2010

ACKNOWLEDGEMENT

All praise be too might ALLAH S.W.T Merciful and Beneficent for the strength and

blessing throughout the entire research and completion of this PSM.

First and foremost, all praise is due to Allah, Lord of the worlds for giving us wellness,

intellect and strength to do this project and also the following individuals. Without them,

it would not be possible for us to complete this project. In particular, I owe a debt of

gratitude to our project supervisor Miss Nurmala Irdawaty bt Hassan for guide, and

giving advice and idea to us complete our project. Without her, this project cannot be

done.

Next, I would like to say a million thanks to my parents for their support and

understanding in allowing me to focus my attention to this project. They have always

been the driving force in pushing us to excel in everything that I do. To our friends, all

of you have been an inspiration to the both of us.

Finally, I would also like to extend our utmost gratitude to all the lecturers of

University Technical Malaysia Malacca (UTeM) for their guidance and patience. Their

teachings have thought me that education and knowledge are vital in life if we wish to

succeed.

Thank you very much.

ABSTRACT

Smart Color Sorting Robot is based on a placing system with some capability to

place the object according to their color. The object will be defined by determining color

of the ball while the system will figure out which location the object should be located.

With the PIC as a controller for the system, a manually feed object which is a coloring

ball will be determined by the robot to take and eject them to their exact location or

station. In this project a line follower will brought the ball that will be sense by LDR

sensor to right station. A main part in this project is an LDR sensor which is used to

detect light. Capability of this system to detect the type of this object and it will be

chosen based on their color. There are four stations in the Color Sorter system that we

made. Each station had their own range of color except for the first station which is the

load and unloading station. The ball will be inserting manually by the user. Then the

LDR sensor will detect what color is the object, after the detection been done, the

decision will be made and the line follower will take the object to the station that been

recognized for it.

ABSTRAK

„Smart Color Sorting Robot‟ adalah sistem yang membolehkan sesebuah robot

berkemampuan untuk menempatkan objek berdasarkan warna yang telah ditentukan.

Objek tersebut akan dikenalpasti melalui warnanya. Sementara itu, sistem ini akan

mengenalpasti tempat di mana objek itu akan ditempatkan. PIC digunakan sebagai

sistem kawalan, objek berwarna akan di masukkan secara manual ke dalam robot dan

sistem tersebut akan menempatkan di mana objek berwarna tersebut patut ditempatkan

mengikut kawasan yang ditetapkan. Projek ini menggunakan system garisan untuk

menbawa bola berwarna ke stesen yang ditetapkan melalui cara dimana pengesan yang

telah di letakkn di robot akan mengesan garisan. Bahagian terpenting dalam projek ini

adalah pengesan cahaya. Kebolehan system ini adalah mengenalpasti objek berdasarkan

warna objek. Terdapat empat stesen di dalam system pengasingan warna ini. Setiap

stesen terdapat jenis warna yang telah ditetapkan bagi robot menempatkan objek kecuali

di stesen mela dan stesen akhir. Objek yang digunakan akan dimasukkan secara manual

oleh pengguna. Kemudian, pengesan cahaya akan mengenalpasti warna objek dan

keputusan akan dibuat apabila robot sampi ke stesen yang ditetapkan dan stesen

seterusnya.

TABLE OF CONTENTS

CHAPTER

TITLE

PAGE

TITLE OF PROJECT

STATUS CONFIRMATION FORM

DECLARATION

ACKNOWLEDGEMENT

ABSTRACT

ABSTRAK

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF ABBREVIATION

LIST OF APPENDICES

i

ii

iii

v

vi

vii

viii

xi

xii

xiv

xv

I INTRODUCTION

1.1 Project Background

1.2 Objectives

1.3 Scope Work

1.4 Problem Statemant

1.5 Significant of Project

1.6 Report Structure

1

1

2

3

3

4

5

II LITERATURE REVIEW

2.1 Application Review

6

2.1.1 Line Follower

2.1.2 Color Sensor

2.1.2.1 Similarity Matching vs.

Thresholding

2.1.2.2 Positioning of Photoresistor

2.2 Controller Review

2.2.1 Microcontroller (PIC16F876A)

2.3 Sensor Review

2.3.1 Infra Red Sensor

2.3.1 Photoresistor (LDR)

2.4 Driver Review

2.4.1 L293D

2.5 Component Review

2.5.1 Servo Motor

2.5.2 Gearbox with DC Motor

2.6 Power Supply

2.7 Electrical Part

2.7.1 DC Motor

6

7

7

8

9

9

11

11

12

12

12

13

14

14

15

16

16

III METHODOLOGY

3.1 Project Methodology

3.2 Explanation of Project Planning

3.2.1 Searching For Project Title

3.2.2 Understanding The Circuit Operation

And Circuit analysis

3.2.3 Preparing For Proposal

3.2.4 Searching For Components

3.2.5 Testing The Circuit Function

3.3 Flow Process of Project

18

18

20

20

20

20

20

21

21

3.3.1 Main Flowchart

3.3.1.1 Main Controller

3.3.1.2 Sensor Circuit

3.3.1.3 Driver Motor

3.3.2 Hardware Flowchart

3.3.3 Software Flowchart

3.4 Printed Circuit Board (PCB) Manufacturing

3.4.1 PCB

3.4.2 Classification of PCB‟s

3.4.3 Types Of The PCB‟s

3.5 PCB Design

3.5.1 Schematic Design

3.5.2 Schematic

3.5.3 Layout Design

3.5.4 The Printed Circuit Board Layout (PCB)

3.5.4.1 Method To Make The Layout

3.5.5 PCB Fabrication

3.5.6 Component Placement And Orientation

3.5.7 Etching Process

3.6 Prepare The PCB For Use And Drill The PCB

3.7 Drilling

3.8 Drilling process

3.9 Soldering Process

3.9.1 Solder onto a PCB

3.10 Testing and Troubleshooting The Circuit

Function

3.11 Designing a Body Structure

3.11.1 Base Body Development

3.11.2 Tower Ball Development

3.11.3 Ejector Development

22

22

23

25

26

28

28

30

31

31

31

32

32

34

34

35

35

35

38

39

39

40

41

42

42

42

43

44

44

IV

V

RESULT AND DISCUSSION

4.1 Result

4.2 Data Analysis and Discussion

4.3 Similarity Matching and Thresholding

CONCLUSIONS AND RECOMMENDATIONS

5.1 Conclusions

5.2 Recommendations

REFERENCE

APPENDICES

45

45

48

51

52

52

53

54

56

TABLES OF TABLES

NO TITLE Page

Table 3.3.1.1 Table of I/O List 24

Table 3.3.1.2 The Operation of The Motor 2 Driver 27

Table 4.2.1

Table 4.2.2

Voltage Reading

Decimal Reading

48

49

LIST OF FIGURES

NO TITLE PAGE

Figure 1.1 Overview of The project Sequence 2

Figure 2.1.1 (a) Simple Closed Loop System 6

Figure 2.1.1 (b) Block Diagram of Line Follower 6

Figure 2.1.2.2 Positioning of Photoresistor 8

Figure 2.2.1 PIC16F876A Pin Diagram 9

Figure 2.3.1 Infra Red Sensor 11

Figure 2.3.2 LDR 12

Figure 2.4.1 (a) L293D 13

Figure 2.4.1 (b) L293D Pin Diagram 13

Figure 2.5.1 Servo Motor 14

Figure 2.5.2 Double Gearbox with DC Motor 15

Figure 2.7 Motor Control Circuit 17

Figure 3.3.1 Flow of Main Process in This Project 22

Figure 3.3.1.1(a) Sequence to assemble These Circuit 23

Figure 3.3.1.1(b) Controller circuit Schematic Diagram 24

Figure 3.3.1.2(a) Voltage Increase with Light 25

Figure 3.3.1.2(b) Voltage Decreases with Light 25

Figure 3.3.1.2(c) Schematic Diagram for LDR 26

Figure 3.3.1.3 Schematic Diagram for L239D 27

Figure 3.3.2 Process in Developing Hardware Part 28

Figure 3.3.3

Figure 3.5.7(a)

Figure 3.5.7(b)

Figure 3.5.7(c)

Figure 3.5.7(d)

Figure 3.5.7(e)

Figure 3.6

Figure 3.8

Figure 3.9.1

Process in Developing Software Part

Circuit on Plastic Transparent

Circuit Printed Put onto PCB Board

Exposure Units

PCB After Developing

PCB Circuit After Come Out from MEGA

Drilled PCB

Drilling Process

Soldered PCB

29

36

36

37

37

38

39

40

42

Figure 3.11.1 Base Body with Controller Circuit 43

Figure 3.11.2

Figure 3.11.3

Tower Ball

Ejector

43

44

Figure 4.1(a) Main Line Sensor 46

Figure 4.1(b) Station Sensor 46

Figure 4.1(c) Robot at Station 1 46

Figure 4.1(d) Press „Run‟ Button to Move 46

Figure 4.1(e) Orange Ball (Station 2) 47

Figure 4.1(f) Red Ball (Station 3) 47

Figure 4.1(g) Green Ball (Station 4) 47

LIST OF APPENDICES

NO TITLE PAGE

A

B

C

D

E

F

G

L293D Datasheet

PIC16F876A Datasheet

Body Structure‟s Design

PCB Layout Design

Technical Drawing

Source Code

Project Planning

54

62

63

64

65

68

79

CHAPTER I

INTRODUCTION

This chapter will briefly discuss on the project overview. The objective, scope, and

thesis outline will be presented in this chapter.

1.1 Project Background

Smart Color Sorting Robot is based on the placing system with some capability

to decide the object according to their color. The object will be defined by determining

color of the ball while the system will figure which location the object should be located.

With the PIC as a controller for the system, a manually feed object which is a coloring

ball will be determined by the robot to take and eject them to their exact location or

station.

In this project a line follower will brought the ball that will be sense by LDR

sensor to right station. A main part in this project is an LDR sensor. Commonly this type

of sensor used to detect light. Other applications are for color sensor, line detector, and

switching element. Capability of this system to detect the type of this object and it will

be chosen based on their color.

There are four stations in the Color Sorter system that we made. Each station had

their own range of color except for the first station which is the load and unloading

station.

The ball will be inserting manually by the user. Then the LDR sensor will detect

what color is the object, after the detection been done, the decision will be made and the

line follower will take the object to the station that been recognized for it.

In this system, there are 4 station;

Station 1 = Load and Unloading station (10 sec delay)

Station 2 = White

Station 3 = Blue

Station 3 = Red

Figure 1.1 Overview of the Project Sequence

1.2 OBJECTIVES

This project is developed with the purposed to optimizing the productivity,

minimizing the cost of the project and make no human mistakes. The main thing of this

2

project is to study how to communicate the programming language with the color

sensor. After that, the line follower system will make its own decision to the station that

been programmed. The objective can be summarized as below:

i. To sort the object according to their color.

ii. To sort the object to the station accordingly.

iii. To make the system run continuously with less rest.

iv. To make an interface between the programming of line follower and the

sensors.

1.3 SCOPE OF PROJECT

This project is subjected to several scope and limitations that are narrowed down

to the study.There are a few scopes and guidelines listed to unsure the project is

conducted within its intended boundary. This is to ensure the project is heading in the

right direction to achieve its intended objectives. The objectives are:

i. Research study on the Programmable Intelligence Computer, PIC16F876A

microcontroller and the control system of the circuit.

ii. To acquire the each sensor that use in this project.

iii. To design circuitry for the overall system

iv. To develop the program that can integrate and control the overall system.

v. To construct the model and test either the robot is function or not.

1.4 PROBLEM STATEMENT

The problems which often occurred in the industrial that can be solve by this

project are:

i. By using this project the company can optimize the productivity.

3

ii. Each company, have their own cost; this project can be minimizing the

cost of the company by minimizing the workers.

iii. Usually, the worker maybe doing some mistakes while doing their job, by

developing this project, the company can decrease the human mistakes.

1.5 SIGNIFICATION OF THE PROJECT

i. Manage to gain more idea and information about the sensor and valve.

ii. Manage to work on the PIC programming

iii. Manage to apply knowledge about the robotic.

iv. Manage to build up the robot.

1.6 REPORT STRUCTURE

Chapter one briefly introduces he overall of the project title Smart Color Sorting

Robot. The introduction consists of overview, objective, problem statement, scope of

work, methodology and structure report.

Meanwhile chapter two discuss about the background of study related to security

system. Literature review will produce overall structure of the Smart Color Sorting

Robot which shows the relationship between project research and theoretical concept.

Chapter three will explain about the project methodology. Project methodology

give details about the method used to solve the problem to complete the project. The

method used such as collecting data method, process and analysis data method,

modelling and etc.

4

Chapter four consists of result and discussion of the project, finding and analysis

throughout the research and project development.

Lastly, chapter five is the project conclusion. This chapter rounds up the attained

achievement of the whole project and reserves suggestions for possible future

researches.

5

CHAPTER II

LITERATURE REVIEW

This chapter is to discuss some fundamental ideas of line follower and color

sensor. The features of this project are also including. All components using for this

project will be explain as well.

2.1 Application Review

In this project, there is two application will be combine. This application is:

1. Line Follower.

2. Color Sensor.

Thus, the research on this application was revealed and a few references found in order

to complete this project.

2.1.1 Line Follower

According to Priyank Patil [1], line follower is a mobile robot that can follow a

path. It can follow path whether the path is straight, corner or at whatever direction. A

line follower will sense a line and maneuvering the line follower to stay right on the line

by using infra red sensor as its „nose‟.

If the line follower tries to move out of track, the infrared sensor will give a

signal to the brain of the robot to stay on line. This situation is made based on the simple

closed loop feedback.

Figure 2.1.1(a): Simple Closed Loop System [1]

R(s) represented as a power supply from 5V and C(s) represented as a direction

of the line follower. A suitable program is needed in order to make this line follower

able to track a line and it‟s supposed to think like a „human‟. The overview of this line

follower is shown as Figure 2.1.1(b).

Figure 2.1.1(b): Block Diagram of Line Follower [1]

6

2.1.2 Color Sensor

According to Society of Robot‟s Article [2], photoresistor cannot see the color of

an object. It only can read the value gain from reflection of the object. The value gain

from a various object is difference. Therefore, some research has been made and the

result seems to be that photoresistor can be use as color detection element. There are two

methods in order to differentiate object‟s color.

1. Similarity Matching Method

2. Thresholding Method

2.1.2.1 Similarity Matching vs. Thresholding

In reality the sensor must be calibrate before the sensors before work. This

means the sensor must sense the object, record the readings, and then make a chart using

this data. That way when the robot is doing its thing and senses the same object, it can

compare the similarity of the new reading vs. the calibrating reading.

For example, suppose the robot needs to follow a white line on a grey floor. The

robot would use a microcontroller to sense the analog value from the sensor. During the

calibration phase the robot measured an analog value of 95 for the grey floor, 112 for the

white line, and then stored these values in memory. Now your robot is on the line, and a

sensor reads 108.

Using the shareholding method, add both calibrated numbers and divide by two

to find the average middle number. For example, (95+112)/2 = threshold. Anything

above that threshold would be the white line, and anything under would be the grey

floor. Similarity matching was used to threshold, if there is three or four colors. This

process is to determine how similar each color of the object is to the calibrated value.

7

Staying with white line example, using similarity matching, by using the equation:

abs(new reading - calibrating reading)/calibrated reading * 100 = similarity

if,

grey floor = (108 - 95)/95 * 100 = 13.7% different

white line = (108 - 112)/112 * 100= 3.6% different

compare: white line < grey floor

therefore the sensor sees a white line

This method can be used for any color and any number of colors, given that the

calibration beforehand. Consider calibration as a way of teaching the robot to

differentiate various colors.

2.1.2.2 Positioning of Photoresistor

The photoresistor must be placed in the middle of the LED. It is because a

photoresistor needs all the values from the LED‟s of the same distance in order to

differentiate the object color.

Figure 2.1.2.2: Positioning of Photoresistor [2]

8

2.2 Controller Review

A controller used in this project is a microcontroller PIC16F876A. This is a 28

pins PIC and it is enough since the sensor used is only 13 ports.

2.2.1 Microcontroller (PIC16F876A)

This microcontroller consist 28 pins, 22 I/O ports. This microcontroller is a high

performance RISC-CPU. The operating speed used for this microcontroller is 20 MHz

clock input. [3]

Figure 2.2.1: PIC16F876A Pin Diagram [3]

Microchip PIC16F876A Microcontroller Features

High-Performance RISC CPU

Operating speed: 20 MHz, 200 ns instruction cycle

Operating voltage: 4.0-5.5V

Industrial temperature range (-40° to +85°C)

14 Interrupt Sources

35 single-word instructions

9

Special Microcontroller Features

Flash Memory: 14.3 Kbytes (8192 words)

Data SRAM: 368 bytes

Data EEPROM: 256 bytes

Self-reprogrammable under software control

In-Circuit Serial Programming via two pins (5V)

Watchdog Timer with on-chip RC oscillator

Programmable code protection

Power-saving Sleep mode

Selectable oscillator options

In-Circuit Debug via two pins

Peripheral Features

22 I/O pins; 3 I/O ports

Timer0: 8-bit timer/counter with 8-bit prescaler

Timer1: 16-bit timer/counter with prescaler

o Can be incremented during Sleep via external crystal/clock

Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler

Two Capture, Compare, PWM modules

o 16-bit Capture input; max resolution 12.5 ns

o 16-bit Compare; max resolution 200 ns

o 10-bit PWM

Synchronous Serial Port with two modes:

o SPI Master

o I2C Master and Slave

USART/SCI with 9-bit address detection

Brown-out detection circuitry for Brown-Out Reset

10

Analog Features

10-bit, 5-channel A/D Converter

Brown-Out Reset

Analog Comparator module

o 2 analog comparators

o Programmable on-chip voltage reference module

o Programmable input multiplexing from device inputs and internal VREF

2.3 Sensors Review

In this project, three infra red sensors has been use to sense a line and one LDR

to detect a ball‟s color.

2.3.1 Infra Red Sensor

Infra red sensor is a „transmit – receive‟ sensor where it is used as a line tracking

sensor of the project. It works when the receiver gain a signal from transmitter. The

transmitter will emit an original signal to the specified surface, thus the original signal

will mix up with surface condition and change. Since the original signal has been

modified, it will read by receiver.

Figure 2.3.1 Infra Red Sensor

11

2.3.2 Photoresistor (LDR)

A LDR (Light Dependent Resistors) sensor is used as a color sensor in the

project. It is able to receive a value in analog signal with a small range provided.

Commonly, this type of sensor used to detect the light. A sensor can be used to measure

the voltage drop across the resistor with the analog port of the microcontroller. An LDR

is a light sensor, is a sensor that resistance is proportional with exposure of light. The

output of this sensor is analog signal. It must be part of the voltage divider circuit in

order to give an output voltage. The voltage supply 6Vdc can be applied to the circuit for

this sensor. Same as other analog sensor, it must be used with comparator to get a digital

signal from this sensor. [4]

Figure 2.3.2: LDR [4]

2.4 Driver Review

L293D is used as a motor driver for the DC motor.

2.4.1 L293D

According to SGS-Thomson [5], L293D motor driver is a dual DC motor driver. It

12

can drive motor with Imax: 600ma, Vmax: 32V. By using this motor driver, user can

eliminate the complicated wiring to drive the two DC motors.

Figure 2.4.1(a) : L293D [5]

Figure 2.4.1(b) : L293D Pin Diagram [5]

This driver is connect to left and right motors and able to enable one or both

motor at a time.

2.5 Component Review

There is a few components that is used in this project.

1. Servo Motor

2. Gearbox with DC Motor

3.

13

2.5.1 Servo Motor

Servo motor is used as an ejector in this project. It will eject the ball from their

position when the robot reaches target station. The servo motor used in the project is

4kg/cm type. Its power supply is from 4.8V to 6V (normally use 5V). Servo motor is

used in the project because it can give accurate angle control e.g. 90 degree, 40 degree.

In addition, it can hold the angle continuously. The servo motor needs an operating

frequency of 40Hz. It can rotate from 0 degree to 180 degree when the pulse duty ration

changed. [6]

Figure 2.5.1: Servo Motor [6]

2.5.2 Gearbox with DC Motor

A double gearbox that operate using DC motor act as an engine of this project.

This gearbox consist two motors, adjustable gear ratio and two wheels. The gear motor

used in the project is double gearbox from Tamiya. The motor set consists of 2 motors.

Left and right motor can operate independently. The gear speed is set to 344:1. The

motor is operated using 6V battery. [7]

14

Figure 2.5.2 : Double Gearbox with DC Motor [7]

2.6 Power Supply

The system support 9V DC power supply (dc battery). A LED power indicator is

used to avoid ensure the polarity and the availability of the adapter power supply. In this

project, a separation of two power supply was to avoid interface and to make the robot

moves without any problems. The parts of the power supply are shown below:

1. Power supply to DC motor (6V)

2. Power supply to Microcontroller (9V)

3. Power supply for Servo Motor (6V)

9V power:

The input voltage of the robot is passes through a voltage regulator (LM7805) to

generate constant 5V output. The generated 5V will be noise filtered by 0.1uF ceramic

capacitor and a 1000uF electrolytic capacitor. The clean 5V output will be supplied to

PIC, switches, IR line sensor. LM7805 is used to regulate voltage in the system and

output 5V DC (max current: 1000mA). It supports input voltage from 7V DC to 18V

DC. The generated 5V will be noise filtered by 0.1uF ceramic capacitor and a 1000uF

electrolytic capacitor. An on/off switch is used to turn on/off the system and a LED (5V,

15

5mA) is used to indicate the system is power on/off. The LED is connected through 1KR

resistor to limit current pass through LED is 5mA.

6V power:

The 6V power only used for L293D motor driver to drive 2 motors forwards,

reverse, stop. Same time the 6V power also supply to servo motor.

2.7 Electrical Parts

In this project, DC motor was used to converting electrical power into

mechanical work.

2.7.1 DC Motor

A DC motor works by converting electric power into mechanical work. This is

accomplished by forcing current through a coil and producing a magnetic field that spins

the motor. The simplest DC motor is a single coil apparatus, used here to discuss the DC

motor theory.

The voltage source forces voltage through the coil via sliding contacts or brushes

that are connected to the DC source. These brushes are found on the end of the coil

wires and make a temporary electrical connection with the voltage source. In this motor,

the brushes will make a connection every 180 degrees and current will then flow through

the coil wires. At 0 degrees, the brushes are in contact with the voltage source and

current is flowing. The current that flows through wire segment C-D interacts with the

magnetic field that is present and the result is an upward force on the segment. The

current that flows through segment A-B has the same interaction, but the force is in the

downward direction. Both forces are of equal magnitude, but in opposing directions

since the direction of current flow in the segments is reversed with respect to the

16

magnetic field. At 180 degrees, the same phenomenon occurs, but segment A-B is

forced up and C-D is forced down. At 90 and 270-degrees, the brushes are not in contact

with the voltage source and no force is produced. In these two positions, the rotational

kinetic energy of the motor keeps it spinning until the brushes regain contact. [8]

Figure 2.7 Motor Control Circuit [8]

17

CHAPTER III

METHODOLOGY

This chapter contains the process of designing Smart Color Sorting Robot which

discusses about the hardware and software development including the hardware design

and software programming. This chapter will explain about the project‟s methodology

that is used in developing the software and hardware for smart window shade. The

methodology of a project is guidelines that will explain about the project path from the

beginning until it is completed. Every selection and action that must be done while

implementing the project must be explains in stages. This methodology is needed to

make sure the project that consists will be developed systematically, smoothly and

successfully in order to obtain better results.

3.1 Project Methodology

Firstly, discuss about the project topic that have been proposed, by surfing the Internet

and search the book to obtain circuits suitable to select the best topic for this project.

This project begins with searching for literature reviews from readability source such as

books and journals. Each project needs suitable strategy on planning, so that this project

can be run smoothly. The most important criteria are the application of this project that

should be identify. As soon as the purpose and function of the project is clear, the

project will be divided into two parts.

For the hardware design, initially the design has to be built. Then the circuit is

designed based on a few references. A few circuits found are studied to make sure all the

information is reliable for the title given. After having enough information, circuit is

design using PROTEL, PROTEUS and MULTISIM software. A simulation for the

circuit was done to make sure the circuit used is corrected. If the simulation shows an

incorrect outcome, the circuit will be redesigned until the correct circuit is obtained.

Labs experiments are also done to verify the overall designed are operation.

After check component list, the components buy from the electronics‟ shop and

get free from the PSM lab. Then, the circuits have been constructing to test the

feasibility of the circuit that obtained from internet or books. After do a construct and

test the circuit at breadboard, troubleshoot the circuit if the circuit cannot work. After

troubleshooting the circuit on breadboard, design the PCB etching is needed. After

process on etching, at the point need put in the leads of component and jumpers then

solder the lead of component at the protoboard.

After all, check the circuit on protoboard can function or not. If not, try

troubleshooting it. Following this, to test the circuit, it will be simulated to detect errors

in the circuitry. If errors are discovered the circuit will be troubles hooted and simulated

once again. Then hardware circuit will be transferred to PCB board and the etching

process will be done. The complete circuit then will be interfaced with the home

appliances. After that, troubleshooting will be done to both circuits until the project

function successfully. A model was build to place the project and easy to use.

When there are no errors, next the software and programming process will be

initiated. One by one the programs are built in the C language and tested. The overall

program is separated into small partitions because it is easier to troubleshoot. If the

hardware design and the software development have no errors and counter no problem

the merging of the hardware design and software development will be done. The

19

combination of both will be tested, simulated and troubles hooted. In the process of

troubleshooting, the project will be analyzed and repaired.

3.2 Explanation of Project Planning

3.21 Searching For Project Title

Firstly, before going any further, a suitable title is needed to make sure it is easy

to construct and follow all the criteria fixed by university. So the title Smart Color

Sorting Robot is proposed. This is because, based on the function of this robot that have

capability to decide the object according to their color and the object will be defined by

determining color of the ball while the system will figure which location the object

should be located. This project is developed with the purposed to optimizing the

productivity, minimizing the cost of the project and make no human mistakes.

3.22 Understanding The Circuit Operation And Circuit Analysis

After a suitable title was chosen, the next step is to do some analysis upon circuit

diagram and understand the circuit operation. This is important to understand the circuit

operation to help us find what is wrong when the circuit is not functioning while testing

it. This project starts by searching for literature reviews from readability source as books

and journals. A few circuits found are studied to make sure all the information is

reliable for the title given. This also can help us explain the circuit operation during the

seminar and presentation in front of the panel.

3.23 Preparing For Proposal

A proposal has to be prepared upon this project to get acceptance whether

20

proceeding with the project or not. This proposal is subject to the criteria that been fixed

by university. If this title is not accepted, another project that follows according to the

criteria has to be found. If the project is accepted, then the project has to be discussed

with the supervisor to get advice and information that related to the project.

3.24 Searching For Components

If the proposal is accepted, it means that the title chosen have follow according to

the criteria that have been fixed by university. Then, it will need us to find the

components for the project. Some types of components are provided at the PSM/PMD

laboratory such as resistors, capacitors, light emitting diode, transistors and pushbutton.

University will prepare RM200 to each student that need to claim for components that

are not provided.

3.25 Testing The Circuit Function

After all of the components have been prepared, then the circuit functions have

to be tested and do simulation on it. Basically, there are two ways of doing simulation

which are by using program or software in computer and simulation on breadboard. For

simulation on computer, Multisim software was chosen to do the simulation according to

the project circuit diagram. Then, a simulation on breadboard has to be done with the

real components. These two types of simulation are different because, by using

multisim, we only know the circuit is functioning as in theory. To prove it in real, a test

it on the breadboard has to be done. This is important to make sure there are no

problems with the components after supply the circuit was supplied with voltage and

current. If the circuit is not functioning during the test or simulation, then we had to

troubleshoot the circuit until it functioning very well. So, during the test on breadboard,

this project was functioning according to the theory.

21

3030

31

CHAPTER IV

RESULT AND DISCUSSION

This chapter will discuss on the result and discussion of this project. The analysis,

calculation and gantt chart will presented in this chapter.

4.1 RESULT

The result of this project is the robot capable to sense the line and move on the

track only. At first, the robot should be manually feed object which is colouring ball at

load and unloading station. When placing the robot, there is three line sensors which are

two of it was located under the body to detect main line as shown in Figure 4.1(a), while

the other line sensor was located at the side of body to identify the station as shown in

Figure 4.1 (b).

The orange LED at left and right of the robot indicated the motor that make the

robot move in a good condition when it ON. Commonly, the infra red sensors have low

stability. To overcome this problem, buffering IC was used to improve the stability of

infra red. The function of heatsink that used is to reduce the heat to make sure all of

component not damaged by heat. Since the robot capable to place three type of color,

relay was used to switch the color.

Figure 4.1(a): Main Line Sensor Figure 4.1(b): Station Sensor

When the robot is ON, there is two LED that locate at the both side of the robot

will be ON as shown in Figure 4.1(c) and the buzzer will buzz to inform the user that the

robot is ready to use. At Station 1 (load and unloading station), the RUN button will be

push to start the robot as shown in Figure 4.1(d). Then, the robot will move according to

the track that readily made.

Figure 4.1(c): Robot at Station 1 Figure 4.1(d): Press “run” button to

move

46

At Station 2, the robot must eject Orange Ball as shown in Figure 4.1(e). When

the station sensor detects station, the robot will stop. Then, the color sensor will make

confirmation whether the ball is correct which is orange ball. Next, the robot will move

on to the next station. At Station 3, the robot must eject Red Ball as shown in Figure

4.1(f) while at Station 4, the robot should eject Green Ball as shown in Figure 4.1(g). At

every station the process for each station are the same with process at Station 2.

Figure 4.1(e): Orange ball Figure 4.1(f): Red Ball Figure 4.1(g): Green Ball

(Station 2) (Station 3) (Station4)

At every station, the robot will eject only the color that has been programmed

which is orange color for Station 2, red color for Station 3 and Green color for Station 4.

If the color is incorrect, the robot will detect the station and LED for the station will ON

and the buzzer will buzz. The robot will move to the station of the color object that the

robot carry and it will direct move to home if there is no other ball. If the robots arrive at

home, but there is any object in the tower of robot, the run button must be push to

deliver the object.

This robot capable to carry not only can carry and eject sphere object but it can

carry other shape of object. For example triangle, rectangular and hexagon. The color of

object should be the same of voltage reading that have been programmed.

47

4.2 Data Analysis and Discussion

To set the LED with a suitable ball, voltage reading for each ball color was

measured. Then, the value of the voltage reading was converting to decimal so that easy

to make a comparison between each color. The voltage readings are shown in Table 4.1

below:

Ball Color White LED Red LED Blue LED All LED

Orange 0.54 - 0.69 0.1 - 0.22 2.28 - 2.32 2.67 - 2.7

Red 0.27 – 0.36 0.11 – 0.20 1.82 – 1.84 2.1 – 2.12

Green 0.26 – 0.34 0.04 – 0.11 0.6 – 0.64 0.96 – 1.01

Table 4.2.1 : Voltage reading

Conversion to decimal

X = 27.54≈27

Above is the example on how to calculate decimal reading. X represents decimal

value while n represents number of bits. PIC 16877 using 28 pin and input 0-5V,

hence the bit is 8.

48

The decimal reading is shown in Table 4.2.1 below:

Ball Color White LED Red LED Blue LED All LED

Orange 27 - 35 5 – 11 116 - 118 136 - 137

Red 13 - 18 5 – 10 92 - 93 107 – 108

Green 13 - 17 2 - 5 30 - 32 48 – 51

Table 4.2.2 : Decimal reading

From the value of the decimal reading, hence, the LED was select as

i. Orange Ball = Red LED

ii. Red Ball = Blue LED

iii. Green Ball = White LED

4.3 Similarity Matching and Thresholding

In reality, sensor must be calibrated. This means the sensor should be test to

sense the object. Then, the readings are recorded and charts are prepared based on the

data. Therefore, when the robot senses the same object, it can compare the similarity of

the new reading with the calibrating reading.

For example, suppose the robot needs to follow a white line on a grey floor. The

robot would use a microcontroller to sense the analog value from the sensor. During the

calibration phase the robot measured an analog value of 95 for the grey floor, 112 for the

white line, and then stored these values in memory. Now the robot is on the line, and a

sensor reads 108.

Using the shareholding method, the both value was add and divide by two to find

the average middle number. For example:

49

= threshold

Anything above that threshold would be the white line, and anything under

would be the grey floor. The robot could make a comparison on which line it should

follow.

50

CHAPTER V

CONCLUSIONS

This chapter will include the conclusion of this project

5.1 Conclusions

Nowadays, industries need a lot of development in order to cut the labor cost and

to maximize the productivity. This project is a new generation of combination between

the line follower and the color sensor system by using PIC interface as the main

controller in order to achieve the industrial needs.

There is some issues being consider in order to making this project successful

and become the most illegible prototype. As refer to the reference and feedback from the

industries, a new version of Smart Color Sorting Robot is created.

The goal of the project is to sort the object due to their color. The object by mean

in our project is coloring ball. By using the PIC compiler, the compiler will compile C

language file to hexadecimal file. There are a few main parts of this project; line

follower, color sensor, and the most important here, capability of this system to detect

the object and it will be chosen based on their color

In conclusions, after all the project is success the robot should be able to sort the

ball according to their color and the station accordingly. The system should be run

continuously with restless and be able to operate based on the project that have been

programmed.

5.2 Recommendations

This project physically functions as a line follower robot that uses to place an

object at the correct station. In future in order to upgrade the capability of this project,

here is some suggestion:

1. The robot capable to sort more color of the object to be placed at the station.

2. The robot has to use a long-time life so that the robot could be use efficiently.

3. The robot could switch the ball by itself when the objects in the robot that have

been inserting manually are not incorrect order.

4. The robot to carry and eject that heavier object.

52

REFERENCES

[1] Priyank Patil, K.J Somaiya College Of Engineering, Line Following Robot.

[2] Society of Robot‟s Article,

http://www.societyofrobots.com/sensors/sensor_color.shtml

[3] Datasheet Article,

http://www.datasheetcatalog.com/datasheets_pdf/P/I/C/1/PIC16F876A.shtml

[4] Society of Robot‟s Article,

http://www.societyofrobots.com/schematics_photoresistor.shtml

[5] SGS-Thomson Microelectronics, L293D Datasheet.

http://search.datasheetcatalog.net/key/L293D

[6] Servo Motor Article,

http://people.ee.duke.edu/~cec/final/node59.html

[7] Gear Motor Article,

http://www.pololu.com/catalog/product/61

53

[8] Society of Robot‟s Article,

http://www.societyofrobots.com/schematics_dcmotorbraking.shtml

[9] William Schweber. Electronic Communication System, 3rd

edition. Prentice

Hall. 1999. 449-481.

54

APPENDIX A

L293DL293DD

PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES

600mA OUTPUT CURRENT CAPABILITYPER CHANNEL 1.2A PEAK OUTPUT CURRENT (non repeti-tive) PER CHANNELENABLE FACILITY OVERTEMPERATURE PROTECTION LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V(HIGH NOISE IMMUNITY)INTERNAL CLAMP DIODES

DESCRIPTIONThe Device is a monolithic integrated high volt-age, high current four channel driver designed toaccept standard DTL or TTL logic levels and driveinductive loads (such as relays solenoides, DCand stepping motors) and switching power tran-sistors.To simplify use as two bridges each pair of chan-nels is equipped with an enable input. A separatesupply input is provided for the logic, allowing op-eration at a lower voltage and internal clamp di-odes are included.This device is suitable for use in switching appli-cations at frequencies up to 5 kHz.

The L293D is assembled in a 16 lead plasticpackaage which has 4 center pins connected to-gether and used for heatsinkingThe L293DD is assembled in a 20 lead surfacemount which has 8 center pins connected to-gether and used for heatsinking.

June 1996

BLOCK DIAGRAM

SO(12+4+4) Powerdip (12+2+2)

ORDERING NUMBERS:

L293DD L293D

1/7

ABSOLUTE MAXIMUM RATINGS

Symbol Parameter Value Unit

VS Supply Voltage 36 V

VSS Logic Supply Voltage 36 V

Vi Input Voltage 7 V

Ven Enable Voltage 7 V

Io Peak Output Current (100 µs non repetitive) 1.2 A

Ptot Total Power Dissipation at Tpins = 90 °C 4 W

Tstg, Tj Storage and Junction Temperature – 40 to 150 °C

THERMAL DATA

Symbol Decription DIP SO Unit

Rth j-pins Thermal Resistance Junction-pins max. – 14 °C/W

Rth j-amb Thermal Resistance junction-ambient max. 80 50 (*) °C/W

Rth j-case Thermal Resistance Junction-case max. 14 –

(*) With 6sq. cm on board heatsink.

PIN CONNECTIONS (Top view)

SO(12+4+4) Powerdip(12+2+2)

L293D - L293DD

2/7

ELECTRICAL CHARACTERISTICS (for each channel, VS = 24 V, VSS = 5 V, Tamb = 25 °C, unlessotherwise specified)

Symbol Parameter Test Conditions Min. Typ. Max. Unit

VS Supply Voltage (pin 10) VSS 36 V

VSS Logic Supply Voltage (pin 20) 4.5 36 V

IS Total Quiescent Supply Current(pin 10)

Vi = L ; IO = 0 ; Ven = H 2 6 mA

Vi = H ; IO = 0 ; Ven = H 16 24 mA

Ven = L 4 mA

ISS Total Quiescent Logic SupplyCurrent (pin 20)

Vi = L ; IO = 0 ; Ven = H 44 60 mA

Vi = H ; IO = 0 ; Ven = H 16 22 mA

Ven = L 16 24 mA

VIL Input Low Voltage (pin 2, 9, 12,19)

– 0.3 1.5 V

VIH Input High Voltage (pin 2, 9,12, 19)

VSS ≤ 7 V 2.3 VSS V

VSS > 7 V 2.3 7 V

IIL Low Voltage Input Current (pin2, 9, 12, 19)

VIL = 1.5 V – 10 µA

IIH High Voltage Input Current (pin2, 9, 12, 19)

2.3 V ≤ VIH ≤ VSS – 0.6 V 30 100 µA

Ven L Enable Low Voltage(pin 1, 11)

– 0.3 1.5 V

Ven H Enable High Voltage(pin 1, 11)

VSS ≤ 7 V 2.3 VSS V

VSS > 7 V 2.3 7 V

Ien L Low Voltage Enable Current(pin 1, 11)

Ven L = 1.5 V – 30 – 100 µA

Ien H High Voltage Enable Current(pin 1, 11)

2.3 V ≤ Ven H ≤ VSS – 0.6 V ± 10 µA

VCE(sat)H Source Output SaturationVoltage (pins 3, 8, 13, 18)

IO = – 0.6 A 1.4 1.8 V

VCE(sat)L Sink Output Saturation Voltage(pins 3, 8, 13, 18)

IO = + 0.6 A 1.2 1.8 V

VF Clamp Diode Forward Voltage IO = 600nA 1.3 V

tr Rise Time (*) 0.1 to 0.9 VO 250 ns

tf Fall Time (*) 0.9 to 0.1 VO 250 ns

ton Turn-on Delay (*) 0.5 Vi to 0.5 VO 750 ns

toff Turn-off Delay (*) 0.5 Vi to 0.5 VO 200 ns

(*) See fig. 1.

L293D - L293DD

3/7

TRUTH TABLE (one channel)

Input Enable (*) Output

HLHL

HHLL

HLZZ

Z = High output impedance(*) Relative to the considered channel

Figure 1: Switching Times

Figure 2: Junction to ambient thermal resistance vs. area on board heatsink (SO12+4+4 package)

L293D - L293DD

4/7

POWERDIP16 PACKAGE MECHANICAL DATA

DIM.mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

a1 0.51 0.020

B 0.85 1.40 0.033 0.055

b 0.50 0.020

b1 0.38 0.50 0.015 0.020

D 20.0 0.787

E 8.80 0.346

e 2.54 0.100

e3 17.78 0.700

F 7.10 0.280

I 5.10 0.201

L 3.30 0.130

Z 1.27 0.050

L293D - L293DD

5/7

SO20 PACKAGE MECHANICAL DATA

DIM.mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

A 2.65 0.104

a1 0.1 0.2 0.004 0.008

a2 2.45 0.096

b 0.35 0.49 0.014 0.019

b1 0.23 0.32 0.009 0.013

C 0.5 0.020

c1 45 1.772

D 1 12.6 0.039 0.496

E 10 10.65 0.394 0.419

e 1.27 0.050

e3 11.43 0.450

F 1 7.4 0.039 0.291

G 8.8 9.15 0.346 0.360

L 0.5 1.27 0.020 0.050

M 0.75 0.030

S 8° (max.)

L293D - L293DD

6/7

Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics assumes no responsibility for theconsequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. Nolicense is granted by implication or otherwise under any patent or patent rights of SGS-THOMSON Microelectronics. Specification mentionedin this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied.SGS-THOMSON Microelectronics products are not authorized for use as critical components in life support devices or systems without expresswritten approval of SGS-THOMSON Microelectronics.

© 1996 SGS-THOMSON Microelectronics – Printed in Italy – All Rights ReservedSGS-THOMSON Microelectronics GROUP OF COMPANIES

Australia - Brazil - Canada - China - France - Germany - Hong Kong - Italy - Japan - Korea - Malaysia - Malta - Morocco - The Netherlands -Singapore - Spain - Sweden - Switzerland - Taiwan - Thailand - United Kingdom - U.S.A.

L293D - L293DD

7/7

APPENDIX B

APPENDIX C

Body Structure’s Design

Top View Bottom View

Front View Side View

APPENDIX D

APPENDIX E

Technical Drawing

APPENDIX F

Source Code

; colour ball robot

include "p16F877.inc"

_code_tmp_0000 equ 0x70

_code_tmp_0001 equ 0x71

param00_delay_ms equ 0x72

param00_delay_s equ 0x74

_DELAY1 equ 0x75

_A equ 0x76

_B equ 0x77

_C equ 0x78

_t equ 0x79

_PORTC equ 0x07

_PORTD equ 0x08

_PORTE equ 0x09

_TRISC equ 0x87

_TRISD equ 0x88

_TRISE equ 0x89

_ADCON1 equ 0x9f

ORG 0

clrf PCLATH

goto start__code

_point

goto _point__code

_tscn

goto _tscn__code

_delay_ms

goto _delay_ms__code

_delay_s

goto _delay_s__code

start__code

movlw D'10'

movwf _DELAY1

clrf _t

__CONFIG _CP_OFF & _WDT_OFF & _BODEN_OFF & _PWRTE_ON &

_XT_OSC & _WRT_ENABLE_ON & _LVP_OFF & _CPD_OFF

_main__code

bsf STATUS, RP0

bsf STATUS, RP0

bcf STATUS, RP1

clrf TRISA

movlw D'255'

movwf TRISB

clrf _TRISC

movlw D'7'

movwf _TRISD

movlw D'1'

movwf _TRISE

movlw D'6'

movwf _ADCON1

bcf STATUS, RP0

bcf STATUS, RP0

clrf PORTA

clrf PORTB

clrf _PORTC

clrf _PORTD

clrf _PORTE

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'16'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'32'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'64'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'128'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'240'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

clrf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'240'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

clrf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

movlw D'240'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

clrf _PORTC

movlw D'200'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

clrf PORTA

clrf PORTB

clrf _PORTC

clrf _PORTD

clrf _PORTE

_f1

bcf STATUS, RP0

bcf STATUS, RP1

clrf PORTB

clrf _PORTD

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

label_0002

movlw D'240'

bcf STATUS, RP0

bcf STATUS, RP1

movwf _PORTC

movlw D'70'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

clrf _PORTC

movlw D'180'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTE, W

sublw D'1'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0004

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

_RUN

bcf STATUS, RP0

bcf STATUS, RP1

clrf _PORTD

movlw D'20'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

movf PORTB, W

andlw D'32'

movwf _A

movf PORTB, W

andlw D'64'

movwf _B

movf PORTB, W

andlw D'224'

movwf _C

movf _PORTD, W

sublw D'5'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0005

movlw D'1'

movwf PORTA

movf _DELAY1, W

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

label_0005

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTD, W

sublw D'6'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0006

movlw D'2'

movwf PORTA

movf _DELAY1, W

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

label_0006

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTD, W

sublw D'7'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0007

movlw D'3'

movwf PORTA

movf _DELAY1, W

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

label_0007

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTD, W

sublw D'3'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0008

clrf _code_tmp_0000

movf _t, W

addlw D'1'

btfsc STATUS, C

incf _code_tmp_0000 , F

movwf _t

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'10'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

call _point

bcf PCLATH, 3

bcf PCLATH, 4

_C1

call _tscn

bcf PCLATH, 3

bcf PCLATH, 4

goto _C1

label_0008

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTD, W

sublw D'1'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0009

clrf _code_tmp_0000

movf _t, W

addlw D'1'

btfsc STATUS, C

incf _code_tmp_0000 , F

movwf _t

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'10'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

call _point

bcf PCLATH, 3

bcf PCLATH, 4

_C2

call _tscn

bcf PCLATH, 3

bcf PCLATH, 4

goto _C2

label_0009

bcf STATUS, RP0

bcf STATUS, RP1

movf _PORTD, W

sublw D'2'

movlw 1

btfss STATUS, Z

clrw

sublw 0

btfsc STATUS, Z

goto label_0010

clrf _code_tmp_0000

movf _t, W

addlw D'1'

btfsc STATUS, C

incf _code_tmp_0000 , F

movwf _t

bsf _PORTC, D'0'

movlw D'50'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

bcf STATUS, RP0

bcf STATUS, RP1

bcf _PORTC, D'0'

movlw D'10'

movwf param00_delay_ms

call _delay_ms

bcf PCLATH, 3

bcf PCLATH, 4

call _point

bcf PCLATH, 3

bcf PCLATH, 4

_C3

call _tscn