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Obstacle Detecting Wireless Robot1

This document summarizes a summer training report on an embedded system project to design an obstacle detecting wireless robot. The robot uses an ultrasonic sensor to detect obstacles and sends distance data to a laptop via XBee wireless communication. Based on the received distance data, a user can manually control the robot's movement using the laptop to avoid collisions with obstacles. The robot and laptop each contain an Embedded Application Board with a PIC18 microcontroller to process signals from the ultrasonic sensor and XBee modules and control the robot's motors. Detailed descriptions of the components, schematics, programming, and operation of the robot are included in the report.

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Prabhakar Das
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23 views10 pages

Obstacle Detecting Wireless Robot1

This document summarizes a summer training report on an embedded system project to design an obstacle detecting wireless robot. The robot uses an ultrasonic sensor to detect obstacles and sends distance data to a laptop via XBee wireless communication. Based on the received distance data, a user can manually control the robot's movement using the laptop to avoid collisions with obstacles. The robot and laptop each contain an Embedded Application Board with a PIC18 microcontroller to process signals from the ultrasonic sensor and XBee modules and control the robot's motors. Detailed descriptions of the components, schematics, programming, and operation of the robot are included in the report.

Uploaded by

Prabhakar Das
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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SUMMER TRAINING REPORT ON EMBEDDED SYSTEM

Submitted by
Dibash Kumar Baishya (11/531) Dipjyoti Das (11/532) Luit Bor Kalita (11/533) Nabajit Pathak (11/534) Sanjay Kalita (11/535)

Assam Engineering College Jalukbari, Ghy-13

ACKNOWLEDGEMENT
First of all, we would like

Contents
1 Session Report 1.1 Introduction . 1.2 MICROCONTROLLER 1.2.1 Definition 1.3 EAB-Embedded Application Board 1.3.1 Description 1.3.2 Applications 1.3.3 Characteristics 1.4 ON BOARD MICROCONTROLLER 1.4.1 Description 1.5 SENSOR CARD 1.5.1 Description 1.5.2 Accelerometer 1.5.3 Magnetometer 1.5.4 Static pressure sensor 1.5.5 Gyroscope 1.6 Software 1.6.1 Introduction 1.6.2 Features Of MPLAB C18 Compiler for PIC18 MCUs 1.6.3 Ds30Loader 1.7 Base Conversion 1.8 Bitwise Operators 1.9 Logical Shift Operation 1.9.1 Tutorial 1.10 TIMER AND OSCILLATOR 1.10.1 Timer 1.10.2 Oscillator 1.11 Configuring Oscillator 1.11.1 System Clock selection 1.11.2 Configuration bits 1.11.3 Configuration registers 1.11.4 OSCCON: OSCILLATOR CONTROL REGISTER 1.11.5 OSCCON2: OSCILLATOR CONTROL REGISTER 1.11.6 OSCTUNE: OSCILLATOR TUNING REGISTER 1.12 Configuring Timer 1.12.1 T0CON: TIMER0 CONTROL REGISTER 1.12.2 Timer0 Interrupt 1.12.3 Tutorial 1.13 INTERRUPT AND ISR 1.13.1 Interrupt 1.13.2 Configuring Interrupt 1.13.3 INTCON: INTERRUPT CONTROL REGISTER 1.13.4 INTCON2: INTERRUPT CONTROL 2 REGISTER 1.13.5 INTCON3: INTERRUPT CONTROLS 3 REGISTER 5 5 5 6 6 7 7 9 9 10 10 10 11 11 11 11 11 12 12 13 13 15 16 19 19 19 19 19 20 20 20 23 24 25 25 26 27 29 29 29 30 32 33

1.13.6 PIR1: PERIPHERAL INTERRUPT REQUES(FLAG)REGISTERS 34 1.13.7PIR3:PERIPHERALINTERRUPT(FLAG)REGISTER 35 1.13.8 Interrupt Service Routine 36 1.13.9 Configuring Interrupt 37 1.13.10Tutorial 38 1.14 UART 39 1.14.1 Serial Communication 40 1.14.2 About UART 41 1.14.3 UART configuration 42 1.14.4 UART Transmitter 42 1.14.5 UART Receiver 44 1.14.6 Hterm 45 1.14.7 Tutorial 46 1.15 Global Positioning System Card 51 1.15.1 About GPS 51 1.15.2 How GPS works 51 1.15.3 Applications of GPS 52 1.15.4 GPS card 54 1.15.5 How to use it with EAB 55 1.15.6 Tutorial 55 1.16 Xbee Module 58 1.16.1 About wireless communication 58 1.16.2 Capabilities 58 1.16.3 Parameters 58 1.16.4 Modes 59 1.16.5 Applications 59 1.16.6 Xbee card 60 1.16.7 xbee extension card 60 1.16.8 How to use it with EAB 61 1.16.9 Tutorial 61 1.17 Analog to Digital Converter 64 1.17.1 Configure the ADC 64 1.17.2 ADC block diagram 65 1.17.3 Tutorial 65 1.18 DC Motor 68 1.18.1 DC Motor 69 1.18.2 Tutorial 69 1.19 I2C communication 73 1.19.1 I2C Protocol 73 1.19.2 Understanding the Inter-IC chat 73 1.19.3 I2C Write 74 1.19.4 I2C Read 74 1.19.5 Advantages . 74 1.20 SPI communication 76 1.20.1 SPI Signals 76 1.20.2 SPI Data Transfer 76

2.0 Project Report 2.1 Introduction 2.2 Overview of Project 2.3 Block Diagram 2.4 Schematic Diagram 2.5 Components Used 2.5.1 Embedded Application Board 2.5.2 Xbee module 2.5.3 Ultrasonic sensors. 2.5.4 H bridge circuit 2.5.5 Motors. 2.5.6 Robot Kit 2.6 Flow chart. 2.7 Program of the project. 2.8 Picture of the Robot 2.9 Advantages, Disadvantages and Applications 3.0 Future prospect 3.0 Conclusion 77 78 79 80 81 81 82 82 83 83 83 84 86 87 88 89 90

1.0 INTRODUCTION The purpose of this project is to design a obstacle detecting wireless robot. In this project the designed robot senses the obstacle ahead with the help of ultrasonic sensor. The XBEE module forward the distance between the obstacle and the robot. The robot is manually controlled by us

depending upon the data received i.e. if the distance is less than 20 inch than we stop the robot or change its direction and vice versa. XBee is the brand name from Digi International for a family of form factor compatible radio modules. It is used for wireless communication. The XBee radios can all be used with the minimum four numbers of connections power (3.3V), ground, data in and data out (UART), with other recommended lines being reset and Sleep. Ultrasonic sensors (also known as transceivers when they both send and receive, but more generally called transducers) work on a principle similar to radar or sonar which evaluates attributes of a target by interpreting the echoes from radio or sound waves respectively. Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor. Sensors calculate the time interval between sending the signal and receiving the echo to determine the distance to an object. Systems typically use a transducer which generates sound waves in the ultrasonic range, above 18,000 hertz, by turning electrical energy into sound, then upon receiving the echo turns the sound waves into electrical energy which can be measured and displayed.

2.0 OVERVIEW OF THE PROJECT In this project, we used two Embedded Application Board (EAB). The EAB board contains PIC18 microcontroller, 22 and 16 pins header, voltage regulator IC, serial to parallel converter

IC, USB port, adapter port, reset pin etc. One of the EAB is connected with robot while the other is connected to laptop. The EAB connected to laptop is designed as a transmitter which transmits data to the EAB board of the robot. Depending on this received data by the microcontroller of the robots EAB will determine its directions of motion. A pair of Xbee card is used for wireless communication between laptop and robot, each of the Xbee card is connected to the 22 pin header of the EABs. This robot is manually controlled by a user using laptop. An ultrasonic sensor is connected to the robots microcontroller, which sends a continuous data to detect the distance of any obstacle in front of robot. Depending on this received data a user can know of any presence of obstacle in front and user can change its direction to avoid collision.

3.0 BLOCK DIAGRAM

4.0 SCHEMATIC DIAGRAM

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