ABSTRACT

The security system is one of the important parts of

the company, industry and other institution which is prone

to intruders. Inventing some of the hi-tech technology use

as a security device could lead us minimize the risk of

human security. This special project is another hi-tech

digital device which could be controlled in a wireless

system. It has a power to maneuver around within a power

range of 100ft distance and a frequency rated at 433MHz at

nominal range. This special project is controlled by Z80

encore microcontroller. The system of the project is

divided into to systems, the receiver system and

transmitter system. The receiver composes of the mobile

robot toy with a built-in wireless camera and the Z80F6401

microcontroller which is the brain of the robots. The

sender side is only the desktop computer and a wireless

transmitter module.

2

CHAPTER 1

INTRODUCTION

1.1 BACKGROUND OF THE STUDY

Almost 50 years ago where the digital evolution just

started, and it has started when the transistor was discover and

develop in the 1948, at Bell Telephone Laboratories by the

American Physicists, Walter Houser Brattain, John Bardeen, and

William Bradford Shockley. The transistor is rapidly developed

until the invention of microprocessor to the latest and yet still

evolved, a microcontroller which also known as a microcomputer.

Computerized world known in today’s era

The evolution of hi-tech technology could create tremendous

gadgets in today technology. The existing of microcontroller can

simplify the huge work. The continuous study of newest technology

could bring us better future to live in the sense of power

conservation and other way to live in simple and luxuries way.

The nano-technology is the latest technology invented in 21st

century, which still embedded with microcontroller. Observing the

world today, scientist focuses on the biomedical technology,

which could give us much greater help to improve our life style.

On the other hand, some focuses on the warfare technology, which

gives the arm forces much safer way to hunt. Some manufacturer

appreciated a lot the zilog product because it could implement in

a simple and or in a complicated way.

3

1.2 STATEMENT OF THE PROBLEM:

The researcher would want to answer the following question:

1. How to develop the security mobile robot?

2. How to make use of the EEPROM Z80 encore! microcontroller in

terms of developing an embedding program and application?

3. How to develop a C#.net program that access the serial

communication port RS232 that send data?

1.3 OBJECTIVES:

1.3.1 To develop a security mobile robot through wireless

communication.

1.3.2 To make use of the EEPROM Z80 encore! microcontroller

for their advance architecture and features of their uses.

1.3.3 To develop a program that is use to connect the RS232

communication serial port which use to send a data in transmitter

side

1.4 SIGNIFICANT OF THE STUDY:

The development of a new and hi-tech technology is just

only the beginning of a basic and a simple way of creating

something that is unusual which can give us more luxury and made

our work easy. Yet, it is look like an unnecessary thing but it

could bring to a newer evolution of modern days.

4

Microcontroller can be applied in a broader way, such as

factory, power plant, communication system, traffic lights,

conveyor, modern electronic gadgets, robotics and etch.

As this special project done, the security system can made

simpler less work and less cost of security budget. This is

helpful to the company need less human security.

To the security service, this could be very helpful for

them for minimizing the risk of works instead. It could possible

for them to capture the enemy easily or even it can take away for

them in a danger side.

To the developer, this project is just a simple way of

creating an electronic security device which applied by

microcontroller, and it could be improved ten times or more than

this stage.

To the researcher, you can learn C program in programming

microcontroller, and the C#.net language in sending a data.

1.5 SCOPE AND DELIMITAION:

This project proposal is intended only for a security

surveillance which is uses by simple mobile robots and controlled

by Z8F6401 Zilog microcontroller. In fact, this is a wireless

connection which controlled remotely by sending a data from a

desktop computer side to the mobile robot side.

This project uses the UC1817 RF Module for the transmitter

side through the power of 0dBm (1milliwatt) at the frequency of

5

(430-439), 433MGz for a nominal value, and thus, the design and

architectures of the transmitter and receiver module is beyond of

my project proposal. The RF module ranges about a distance not

more than 100ft but it can do more than 100ft distance for an

open space. It uses a wireless camera to make the mobile robot

freely move around.

The transmitter side controlled the robot through UC1817

transmitter module connected via RS232 communication serial port

in sending a data command. The data commands transmit to the

receiver side only if the RS232 serial port is decoded this done

through C#.net programming language.

The mobile robot is limited in any form of stairs; it can

only be worked in a plane area as long as it could reach the

range given by the transmitter module.

C#.net programming language is used to communicate the

RS232 serial port. C#.net is used because, it is an open source

programming language, and it can be downloaded anytime at

http://www.microsoft.com.

6

1.6 DEFFINATION OF TERMS:

Data-A collection of digital bits (binary digits) with

informational content such as a computer file, a digital

image, or a digital sound recording, wireless file

transfer. General expression for information, especially

in encoded or written form.

Frequency- frequency symbol, f. The rate at which a phenomenon

is repeated. The basic unit of frequency is the

Hertz (Hz), which represents one complete cycle per

second. Common units encountered in electronics are the

kilohertz (kHz), megahertz (MHz), and gigahertz

(GHz), where 1 kHz = 10 3 Hz, 1 MHz = 106 Hz, and 1 GHz

= 109 Hz. Occasionally, the terahertz (THz) is used; 1

THz = 1012 Hz.

Microcontroller-A computer contained within a single integrated

circuit (IC). The simplest such devices perform

elementary functions. More sophisticated devices control

radio receivers and transmitters, television sets,

automobiles, aircraft, and robots. The most advanced

devices can be programmed to provide electrical

impulses to control erratically functioning

body organs, move the muscles of paralyzed

persons, and transcribe speech to writing or vice versa.

It is also known as microcomputer.

Receiver- A device or system operated at the destination end of a

communication link; it accepts signal and processes or

7

converts it for local use Also see specific entries for

various types of receiver. 2. The earpiece of a telephone.

3. A radiobroadcast-band tuner integrated with a general

purpose preamplifier and power amplifier, an containing

standard jacks for input and output audio signals to and

from peripheral equipment.

RS232- (Recommended standard-232) is a standard interface

approved by the Electronic Industries Association (EIA)

for connecting serial devices. It describes the physical

interface and protocol for relatively low-speed serial

data communication between computers and related devices.

RS-232 is the interface that your computer uses to talk to

and exchange data with your modem and other serial

devices. The serial ports on most computers use a subset

of the RS-232C standard.

Transmitter-equipment for producing and sending signals or data.

One who originates signals or data.

Zilog- A brand of microcontroller.

Z8F6401- A product of Zilog microcontroller which contains 40

pins and a member of Z8 encore! microcontroller family.

8

CHAPTER II

REVIEW OF RELATED LITERATURE

2.1 What’s a Microcontroller?

A microcontroller is a computer-on-a-chip, or, if the

researcher prefer, a single-chip computer. Micro suggests that

the device is small, and controller tells you that the device

might be used to control objects, processes, or events. Another

term to describe a microcontroller is embedded controller,

because the microcontroller and its support circuits are often

built into, or embedded in, the devices they control. You can

find microcontrollers in all kinds of things these days. Any

device that measures, stores, controls, calculates, or displays

information is a candidate for putting a microcontroller inside.

In contrast, a microcontroller is a single-chip computer because

it contains memory and I/O interfaces in addition to the CPU.

Because the amount of memory and interfaces that can fit on a

single chip is limited, microcontrollers tend to be used in

smaller systems that require little more than the microcontroller

and a few support components.

A microcontroller is similar to the microprocessor inside a

personal computer. Examples of microprocessors include Intel’s

8086, Motorola’s 68000, and Zilog’s Z80. Both microprocessors and

microcontrollers contain a central processing unit, or CPU. The

CPU executes instructions that perform the basic logic, math, and

data-moving functions of a computer. To make a complete computer,

9

a microprocessor requires memory for storing data and programs,

and input/output (I/O) interfaces for connecting external devices

like keyboards and displays.

2.2 Brief history

2.2.1 The Intel 4004, the first (Nov 1971)

The first single chip CPU was the Intel 4004, a 4-bit

processor meant for a calculator. It processed data in 4 bits,

but its instructions were 8 bits long. Program and Data memory

were separate, 1K data memory and a 12-bit PC for 4K program

memory. There were also sixteen 4-bit (or eight 8-bit) general

purpose registers.

The 4004 had 46 instructions, using only 2,300 transistors

in a 16-pin DIP. It ran at a clock rate of 740 kHz (eight clock

cycles per CPU cycle of 10.8 microseconds) - the original goal

was 1MHz, to allow it to compute BCD arithmetic as fast (per

digit) as a 1960's era IBM 1620. The 4040 (1972) was an enhanced

version of the 4004, adding 14 instructions, larger (8 level)

stack, 8K program space, and interrupt abilities (including

shadows of the first 8 registers).

2.2.2 TMS 1000, First microcontroller (1972)

Texas Instruments followed the Intel 4004/4040 closely with

the 4-bit TMS 1000, which was the first microprocessor to include

enough RAM, and space for a program ROM, to allow it to operate

10

without multiple external support chips. It also featured an

innovative feature to add custom instructions to the CPU.

2.2.3 The Intel 8080 (April 1974)

The 8080 was the successor to the 8008 (April 1972,

intended as a terminal controller, and similar to the 4040).

While the 8008 had 14 bit PC and addressing, the 8080 had a 16

bit address bus and an 8 bit data bus. Internally it had seven 8

bit registers (A-E, H, L - pairs BC, DE and HL could be combined

as 16 bit registers), a 16 bit stack pointer to memory which

replaced the 8 level internal stacks of the 8008, and a 16 bit

program counter. It also had several I/O ports - 256 of them, so

I/O devices could be hooked up without taking away or interfering

with the addressing space, and a signal pin that allowed the

stack to occupy a separate bank of memory.

2.2.4 The 650x, Another Direction (1975)

Unlike the 8080 and its kind, the 6502 and 6800 had very

few registers. It was an 8 bit processor, with 16 bit address

bus. Inside was one 8 bit data register, two 8 bit index

registers, and an 8 bit stack pointer (stack was preset from

address 256 ($100 hex) to 511 ($1FF)). It used these index and

stack registers effectively, with more addressing modes,

including a fast zero-page mode that accessed memory addresses

from address 0 to 255 ($FF) with an 8-bit address that speeded

11

operations (it didn't have to fetch a second byte for the

address).

2.2.5 Microchip Technology PIC 16x/17x, call it RISC (1975)

The PIC 16x is an interesting look at an 8 bit design made

with slightly newer design techniques than other 8 bit CPUs in

this list - around 1978 by General Instruments (the 1650, a

successor to the more general 1600). It lost out to more popular

CPUs and was later sold to Microchip Technology, which still

sells it for small embedded applications. An example of this

microprocessor is a small PC board called the BASIC Stamp,

consisting of 2 ICs - an 18-pin PIC 16C56 CPU (with a BASIC

interpreter in 512 word ROM (yes, 512)) and 8-pin 256 byte serial

EEPROM (also made by Microchip) on an I/O port where user

programs (about 80 tokenized lines of BASIC) are stored.

2.2.6 The Zilog Z-80 - End of an 8-bit line (July 1976)

The Z-80 was intended to be an improved 8080 (designed by

ex-Intel engineers), and it was - vastly improved. It also used 8

bit data and 16 bit addressing, and could execute all of the 8080

(but not 8085) op codes, but included 80 more, instructions (1,

4, 8 and 16 bit operations and even block move and block I/O).

The register set was doubled, with two banks of data registers

(including A and F) that could be switched between. This allowed

fast operating system or interrupt context switches. The Z-80

also added two index registers (IX and IY) and 2 types of

12

relocatable vectored interrupts (direct or via the 8-bit I

register).

But the thing that really made the Z-80 popular in designs was

the memory interface - the CPU generated its own RAM refresh

signals, which meant easier design and lower system cost.

It has a unique architecture with three memory spaces:

program memory, data memory, and a CPU register file. On-chip

features include UART, timers, DMA, up to 40 I/O lines. Some

versions include a synchronous/asynchronous serial channel.

Features fast interrupt response with 37 interrupt sources. The

Z8671 has Tiny Basic in ROM. The Super-8 is just that, a super

version of the Z8 with more of everything.

2.2.7 Intel 8051, Descendant of the 8048.

While the 8048 used 1-byte instructions, the 8051 has a

more flexible 2-byte instruction set. It has eight 8-bit

registers, plus an accumulator A. Data space is 128 bytes

accessed directly or indirectly by a register, plus another 128

above that in the 8052 which can only be accessed indirectly

(usually for a stack). External memory occupies the same address

space, and can be accessed directly (in a 256 byte page via I/O

ports) or through the 16 bit DPTR address registers much like in

the RCA 1802. Direct data above location 32 is bit-addressable.

Although complicated, these memory models allow flexibility in

embedded designs, making the 8051 very popular (over 1 billion

sold since 1988).

13

2.3 THE ZILOG MICROCONTROLLER

For the Zilog microcontroller architecture:

FIG. A.1 THE GENENRAL BLOCK DIAGRAM OF eZ8 MICROCONTROLLER

FAMILY (Courtesy of Z8F640 data sheets)

CPU FEATURES:

The eZ8, ZiLOG’s latest 8-bit Central Processing Unit

(CPU), meets the continuing demand for faster and more code-

efficient microcontrollers. The eZ8 CPU executes a superset of

the original Z8 instruction set. The eZ8 CPU features include:

• Direct register-to-register architecture allows each register

to function as an

14

• Software stack allows much greater depth in subroutine calls

and interrupts than hardware stacks

• Compatible with existing Z8 code

• Expanded internal Register File allows access of up to 4KB

• New instructions improve execution efficiency for code

developed using higher-level programming languages, including C

• Pipelined instruction fetch and execution

• New instructions for improved performance including BIT, BSWAP,

BTJ, CPC, LDC, LDCI, LEA, MULT, and SRL

• New instructions support 12-bit linear addressing of the

Register File

• Up to 10 MIPS operation

• C-Compiler friendly

• 2-9 clock cycles per instruction

General Purpose I/O

The Z8 Encore! features seven 8-bit ports (Ports A-G) and

one 4-bit port (Port H) for general purpose I/O (GPIO). Each pin

is individually programmable.

Flash Controller

The Flash Controller programs and erases the Flash memory.

10-Bit Analog-to-Digital Converter

The Analog-to-Digital Converter (ADC) converts an analog

input signal to a 10-bit binary number. The ADC accepts inputs

from up to 12 different analog input sources.

15

UARTs

Each UART is full-duplex and capable of handling

asynchronous data transfers. The UARTs support 8- and 9-bit data

modes and selectable parity.

(I2C)

The inter-integrated circuit (I2C) controller makes the Z8

Encore! compatible with the (I2C) protocol. The (I2C) controller

consists of two bidirectional bus lines, a serial data (SDA) line

and a serial clock (SCL) line.

Serial Peripheral Interface

The serial peripheral interface (SPI) allows the Z8 Encore!

To exchange data between other peripheral devices such as

EEPROMs, A/D converters and ISDN devices. The SPI is a full-

duplex, synchronous, character-oriented channel that supports a

four-wire interface.

Timers

Up to four 16-bit reloadable timers can be used for

timing/counting events or for motor control operations. These

timers provide a 16-bit programmable reload counter and operate

in One-Shot, Continuous, Gated, Capture, Compare, Capture and

Compare, and PWM modes. Only 3 timers (Timers 0-2) are available

in the 40- and 44-pin packages.

Interrupt Controller

The Z8F640x family products support up to 24 interrupts.

These interrupts consist of 12 internal and 12 general-purpose

16

I/O pins. The interrupts have 3 levels of programmable interrupt

priority.

Reset Controller

The Z8F640x family can be reset using the RESET pin, power-

on reset, Watch-Dog Timer (WDT), Stop mode exit, or Voltage

Brown-Out (VBO) warning signal.

On-Chip Debugger

The Z8 Encore! features an integrated On-Chip Debugger

(OCD). The OCD provides a rich set of debugging capabilities,

such as reading and writing registers, programming the Flash,

setting breakpoints and executing code. A single-pin interface

provides communication to the OCD.

DMA Controller

The Z8F640x family features three channels of DMA. Two of

the channels are for register RAM to and from I/O operations. The

third channel automatically controls the transfer of data from

the ADC to the memory.

For more information regarding the eZ8 CPU, refer to the eZ8 CPU

User Manual available for download at http://www.zilog.com/

2.4 BRIEF HISTORY OF ROBOTS

The robot really became a popular concept during the late

1950's and early 1960's. With the automotive industry in full

expansion at that time, industrial robots were employed to help

factory operators. Industrial robots do not have the

imaginative, human-like appearance that we have been dreaming of

17

throughout the ages. They are computer-controlled manipulators,

like arms and hands, which can weld or spray paint cars as they

roll down an assembly line.

Robots were created to help humans, especially in high risk

or dangerous situations. A robot can deactivate a bomb, go to the

edges of an active volcano, transport dangerous materials,

explore the ocean floor and even perform tasks in the most

hostile environment known to man: space without the proper

protection, like a spacecraft or even the EVA suit used by space

walkers, survival in space is not possible. When repairs have to

be made outside a spacecraft, astronauts are sometimes required

to leave the space shuttle or the Space Station. These

extravehicular activities are very dangerous; so, robots are used

to carry out tasks in space in order to limit the number of risks

taken. As we have discovered, today's robots do not necessarily

resemble humans. A human is made up of a number of different

visible components, like a head where the brain sends messages

to the rest of the body; arms and hands to grasp and manoeuvre

objects; a torso to which all of the components are attached and

legs to move. Robots need all these different components to

operate. A number of robots make up the Mobile Servicing System.

The Mobile Servicing System is Canada's contribution to the

International Space Station. Canada created the Mobile Servicing

System to help in the construction of the Space Station; it will

first build the Space Station and then help maintain the Station

throughout its lifetime.

18

Just like humans have a brain that sends messages to the

rest of the body; there is a main computer that communicates with

the robotic system. The Space Station Remote Manipulator System

(SSRMS), Canada's new robotic arm, will be able to lift and move

objects the size and mass of the Space Shuttle. The crew of STS-

100 with Canadian Space Agency Astronaut Chris Hadfield will

deliver and install the new arm to the International Space

Station as it orbits high above the Earth. This second generation

Canadarm is Canada's primary contribution to the Station. The

Space Vision System (CSVS), another critical piece of Canadian

robotics innovation, is comprised of several cameras and targets.

These are located in key areas of the Space Station and on the

robotic arm; it will serve to pinpoint the exact movement and

location of components for the building and maintenance of the

Station. Therefore, astronauts from inside the Space Station are

able to operate the Mobile Servicing System by using this Space

Vision System.

19

2.5 THE RS232 DATA

TABLE 1. THE RS232 DATA

FIG A.2 RS232 ASSIGNING PIN

20

CHAPTER 3

METHODOLOGY

3.1 STUDY DESIGN

Upon constructing a robot is quietly difficult in terms of

mechanical and electrical parts of materials to be used.

In mechanical part the system, it must be workable to avoid

malfunctioning. It has to be built an appropriate combination of

materials in mechanical parts although it is not totally exact

but it will make workable. The mechanical parts are one of the

more difficult parts to be considered.

On the other hand, electrical part, this is quit more

complicated, because it deals with advance electronic mechanisms

such as designing a circuit in microcontroller, an H-bridge

circuit using L298 in controlling the motors, programming a Z8

encore! microcontroller, programming a data transmitter in

desktop computer using c#.net and decoding the RS232 serial port.

The harder part is to minimize the uncontrolled losses of data in

transmitter side.

21

3.2 THEORETICAL STRUCTURE

FIGURE A.3 THE SYSTEM CONFIGURATION FOR THE PROCESS OF DATA

3.3 RESEARCH PROCEDURE

Before constructing and starting to begin this project

proposal, we have to determine first the system of our works.

22

3.3.1 At the transmitter side:

The desktop computer is the part where the data will be

created and waiting for the command to transfer which was the

programmed used is in C#.net shown in appendix (A). After the

data was set and sent to RS232 serial communication port where

the UC1817 transmitter module attach, instantly UC1817

transmitter throw a binary data in analog form to the receiver

side of 433MHz at a power rating of 1milliwatt. The UC1817

transmitter uses 9pin ports RS232C serial communication. Among

the 9 pins only pin 3 transmitter pin, pin 4 the data terminal

ready, pin 5 the signal ground. The transmitter pin or pin 3 is

the only pin who transmit digital signal to UC1817 module

transmitter and pin 4 always at the high level and pin5 is a

ground signal.

3.3.2 At the receiver side:

The flow of the data in a wireless system side in this

special project is that; at the sender side the data transfer

first the header at a hexadecimal form of 0x54 or 0x55, then the

actual data which actually you want to transmit, then the

checksum. The checksum is the last data to transmit such as the

header + actual data and it’s automatically truncated to 8 bits.

The hexadecimal data 0x54 and 0x55 is the clock address data of

the Z86E02 to perform the output up to 216 bit or 2 byte of

23

combination data through using the 74LS374. Upon reception, the

receiver checks the integrity of the header and proceeds to

compute its own checksum and compares it with the received

checksum. If the checksum matches, a valid data reception is

assumed and the 8-bit data is outputted on the receiver output

port. Other-wise, if error is found in either header or checksum,

the receiver rejects the data set by ignoring it.

The data receive at a sensitivity of 8uV at 2.4 KHz 80

percent mod from the receiver amplify to its maximum rating. In

order to work the receiver module more efficient, avoid the robot

to go beyond the wall, because the RF can hardly penetrate the

thick wall.

The receiver side composes of, simple mobile robot toy, the

receiver module, data decoder which uses the Z8f6401

microcontroller, he H-bridge which controlling the wheel of the

motor, steeper and servo motor which both controls the wireless

camera and the camera.

24

CHAPTER 4

PRESENTATION AND IMPLEMENTATION OF DATA

The circuit figure A.4 is quit complicated design. It

contains the layout of the microcontroller, servo motor and the

transistorized circuits of stepper motor in, the researcher

should aware of the circuitry where the connection of the source

of the microcontroller should be separate source of the two

motors the stepper and the servo. Because the Z8F6401

microcontroller can power for only 3.3 volts in order to operate

the microcontroller. Unlike for the servo it reaches up to 5

volts to operate and 12 volts maximum for stepper motor.

The circuit of the stepper motor is design to overcome and

avoid the extra current spikes which can actually destroy the

inductor coil of the stepper motor. The microcontroller can drive

the stepper motor through transistorized design see fig. A.4.

The servo motor can be directly controlled by the

microcontroller. It will support the cmos output controlled. The

servo could be drive through the PWM signal or Pulse Width

Modulation. It turns only up to 180 degrees, and which can be

drive depend upon the percentage of modulation. It can be solve

in to this basic formula:

25

FIG. A.4 THE CIRCUIT DIAGRAM OF MICROCONTROLLER AND STEPPER

MOTOR.

26

FIG. A.5 3DIMENSIONAL VIEW OF MCU AND PCB LAYOUT

27

For H-bridge circuit of the motors. For this it uses L298 for the circuit.

FIG. A.6 3D VIEW OF H-BRIDGE TYPE

FIG. A.8 L298 PIN CONFIGURATION

FIG. A.9 L298 CIRCUIT LAYOUT

FIG. A.7 PCB OF H-BRIDGE LAYOUT

28

The h-bridge circuit layout of Fig.A.9 uses the L298 power

IC which could be controlled in digital signal. It power up to 50

volts maximum and can be controlled. The L298 is an integrated

monolithic circuit in a 15-lead Multi-watt and PowerSO20

packages. It is a high voltage, high current dual full-bridge

driver designed to accept standard TTL logic levels and drive

inductive loads such as relays, solenoids, DC and stepping

motors. Two enable inputs are provided to enable or disable the

device independently of the input signals. The emitters of the

lower transistors of each bridge are connected together and the

corresponding external terminal can be used for the connection of

an external sensing resistor. An additional supply input is

provided so that the logic works at a lower voltage.

Circuit data: Treat all Integrated Circuit (IC) as a prone of static force ITEMS DISCRIPTION Quantity *

price(Php) Z846401 40 pin Z8 encore!

Microcontroller (1)(1200.00)

UC1817/ 455 RF receiver

Wireless module (1)(900.00)

L298 Dual full bridges driver

(1)(250.00)

Servo motor ------------------- (1)(650.00) Stepper motor ------------------- (1)(300.00) 2N2222A NPN transistors (8)(8.00) LM317 Voltage regulator (1)(20.00) 7805 5 volts voltage

regulator (2)(18.00)

1N4001 Diode (16)(1.50) Resistors ------------------- (32)(.75) Capacitors

Polarize and Ceramic

(7)(8.00)

Screw terminal ------------------- (12)(13.50) SWG solid wires (4meters)(6.50)per

29

meter Mobile toy ------------------- (1)(350.00) C#.net (Csharp) Software Open source (free

to down load) Desktop Computer (1)()

PCB and other components

700.00

Total: 4,762.00 without computer

TABLE 2 LIST OF COMPONENTS

The complete source and code of the program of this robot

(see figure a.10) can be found in appendices A an B. for the

appendix A that is the C#.net code which control the transmitter

signal whereas the robot can be maneuvered for that program. Be

aware of editing the program if the researchers edit some of the

data code which uses to transmit data sometimes it will not fit

in to the receiver decoder. Thus the program of the appendices A

and B are co-related each other and for the program of appendix B

is for the microcontroller.

30

FIG. A.10 THE FINAL LOOK OF THE PROJECT

31

CHAPTER 5

RECOMMENDATION AND CONCLUSION

5.1 RECOMENDATION

Security services are widely needed for the protection of

any form of criminal moves. Using any gadgets such as

surveillance camera, intruders’ detectors, robots and many bother

can help a lot to prevent the risk of the human security

services. It is highly recommended for the gadget to have a high

quality of equipment for the hi-tech uses. Upon of this project

proposal it is more efficient to have an almost accurate of data

to receive and or preventing the losses of data in transmission.

It is recommended to have a two antenna both ends which assure to

have an efficient transmit of data. The power source is one of

the problems of any electronic gadgets. For recommendations of

this project it is much better to use a self charging battery to

minimize the weak of the battery.

Improving the data sender side and the wireless camera, it

is much better to have a two wireless camera and record it to the

desktop computer. For further improvement the researcher would

implement the data image processing and intruder alarm while

recording the video, this could help a lot to recognize instantly

the person weather it’s an intruders or not and it should be much

better to record the from time to time to ensure much better

security.

32

5.2 CONCLUSION In development of the security system is hardly to

implement in easier way, the life of the innocent people must be

put in the risk. The system of the project should be examined

twice before it implement. The development of this project is

much probably decreasing the risk of life in the human security

services. And it is much better security guard in overnight

unless the battery becomes weak.

To develop wireless technology could probably decrease the

elements of the row materials. Your application could be apply

without carrying a bundle of wire to generate your robots.

The evolution of hi-tech technology could create

tremendous gadgets in today technology. The existing of

microcontroller can simplify the huge work. The continuous study

of newest technology could bring us better future to live in the

sense of power conservation and other way to live in simple and

luxuries way. The nano-technology is the latest technology

invented in 21st century, which still embedded with

microcontroller. Observing the world today, scientist focuses on

the biomedical technology, which could give us much greater help

to improve our life style. On the other hand, some focuses on the

warfare technology, which gives the arm forces much safer way to

hunt their enemies.

The zilog microcontroller is can’t hard to implement if the

researcher has a back ground about C language programming. The

33

software used to transmit signal is the C#.net. This software can

be downloaded anytime at http://wwww.microsoft.com/ and which the

researcher found out that it is the heritage of from C to C++ and

to C#. If the researcher has a background either of these two

languages the C and C++ you can begin coding right away.

According to some author that C#.net is one of trend in

programming a networking and probably much better than Java

software because Java run 10 times slower than Microsoft base

like c#. Accessing the serial port can easily implement in c#

program.

34

BIBLIOGRAPHY

Axelson, Jan “The Microcontroller Idea Book” 2209 Winnebago St.

Madison, WI 53704, United States of America;

International Thomson Publishing (ITP).1997

Gaonkar, Ramesh S. “Microprocessor Architecture Programming and

Application with 8085” United States of America;

Macmillan Publishing Company.1989.

Chua, Henry (2005). “8/16-bit RF Wireless Remote Output”: e-Gizmo

Mechatronix Central, 16 pages in Datasheets.

Retrieved 2005, from http://www.e-gizmo.com

Gordon, Mc Comb (2001). “The Builder’s Robot Bonanza” United

States of America; McGraw-Hill. 2001.

Dr. Timothy S. Margush (2006).” USING AN 8-BIT RISC

MICROCONTROLLER IN AN ASSEMBLY LANGUAGE PROGRAMMING

COURSE” University of Akron.2006.

35

APPENDIX A

FIG. A.11 APPLET VIEWER FOR ROBOT CONTROL

This is a C#.net code. This is a designer form. namespace WindowsApplication1 { partial class Form1 { /// <summary> /// Required designer variable. /// </summary> private System.ComponentModel.IContainer components = null; /// <summary> /// Clean up any resources being used. /// </summary> /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param> protected override void Dispose(bool disposing) { if (disposing && (components != null)) { components.Dispose(); } base.Dispose(disposing); } #region Windows Form Designer generated code /// <summary> /// Required method for Designer support - do not modify

36

/// the contents of this method with the code editor. /// </summary> private void InitializeComponent() { this.components = new System.ComponentModel.Container(); System.Windows.Forms.LinkLabel linkLabel1; System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1)); this.progressBar1 = new System.Windows.Forms.ProgressBar(); this.comboBox1 = new System.Windows.Forms.ComboBox(); this.checkBox1 = new System.Windows.Forms.CheckBox(); this.button7 = new System.Windows.Forms.Button(); this.label1 = new System.Windows.Forms.Label(); this.serialPort1 = new System.IO.Ports.SerialPort(this.components); this.serialPort2 = new System.IO.Ports.SerialPort(this.components); this.serialPort3 = new System.IO.Ports.SerialPort(this.components); this.serialPort4 = new System.IO.Ports.SerialPort(this.components); this.timer1 = new System.Windows.Forms.Timer(this.components); this.timer2 = new System.Windows.Forms.Timer(this.components); this.timer3 = new System.Windows.Forms.Timer(this.components); this.timer4 = new System.Windows.Forms.Timer(this.components); this.textBox1 = new System.Windows.Forms.TextBox(); this.textBox2 = new System.Windows.Forms.TextBox(); this.label3 = new System.Windows.Forms.Label(); this.label4 = new System.Windows.Forms.Label(); this.timer5 = new System.Windows.Forms.Timer(this.components); this.button6 = new System.Windows.Forms.Button(); this.button8 = new System.Windows.Forms.Button(); this.button9 = new System.Windows.Forms.Button(); this.button10 = new System.Windows.Forms.Button(); this.textBox3 = new System.Windows.Forms.TextBox(); this.button5 = new System.Windows.Forms.Button(); this.button4 = new System.Windows.Forms.Button(); this.button1 = new System.Windows.Forms.Button(); this.button2 = new System.Windows.Forms.Button(); this.button3 = new System.Windows.Forms.Button(); this.imageList1 = new System.Windows.Forms.ImageList(this.components); linkLabel1 = new System.Windows.Forms.LinkLabel(); this.SuspendLayout(); // // linkLabel1 // resources.ApplyResources(linkLabel1, "linkLabel1"); linkLabel1.LinkBehavior = System.Windows.Forms.LinkBehavior.HoverUnderline; linkLabel1.LinkColor = System.Drawing.Color.Lime; linkLabel1.Name = "linkLabel1";

37

linkLabel1.TabStop = true; // // progressBar1 // this.progressBar1.AccessibleRole = System.Windows.Forms.AccessibleRole.None; this.progressBar1.BackColor = System.Drawing.Color.Aqua; this.progressBar1.ForeColor = System.Drawing.Color.Maroon; resources.ApplyResources(this.progressBar1, "progressBar1"); this.progressBar1.MarqueeAnimationSpeed = 5; this.progressBar1.Maximum = 0; this.progressBar1.Name = "progressBar1"; this.progressBar1.Style = System.Windows.Forms.ProgressBarStyle.Marquee; // // comboBox1 // resources.ApplyResources(this.comboBox1, "comboBox1"); this.comboBox1.ForeColor = System.Drawing.Color.Black; this.comboBox1.FormattingEnabled = true; this.comboBox1.Items.AddRange(new object[] { resources.GetString("comboBox1.Items"), resources.GetString("comboBox1.Items1"), resources.GetString("comboBox1.Items2"), resources.GetString("comboBox1.Items3")}); this.comboBox1.Name = "comboBox1"; this.comboBox1.SelectedIndexChanged += new System.EventHandler(this.comboBox1_SelectedIndexChanged); // // checkBox1 // resources.ApplyResources(this.checkBox1, "checkBox1"); this.checkBox1.Name = "checkBox1"; this.checkBox1.UseVisualStyleBackColor = true; this.checkBox1.CheckedChanged += new System.EventHandler(this.open_com_CheckedChanged); // // button7 // resources.ApplyResources(this.button7, "button7"); this.button7.ForeColor = System.Drawing.Color.Red; this.button7.Name = "button7"; this.button7.UseVisualStyleBackColor = true; this.button7.Click += new System.EventHandler(this.button7_Click); // // label1 // resources.ApplyResources(this.label1, "label1"); this.label1.Name = "label1"; // // serialPort1

38

// this.serialPort1.BaudRate = 2400; // // serialPort2 // this.serialPort2.BaudRate = 2400; this.serialPort2.PortName = "COM2"; // // serialPort3 // this.serialPort3.BaudRate = 2400; this.serialPort3.PortName = "COM3"; // // serialPort4 // this.serialPort4.BaudRate = 2400; this.serialPort4.PortName = "COM4"; // // timer1 // this.timer1.Interval = 250; this.timer1.Tag = ""; this.timer1.Tick += new System.EventHandler(this.timer1_Tick); // // timer2 // this.timer2.Interval = 3; this.timer2.Tick += new System.EventHandler(this.timer2_Tick); // // timer3 // this.timer3.Interval = 3; this.timer3.Tick += new System.EventHandler(this.timer3_Tick); // // timer4 // this.timer4.Interval = 3; this.timer4.Tick += new System.EventHandler(this.timer4_Tick); // // textBox1 // this.textBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192))))); resources.ApplyResources(this.textBox1, "textBox1"); this.textBox1.ForeColor = System.Drawing.Color.LimeGreen; this.textBox1.Name = "textBox1"; // // textBox2 // this.textBox2.BackColor = System.Drawing.Color.CornflowerBlue; resources.ApplyResources(this.textBox2, "textBox2");

39

this.textBox2.ForeColor = System.Drawing.Color.Yellow; this.textBox2.Name = "textBox2"; this.textBox2.ReadOnly = true; this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged); // // label3 // resources.ApplyResources(this.label3, "label3"); this.label3.Name = "label3"; // // label4 // resources.ApplyResources(this.label4, "label4"); this.label4.Name = "label4"; // // timer5 // this.timer5.Interval = 50; this.timer5.Tick += new System.EventHandler(this.timer5_Tick); // // button6 // this.button6.ForeColor = System.Drawing.Color.Purple; resources.ApplyResources(this.button6, "button6"); this.button6.Name = "button6"; this.button6.UseVisualStyleBackColor = true; this.button6.Click += new System.EventHandler(this.button6_Click_1); // // button8 // this.button8.ForeColor = System.Drawing.Color.Purple; resources.ApplyResources(this.button8, "button8"); this.button8.Name = "button8"; this.button8.UseVisualStyleBackColor = true; this.button8.Click += new System.EventHandler(this.button8_Click); // // button9 // resources.ApplyResources(this.button9, "button9"); this.button9.ForeColor = System.Drawing.Color.Purple; this.button9.Name = "button9"; this.button9.UseVisualStyleBackColor = true; this.button9.Click += new System.EventHandler(this.button9_Click); // // button10 // this.button10.ForeColor = System.Drawing.Color.Purple; resources.ApplyResources(this.button10, "button10");

40

this.button10.Name = "button10"; this.button10.UseVisualStyleBackColor = true; this.button10.Click += new System.EventHandler(this.button10_Click); // // textBox3 // this.textBox3.BackColor = System.Drawing.Color.CornflowerBlue; resources.ApplyResources(this.textBox3, "textBox3"); this.textBox3.ForeColor = System.Drawing.Color.Red; this.textBox3.Name = "textBox3"; this.textBox3.ReadOnly = true; // // button5 // resources.ApplyResources(this.button5, "button5"); this.button5.Name = "button5"; this.button5.UseVisualStyleBackColor = true; this.button5.Click += new System.EventHandler(this.button5_Click); // // button4 // resources.ApplyResources(this.button4, "button4"); this.button4.Name = "button4"; this.button4.UseVisualStyleBackColor = true; this.button4.Click += new System.EventHandler(this.button4_Click); // // button1 // resources.ApplyResources(this.button1, "button1"); this.button1.Name = "button1"; this.button1.UseVisualStyleBackColor = true; this.button1.Click += new System.EventHandler(this.button1_Click); // // button2 // resources.ApplyResources(this.button2, "button2"); this.button2.Name = "button2"; this.button2.UseVisualStyleBackColor = true; this.button2.Click += new System.EventHandler(this.button2_Click); // // button3 // resources.ApplyResources(this.button3, "button3"); this.button3.Name = "button3"; this.button3.UseVisualStyleBackColor = true; this.button3.Click += new System.EventHandler(this.button3_Click);

41

// // imageList1 // this.imageList1.ImageStream = ((System.Windows.Forms.ImageListStreamer)(resources.GetObject("imageList1.ImageStream"))); this.imageList1.TransparentColor = System.Drawing.Color.Turquoise; this.imageList1.Images.SetKeyName(0, "logo2.png"); // // Form1 // resources.ApplyResources(this, "$this"); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224))))); this.Controls.Add(this.textBox3); this.Controls.Add(this.button10); this.Controls.Add(this.button9); this.Controls.Add(this.button8); this.Controls.Add(this.button6); this.Controls.Add(linkLabel1); this.Controls.Add(this.label4); this.Controls.Add(this.label3); this.Controls.Add(this.textBox2); this.Controls.Add(this.textBox1); this.Controls.Add(this.label1); this.Controls.Add(this.button7); this.Controls.Add(this.checkBox1); this.Controls.Add(this.comboBox1); this.Controls.Add(this.progressBar1); this.Controls.Add(this.button5); this.Controls.Add(this.button4); this.Controls.Add(this.button3); this.Controls.Add(this.button2); this.Controls.Add(this.button1); this.Cursor = System.Windows.Forms.Cursors.SizeAll; this.ForeColor = System.Drawing.Color.DarkBlue; this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow; this.Name = "Form1"; this.Load += new System.EventHandler(this.Form1_Load); this.ResumeLayout(false); this.PerformLayout(); } #endregion private System.Windows.Forms.Button button1; private System.Windows.Forms.Button button2; private System.Windows.Forms.Button button3; private System.Windows.Forms.Button button4;

42

private System.Windows.Forms.Button button5; private System.Windows.Forms.ProgressBar progressBar1; private System.Windows.Forms.ComboBox comboBox1; private System.Windows.Forms.CheckBox checkBox1; private System.Windows.Forms.Button button7; private System.Windows.Forms.Label label1; private System.IO.Ports.SerialPort serialPort1; private System.IO.Ports.SerialPort serialPort2; private System.IO.Ports.SerialPort serialPort3; private System.IO.Ports.SerialPort serialPort4; private System.Windows.Forms.Timer timer1; private System.Windows.Forms.Timer timer2; private System.Windows.Forms.Timer timer3; private System.Windows.Forms.Timer timer4; private System.Windows.Forms.TextBox textBox1; private System.Windows.Forms.TextBox textBox2; private System.Windows.Forms.Label label3; private System.Windows.Forms.Label label4; private System.Windows.Forms.Timer timer5; private System.Windows.Forms.Button button6; private System.Windows.Forms.Button button8; private System.Windows.Forms.Button button9; private System.Windows.Forms.Button button10; private System.Windows.Forms.TextBox textBox3; private System.Windows.Forms.ImageList imageList1; } } EXECUTION CODE: using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Text; using System.IO.Ports; using System.Timers; using System.Windows.Forms; namespace WindowsApplication1 { public partial class Form1 : Form { public Form1() { InitializeComponent(); } private void button6_Click(object sender, EventArgs e) { new Form2().Show(); } private void open_com_CheckedChanged(object sender, EventArgs e) {

43

if (checkBox1.Checked == false) { textBox2.Text = null; textBox2.Text = ("stop/ready"); textBox1.Text = "\n" + " serial port closed..."; checkBox1.Enabled = false; button1.Enabled = false; button2.Enabled = false; button3.Enabled = false; button4.Enabled = false; button5.Enabled = false; button6.Enabled = false; button8.Enabled = false; button9.Enabled = false; button10.Enabled = false; progressBar1.Visible = false; comboBox1.Enabled = true; switch (comboBox1.Text) { case "COM1": { timer1.Stop(); serialPort1.Close(); comboBox1.Text = " "; break; } case "COM2": { timer2.Stop(); serialPort2.Close(); comboBox1.Text = " "; break; } case "COM3": { timer3.Stop(); serialPort3.Close(); comboBox1.Text = " "; break; } case "COM4": { textBox2.Text = ("stop/ready"); timer4.Stop(); serialPort4.Close(); comboBox1.Text = " "; break; } } } if (checkBox1.Checked == true) {

44

textBox1.Text = ("\n" + " serial port open ready to send data..."); button1.Enabled = true; button2.Enabled = true; button3.Enabled = true; button4.Enabled = true; button5.Enabled = true; checkBox1.Enabled = true; comboBox1.Enabled = false; button6.Enabled = true; button8.Enabled = true; button9.Enabled = true; button10.Enabled = true; progressBar1.Show(); textBox2.Text = null; textBox2.Text = ("stop/ready"); switch (comboBox1.Text) { case "COM1": { textBox2.Text = null; textBox2.Text = "stop/ready"; serialPort1.Open(); timer1.Start(); break; } case "COM2": { textBox2.Text = null; textBox2.Text = "stop/ready"; serialPort2.Open(); timer2.Start(); break; } case "COM3": { textBox2.Text = null; textBox2.Text = "stop/ready"; serialPort3.Open(); timer3.Start(); break; } case "COM4": { textBox2.Text = null; textBox2.Text = "stop/ready"; serialPort4.Open(); timer4.Start(); break; } } }

45

} private void timer1_Tick(object sender, EventArgs e) { //sending data at port1******************************************** textBox1.Text = ("\n" + "sending data in serial port1..."); if (textBox2.Text == "stop/ready") { button7.Enabled = true; } else { button7.Enabled = false; } if (textBox2.Text == "stop/ready") { //ready stop serialPort1.Write(new Byte[] { 0x54, 0xAA, (0x54 + 0xAA) & 0xFF }, 0, 3); } else if (textBox2.Text == "reverse") { //reverse serialPort1.Write(new Byte[] { 0x54, 0xA8, (0x54 + 0xA8) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_left") { //GO_LEFT serialPort1.Write(new Byte[] { 0x54, 0xA6, (0x54 + 0xA6) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_right") { //GO_RIGHT serialPort1.Write(new Byte[] { 0x54, 0xA4, (0x54 + 0xA4) & 0xFF }, 0, 3); } else if (textBox2.Text == "forward") { //forward serialPort1.Write(new Byte[] { 0x54, 0xAB, (0x54 + 0xAB) & 0xFF }, 0, 3); } } private void timer2_Tick(object sender, EventArgs e) { //sending data at port2******************************************** textBox1.Text = ("\n" + "sending data in serial port2..."); if (textBox2.Text == "stop/ready") {

46

button7.Enabled = true; } else { button7.Enabled = false; } if (textBox2.Text == "stop/ready") { //ready stop serialPort2.Write(new Byte[] { 0x54, 0xAA, (0x54 + 0xAA) & 0xFF }, 0, 3); } else if (textBox2.Text == "reverse") { //reverse serialPort2.Write(new Byte[] { 0x54, 0xA8, (0x54 + 0xA8) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_left") { //GO_LEFT serialPort2.Write(new Byte[] { 0x54, 0xA6, (0x54 + 0xA6) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_right") { //GO_RIGHT serialPort2.Write(new Byte[] { 0x54, 0xA4, (0x54 + 0xA4) & 0xFF }, 0, 3); } else if (textBox2.Text == "forward") { //forward serialPort2.Write(new Byte[] { 0x54, 0xAB, (0x54 + 0xAB) & 0xFF }, 0, 3); } } private void timer3_Tick(object sender, EventArgs e) { //sending data at port3********************************************* textBox1.Text = ("\n" + "sending data in serial port3..."); if (textBox2.Text == "stop/ready") { button7.Enabled = true; } else { button7.Enabled = false; } if (textBox2.Text == "stop/ready")

47

{ //ready stop serialPort3.Write(new Byte[] { 0x54, 0xAA, (0x54 + 0xAA) & 0xFF }, 0, 3); } else if (textBox2.Text == "reverse") { //reverse serialPort3.Write(new Byte[] { 0x54, 0xA8, (0x54 + 0xA8) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_left") { //GO_LEFT serialPort3.Write(new Byte[] { 0x54, 0xA6, (0x54 + 0xA6) & 0xFF }, 0, 3); } else if (textBox2.Text == "go_right") { //GO_RIGHT serialPort3.Write(new Byte[] { 0x54, 0xA4, (0x54 + 0xA4) & 0xFF }, 0, 3); } else if (textBox2.Text == "forward") { //forward serialPort3.Write(new Byte[] { 0x54, 0xAB, (0x54 + 0xAB) & 0xFF }, 0, 3); } } private void timer4_Tick(object sender, EventArgs e) { //sending data at port4********************************************** if (textBox2.Text == "stop/ready") { button7.Enabled = true; } else { button7.Enabled = false; } textBox1.Text = ("\n" + "sending data in serial port4..."); switch (textBox2.Text) { case "stop/ready": { //ready stop serialPort4.Write(new Byte[] { 0x54, 0xAA, (0x54 + 0xAA) & 0xFF }, 0, 3); break; }

48

case "reverse": { //reverse serialPort4.Write(new Byte[] { 0x54, 0xA9, (0x54 + 0xA8) & 0xFF }, 0, 3); break; } case "go_left": { //GO_LEFT serialPort4.Write(new Byte[] { 0x54, 0xA7, (0x54 + 0xA6) & 0xFF }, 0, 3); break; } case "go_right": { //GO_RIGHT serialPort4.Write(new Byte[] { 0x54, 0xA8, (0x54 + 0xA4) & 0xFF }, 0, 3); break; } case "forward": { //forward serialPort4.Write(new Byte[] { 0x54, 0xAB, (0x54 + 0xAB) & 0xFF }, 0, 3); break; } } } private void Form1_Load(object sender, EventArgs e) { button1.Enabled = false; button2.Enabled = false; button3.Enabled = false; button4.Enabled = false; button5.Enabled = false; button6.Enabled = false; button8.Enabled = false; button9.Enabled = false; button10.Enabled = false; checkBox1.Enabled = false; } private void comboBox1_SelectedIndexChanged(object sender, EventArgs e) { if (comboBox1.Text == ("COM1")) { textBox1.Text = ("\n" + "sending data in serial port4..."); checkBox1.Enabled = true; } else if (comboBox1.Text == ("COM2"))

49

{ textBox1.Text = ("\n" + "ready to open com2..."); checkBox1.Enabled = true; } else if (comboBox1.Text == ("COM3")) { textBox1.Text = ("\n" + "ready to open com3..."); checkBox1.Enabled = true; } else if (comboBox1.Text == ("COM4")) { textBox1.Text = ("\n" + "ready to open com4..."); checkBox1.Enabled = true; } } private void button1_Click(object sender, EventArgs e) { textBox2.Text = null; textBox2.Text = ("forward"); } private void button2_Click(object sender, EventArgs e) { textBox2.Text = null; textBox2.Text = ("go_right"); } private void button3_Click(object sender, EventArgs e) { textBox2.Text = null; textBox2.Text = ("go_left"); } private void button4_Click(object sender, EventArgs e) { textBox2.Text = null; textBox2.Text = ("reverse"); } private void button5_Click(object sender, EventArgs e) { textBox2.Text = null; textBox2.Text = ("stop/ready"); } private void button7_Click(object sender, EventArgs e) { switch (comboBox1.Text) { case "COM1": { serialPort1.Close(); timer1.Stop(); this.Dispose(true); break; } case "COM2":

50

{ serialPort2.Close(); timer2.Stop(); this.Dispose(true); break; } case "COM3": { serialPort3.Close(); timer3.Stop(); this.Dispose(true); break; } case "COM4": { timer4.Stop(); serialPort4.Close(); this.Dispose(true); break; } case "": { this.Dispose(true); break; } } Application.Exit(); } void check4() { switch (textBox3.Text) { case "up": { serialPort4.Write(new Byte[] { 0x54, 0xD8, (0x54 + 0xD8) & 0xFF }, 0, 3); textBox3.Text = "up"; break; } case "down": { serialPort4.Write(new Byte[] { 0x54, 0xD6, (0x54 + 0xD6) & 0xFF }, 0, 3); textBox3.Text = "down"; break; } case "left": { serialPort4.Write(new Byte[] { 0x54, 0xD2, (0x54 + 0xD2) & 0xFF }, 0, 3); textBox3.Text = "left"; break;

51

} case "right": { serialPort4.Write(new Byte[] { 0x54, 0xD4, (0x54 + 0xD4) & 0xFF }, 0, 3); textBox3.Text = "right"; break; } } } void check3() { switch (textBox3.Text) { case "up": { serialPort3.Write(new Byte[] { 0x54, 0xD8, (0x54 + 0xD8) & 0xFF }, 0, 3); textBox3.Text = "up"; break; } case "down": { serialPort3.Write(new Byte[] { 0x54, 0xD6, (0x54 + 0xD6) & 0xFF }, 0, 3); textBox3.Text = "down"; break; } case "left": { serialPort3.Write(new Byte[] { 0x54, 0xD2, (0x54 + 0xD2) & 0xFF }, 0, 3); textBox3.Text = "left"; break; } case "right": { serialPort3.Write(new Byte[] { 0x54, 0xD4, (0x54 + 0xD4) & 0xFF }, 0, 3); textBox3.Text = "right"; break; } } } void check2() { switch (textBox3.Text) { case "up": { serialPort2.Write(new Byte[] { 0x54, 0xD8, (0x54 + 0xD8) & 0xFF }, 0, 3);

52

textBox3.Text = "up"; break; } case "down": { serialPort2.Write(new Byte[] { 0x54, 0xD6, (0x54 + 0xD6) & 0xFF }, 0, 3); textBox3.Text = "down"; break; } case "left": { serialPort2.Write(new Byte[] { 0x54, 0xD2, (0x54 + 0xD2) & 0xFF }, 0, 3); textBox3.Text = "left"; break; } case "right": { serialPort2.Write(new Byte[] { 0x54, 0xD4, (0x54 + 0xD4) & 0xFF }, 0, 3); textBox3.Text = "right"; break; } } } void check1() { switch (textBox3.Text) { case "up": { serialPort1.Write(new Byte[] { 0x54, 0xD8, (0x54 + 0xD8) & 0xFF }, 0, 3); textBox3.Text = "up"; break; } case "down": { serialPort1.Write(new Byte[] { 0x54, 0xD6, (0x54 + 0xD6) & 0xFF }, 0, 3); textBox3.Text = "down"; break; } case "left": { serialPort1.Write(new Byte[] { 0x54, 0xD2, (0x54 + 0xD2) & 0xFF }, 0, 3); textBox3.Text = "left"; break; } case "right":

53

{ serialPort1.Write(new Byte[] { 0x54, 0xD4, (0x54 + 0xD4) & 0xFF }, 0, 3); textBox3.Text = "right"; break; } } } private void timer5_Tick(object sender, EventArgs e) { switch (comboBox1.Text) { case "COM1": { timer1.Stop(); for (int t = 0; t < 10; t++) { check1(); } textBox3.Text = null; timer5.Stop(); timer1.Start(); break; } case "COM2": { timer2.Stop(); for (int t = 0; t < 10; t++) { check2(); } textBox3.Text = null; timer5.Stop(); timer2.Start(); break; } case "COM3": { timer3.Stop(); for (int t = 0; t < 10; t++) { check3(); } textBox3.Text = null; timer5.Stop(); timer3.Start(); break; } case "COM4": { timer4.Stop(); for (int t = 0; t < 10; t++)

54

{ check4(); } timer5.Stop(); timer4.Start(); textBox3.Text = null; break; } } } private void textBox2_TextChanged(object sender, EventArgs e) { if (textBox2.Text == "stop/ready") { checkBox1.Enabled = true; } else { checkBox1.Enabled = false; } } private void button6_Click_1(object sender, EventArgs e) { //textBox3.Text = null; textBox3.Text = "up"; timer5.Start(); } private void button8_Click(object sender, EventArgs e) { //textBox3.Text = null; textBox3.Text = "left"; timer5.Start(); } private void button9_Click(object sender, EventArgs e) { //textBox3.Text = null; textBox3.Text = "down"; timer5.Start(); } private void button10_Click(object sender, EventArgs e) { //textBox3.Text = null; textBox3.Text = "right"; timer5.Start(); } } }

55

APPENDIX (B)

#include <ez8.h> #define reverse 0xA9 #define go_left 0xA7 #define go_right 0xA8 #define forward 0xAB #define stop_ready 0xAA #define camera_up 0xD8 #define camera_down 0xD6 #define camera_left 0xD2 #define camera_right 0xD4 int check_pin(void); int strd; void timer_01(int); void rev(void),stop(void), fwrd(void),left(void),right(void); void cam_up(void),cam_down(void), cam_left(void),cam_right(void); void delay(int high,int low)

{ T1CTL &= ~0x80; T1CTL = (0x07 << 3)|0x01; T1H = 0x00; T1L = 0x00; T1RH = high; T1RL = low; IRQ0ENH &= ~0x40; IRQ0ENL &= ~0x40; IRQ0 &= ~0x40; T1CTL |= 0x80;

} void wait(void) { while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; } void init_pin(void) {

PADD = 0x00; PAOC = 0x00; PAAF = 0x00 | 0x01;/*for timer0 */ PAHDE = 0x00; PBDD = 0xFF; PBOC = 0x00; PBHDE = 0xFF; PBAF = 0x00; PDDD = 0x00; PDOC = 0x00; PDAF = 0x00; PDHDE = 0xFF; PCDD = 0x00;

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PCOC = 0x00; PCAF = 0x00 | 0x01; //for timer1 PCHDE = 0x00;

} ///////////////////////////////////////////////////////////// void main(void) {

int detect; strd=80; timer_01(80); init_pin(); delay (0x00,0x00); timer_01(0xA0); while(1) { detect = check_pin(); switch (detect) {

/////////////////////motor control/////////////////// case reverse: { rev(); break; } case stop_ready: { stop(); break; } case forward: { fwrd(); break; } case go_left: { left(); break; } case go_right: { right(); break; } ////////////////////end motor control/////////////////// ////////////////////camera control////////////////////// case camera_up: { cam_up(); break; }

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case camera_down: { cam_down(); break; } case camera_left: { cam_left(); break; } case camera_right: { cam_right(); break; } ////////////////end camera control////////////////////////// } } } ///////////////////////////////////////////////////////////// int check_pin() { int value; switch (PBIN) { /////////////////////motor control//////////////////////// case 0xAB: value = 0xAB; break; case 0xA9: value = 0xA9; break; case 0xA7: value = 0xA7; break; case 0xA8: value = 0xA8; break; case 0xAA: value = 0xAA; break; ///////////////////////end motor control/////////////////// /*********************************************************/ //////////////////////camera control start//////////////// case 0xD2: value = 0xD2; break; case 0xD4: value = 0xD4; break; case 0xD6:

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value = 0xD6; break; case 0xD8: value = 0xD8; break; /////////////////////end camera control//////////////////// } return value; } /**********************************************************/ //using the pin PORT D ******* D0, D1,--->RIGHT WHEEL CONTROL

// D4, D5,--->LEFT WHEEL CONTROL void rev(void) ///******PDOUT = 00010001 {

delay(0x07,0xA0);wait(); PDOUT = 0x11; delay(0x07,0xA0);wait(); PDOUT = 0x03;

} void stop(void)///******PDOUT = 00000000 { PDOUT = 0x00; } void fwrd(void)//******PDOUT = 00100010 { delay(0x07,0xD0);wait(); PDOUT = 0x22; delay(0x07,0xD0);wait(); PDOUT = 0x22; } void left(void)//********PDOUT = 00010010 {

stop(); PDOUT = 0x12; delay(0x07,0xA0);wait(); PDOUT = 0x12; stop();

} void right(void)//********PDOUT = 00100001 {

stop(); PDOUT = 0x21; delay(0x07,0xA0);wait(); PDOUT = 0x21; stop();

} /**********************************************************/

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///////////camera control/////////////////////////// void cam_left(void) { delay(0x07,220); PAOUT=0x10; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT<<=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT<<=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT<<=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; } void cam_right(void) { delay(0x07,220); PAOUT=0x80; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT>>=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT>>=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; PAOUT>>=1; while (!(IRQ0 & 0x40)); IRQ0 &= ~0x40; } /////timer1///////////////////////////////////// ////2ms timer0****for servo motor//////////////// /////50% 0f PWM is ((0xA0)/2 or (160/2) base 10// //dont pass timer = 0 else it goes top by diffualt //<-------------------------------------------->// void timer_01(int strd) { PAAF = 0x02;

T0CTL &= ~0x80; T0CTL = (0x07 << 3) | 0x43; T0H = 0x00; T0L = 0x01; T0RH = 0x7F>>8; T0RL = 160&0xFF; T0PWMH = 0x7F>>8; T0PWML = strd&0xFF; IRQ0ENH &= ~0x20; IRQ0ENL &= ~0x20;

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IRQ0 &= ~0x20; T0CTL |= 0x80;

} void cam_up(void) { if (strd<146) timer_01(strd = strd+2); else strd=144; while (!(IRQ0 & 0x20)); IRQ0 &= ~0x20; } void cam_down(void) { if (strd>20) timer_01(strd = strd-2); else strd=22; while (!(IRQ0 & 0x20)); IRQ0 &= ~0x20; } /***********************************************************/ //////////END OF THE PROGRAM/////////////////////////////////

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APPENDIX D

Courtesy of e-gizmo Mechatronix central.

FIG A.12 TRANSMITTER AND RECEIVER MODULE

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TABLE 3 LIST OF RECEIVER COMPONENTS

FIG.A.13 PCB LAYOUT FOR RECIEVER MODULE (Copper Bottom)

FIG.A.14 PCB LAYOUT FOR RECIEVER MODULE (Copper TOP)

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TABLE 4 TRANSMITTER COMPONETS

FIG A.15 TRANSMITTER MODULE A transmitter and receiver circuit layout and diagram.