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Autonomous Manual

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Varun Reddy
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61 views

Autonomous Manual

Uploaded by

Varun Reddy
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 12

AUTONOMOUS ROBOTICS MANUAL ver 1.

1
Index

1. Sensors
2. On Board Computer(OBC)
2.1Microcontroller ATMEGA 16
2.2LCD
3. Motor driver(L293d)
4. Voltage regulator(7805)
SENSORS

The development PCB of the infrared sensor has one IR transmitter and one IR
receiver . Now the IR sensor transmits the IR signal and the reflected IR signal
is received by the receiver . The received IR signal is weak and need to be
compared hence we use an OP_AMP IC as comparator to compare the voltage
levels and give us the desired output .Now the desired analog signal has been
achieved with the op-anp IC. This analog signal is provided to the ADC of the
microcontroller.

As you can see there are 3 tiny holes in the PCB which represent the ground
voltage and the analog value respectively. Now take the 3 3 pin bus wire that
has been provided to you and solder it to the back view of the PCB carefully so
that the two adjacent pins are not shorted.
The power to the IR sensor module is provided by the ADC itself with the

voltage and the ground pins .

ON BOARD COMPUTER(OBC)

The board contains a red colour strobe with two wires pinging out
connect a 9-12 v dc battery or an adapter to those wires.
MICROCONTROLLER-ATMEGA16
• High-performance, Low-power AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions – Most Single-clock Cycle
Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
• Nonvolatile Program and Data Memories
– 16K Bytes of In-System Self-Programmable Flash
Endurance: 10,000 Write/Erase Cycles
– Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
– 512 Bytes EEPROM
Endurance: 100,000 Write/Erase Cycles
– 1K Byte Internal SRAM
– Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through
the JTAG Interface
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and
Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare
Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or
200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip
Oscillator
– On-chip Analog Comparator
• Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save,
Power-down, Standby
and Extended Standby
• I/O and Packages
– 32 Programmable I/O Lines
– 40-pin PDIP, 44-lead TQFP, and 44-pad MLF
• Operating Voltages
– 2.7 - 5.5V for ATmega16L
– 4.5 - 5.5V for ATmega16
• Speed Grades
– 0 - 8 MHz for ATmega16L
– 0 - 16 MHz for ATmega16
LCD
The display used here is 16x2 LCD (Liquid Crystal Display); this
means 16 characters per line by 2 lines. A very popular
standard exists which allows us to communicate with the vast
majority of LCDs regardless of their manufacturer. The
standard is referred to as HD44780U, which refers to the
controller chip which receives data from an external source (in
this case, the Atmega16) and communicates directly with the
LCD. The 44780 standard requires 3 control lines as well as
either 4 or 8 I/O lines for the data bus. Here we are using 8-bit
mode of LCD, i.e., using 8-bit data bus.

The three control lines are referred to as EN, RS, and RW.

The EN line is called "Enable." This control line is used to tell


the LCD that we are sending it data. To send data to the LCD,
our program should make sure this line is low (0) and then set
the other two control lines and/or put data on the data bus.
When the other lines are completely ready, bring EN high (1)
and wait for the minimum amount of time required by the LCD
datasheet (this varies from LCD to LCD), and end by bringing it
low (0) again.

The RS line is the "Register Select" line. When RS is low (0),


the data is to be treated as a command or special instruction
(such as clear screen, position cursor, etc.). When RS is high
(1), the data being sent is text data which should be displayed
on the screen. For example, to display the letter "T" on the
screen you would set RS high.

The RW line is the "Read/Write" control line. When RW is low


(0), the information on the data bus is being written to the
LCD. When RW is high (1), the program is effectively querying
(or reading) the LCD. Only one instruction ("Get LCD status") is
a read command. All others are write commands--so RW will
almost always be low.
In our case of an 8-bit data bus, the lines are referred to as
DB0, DB1, DB2, DB3, DB4, DB5, DB6, and DB7.
The figure below is to show the pin diagram of before
mentioned LCD.
LCD Circuit:

Testing (D.C. Conditions):


-> PIN 7 to 14 are data pins.
-> Voltage at pin 2 is +5.00V
-> Pin 3 is connected to 10K variable resistance for contrast
setting.
-> Pin 4, 5, 6 are control lines connected to PORT D.
MOTOR DRIVER(L293D)

This chip is used to control two DC motors there are 2 inputs and two outputs
as shown in the figure above.

The behaviour of motors for various input conditions are as follows.

The motor driver is mostly used to boost up the voltage signal received by the
microcontroller to meet its voltage levels and show an efficiency as an
actuator.

For example if we consider this case the voltage signal provided by the
microcontroller is very low i.e around 3-5 v whereas our DC motor has a
requirement of voltage level of 12 volts. Hence we use a motor driver to boost
up the voltage signal to 12 volts from 3-5 volts.
VOLTAGE REGULATOR(7805)

This voltage regulator IC has an input range of 9-12 volts. The main function of
this voltage regulator IC is to step down the DC voltage level from 9-12 volts to
5 volts since the operating voltages of our microcontroller i.e ATMEGA16 is 5
volts. In the digital domain in concern with the microcontroller ATMEGA16

LOGIC 1= 5V

LOGIC 0=0V

In the notation of our IC number i.e 7805 the 5 at the end signifies the output
voltage that is desired.

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