Robotic control

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Robotic control

  1. 1. ROBOTIC CONTROL
  2. 2. SOLENOID
  3. 3. SPST-RELAY
  4. 4. SWITCH TYPES
  5. 5. SPDT-RELAY
  6. 6. DC MOTOR CONTROL
  7. 7. Autonomous Robot1.Power Source2.Sensor3.Controller(Analogy Human Brain)4.Actuator:Motor,Hydraulics,Pnuma- tics etc
  8. 8. Block Diagram
  9. 9. IR Sensor Ckt Diagram.
  10. 10. Sensors UltraSonic SensorIR Sensor.
  11. 11. Microcontroller/Micro-Processor. Pin-diagram of atmega 16 Atmega-16
  12. 12. Complier:For writing the code as per• Requirement: » WinAVR software:Open Source. » Data Sheet of the Respective Microntroller:Open source. » Programmer:For embedding the hex file into the MuC » Serial or paralle Port Cable :For interfacing the PC to Muc. » Development Board :Which carry the Supporting Component required by the MuC.
  13. 13. Steps to go for programming:
  14. 14. How to Write the code and complie:
  15. 15. Window for writing the C-Code.
  16. 16. Algorithm for Movement:
  17. 17. Motor Driving Algo:
  18. 18. Sample Code for Line Follower:• #include<avr/io.h>• Void main()• {• DDRA=0x00; //declaring port A to an input port;• DDRB=0xFF; //declaring port B to an output port• PORTA=0xFF; //setting the default voltage of port A high(Pull up)• Unsigned Char c;• While(1)• {• c=PINA; //taking input from portA antd storing in variable C• if(c==0b11111100) //if left sonsor =0 and right Sensor=0• PORTB=0b00001010; //left motor =FWD and Right Motor=FWD• if(c==0b1111101) //if left sensor=1 and right sensor=0• PORTB=0b00001001; //left motor=BCK & Right motor=FWD• if(c==0b11111110) //if left sensor=0 & right Sensor=1• PORTB=0b00000110 //left motor=FWD & Right Motor=BCK•• }• right sensor left Sensor• } if (c==11111110)• PORTB=0b000001 10 ;• right motor left motor
  19. 19. Burning the Hex code: Programmer Board
  20. 20. At last :Our Line Follower is Ready To use.
  21. 21. Website for Reference:• www.atmel.com• www.extremeelectronics.com• www.ikalogic.com

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