This document discusses a line follower robot and embedded systems. It provides details about: 1. A line follower robot is a machine that follows a black or white line on a surface using infrared sensors to detect the line. 2. An embedded system combines hardware and software and is used in applications like personal computers, phones, home automation, and more. It requires inputs, processing, and outputs. 3. Microcontrollers like the ATmega8 are commonly used as the "brain" of embedded systems and robots to control inputs, outputs, and processing. The document discusses registers used to configure ports on the microcontroller.

1. LINE FOLLOWER ROBOT
OR
AUTONOMOUS ROBOT
(EMBEDDED APPLICATION)
PRESENTATION ON

2. It is a machine that follows a line.
Either a black line on white surface
or vice-versa.
WHAT IS LINE FILLOWER ROBOT

4. Real meaning of Engineering is practicality. Embedded
System is the right word to describe this practicality.
According to Theories it’s a Combination of Hardware
with Software. Embedded System is not a branch of
Engineering, basically it’s a group of many branches of
Engineering. It may be Mechanical, Electrical,
Electronics, Computer Science Engineering.
EMBEDDED SYSTEMS

5. Examples of an Embedded System and Robotics.
1. Personal Computer, Mobile phones, Tab
2. Automation Systems (Home / Factory /Lab)
3. Digital Watch, Stereo Systems
4. Washing Machine, Television Remote
5. Automatic GSM based AC’s
6. Traffic Light Systems
7. Disco lightening Systems
8. Communication Systems……and many more
Embedded System & Robotics
Examples

6. There are two major prospects to use an Embedded System .
 Speed of the System
It must be very fast.
 Size of the System
It must be very less.
Both the requirements are reverse to each other.
Need of Embedded System

7. There are three major requirements to develop an Embedded
System.
 Input
Processing unit
Output
Control over these three will fulfill all desires for the system.
Requirements to Develop an
Embedded System

8. The Brain/ Controlling System
These are the
microcontrollers/processors which
guide the system to perform the desired
work. These are the part of autonomous
systems.

9.  A Microcontroller can be defined
as a “Computer-on-Chip”.
 Just as a Personal Computer has input devices like
keyboards, mouse, etc, output devices like monitor, printer,
etc and the Central Processing Unit, a Microcontroller also has
 Input/output ports and
 a Processor embedded into a single chip.
 Memory
 A Microcontroller is a complete self-sufficient system usually
requiring no external components.

10. AVR Family
AVR microcontrollers are available in three different
categories:
 TinyAVR – Less memory, small size, suitable only for
simpler .
 MegaAVR – These are the most popular ones having
good amount of memory (upto 256 KB), higher
number of inbuilt peripherals and suitable for
moderate to complex applications.
 XmegaAVR – Used commercially for complex
applications, which require large program memory
and high speed.

11. ATMega8L
 We will be working on Atmega8 microcontroller, which is a
28-pin IC and belongs to the MegaAVR category of AVR
family.
 Some of the features of Atmega8 are:
 8 KB of Flash memory
 1KB of SRAM
 512 Bytes of EEPROM
 Available in 28-Pin DIP
 6- Channel 10-bit ADC
 Two 8-bit Timers/Counters
 One 16-bit Timer/Counter
 3 PWM Channels
 In System Programmer (ISP)
 Serial USART
 SPI Interface
 Digital to Analog Comparator.

12. ATmega8 Board

14. Register
A register is simply a collection of some bits (mostly 8 bits in case of
8bit MCUs). Either each different bit in a register has some purpose
or the register as a whole holds a value.
 Registers serves as connection between a CPU and a Peripheral
device.
C.P.U writes to register to:- configure, command and transfer data to
the peripheral.
C.P.U reads fro the peripheral to:- get the status, values.
C.P.U REGISTERS OF
PERIPHALS

15. Binary numbers in C
 When you write a=110; in C it means you are setting the value of
variable "a" to "one hundred and ten" (in decimal).
 In embedded programming we are not interested in the value of a
variable but the state of each bits in the variable.
 Set the bit pattern 11100011 to register R.
 R=11100011 (compiler will take it as decimal value).
 To specify a binary number in C program you have to prefix it with 0b
(zero followed by b). So if you write:-
R=0b11100011;
it assigns the bit pattern 11100011 to the bits of Register R.

16. HEX Numbers in C
 In same way if you prefix a number by 0x (a zero followed by x) then
compiler interpret it like a HEX number. So
 R=0x01; (01 in HEX is 1 in decimal)
 R=0xFF;(Set all bits to 11111111 or decimal 255)

17. Registers
 AVR is 8 bit microcontroller. All its ports are 8 bit
wide. Every port has 3 registers associated with it.
 Every bit in those registers configure pins of
particular port.
 Bit0 of these registers is associated with Pin0 of
the port, Bit1 of these registers is associated with
Pin1 of the port, …. and like wise for other bits.
 These three registers are as follows : (x can be
replaced by A,B,C,D as per the AVR you are using)
DDRx register
PORTx register
PINx register

18. Register for controlling
the I/O pins

19. I/O Registers of
ATmega8L

20. DDR (Data Direction Register)
 Data Direction Registers
 Responsible for configuring the Pins as
input/output.
 ‘1’ means that the corresponding pin is configured
as output.
 ‘0’ means that the corresponding pin is configured
as input.
 So, DDRx=0b00010011 means that the 1st,2nd,and 5th
pin of PORT X have been configured as output,
while the rest pins are configured as input i.e. they
are ready to accept data.

22. PORT Register
 They are directly connected to the pins.
 When the corresponding DDR pin is configured as
output, then these registers are used for giving the
value to the device(LEDs, Motors).
 If I want to pass ‘1’ to 5th pin of X PORT of the
microcontroller which is connected to my
device(LEDs, Motors) , I will write:
PORTx=0b00010000;
 But remember that before passing this value the 5th
pin of X port is configured as output using the DDR
of that PORT.

24. PIN Register
 They are directly connected to the pins.
 When the corresponding DDR pin is configured as
input, then these registers are used for taking the
value from the device(sensors).
 If I want to read ‘1’ on 5th pin of X PORT of the
microcontroller which is connected to my
device(sensors) , I will write:
PINx=0b00010000;
 But remember that before reading the value from
the 5th pin of X port, the corresponding pin is to be
configured as input using the DDR of that PORT.

25. Kit content
 Development Board
 A pair of IR sensors
 Robot Chassis (main Plate and two side clamps)
 Screw Driver
 Screw Packet
 Connecting wires
 12V, 1A DC adapter
 2 DC motors
 2 Wheels, 1 Caster wheel

26. ATmega8 Development Board

27. 12V, 1A DC Adapter

28. IR sensor

29. Screw Driver

30. USB D-type Cable

31. Software installation
Getting Started with AVR Studio

32. STEP 1
Software
Install “AVR Studio 7”

33. STEP 2
 Open AVR studio.
 Start>Atmel AVR Tools>AVR studio 4.

34. STEP 3
 New project:- (1)AVR GCC>(2)Name of the project>(3)next

35. STEP 4
 AVR simulator>ATmega8

36. STEP5
start writing the code:-

37. STEP 6
BUILD & RUN>
Go to build option and click to Build or press F7 then after click to
Build & Run option or press ctrl+F7.
Open the TOOLKIT location.
Go to:- HID BootFlash.

38. DC motor

39. IR Sensor
* What is a sensor?
A sensor is a device that produces a measurable
response by changing the physical circumstances like temperature,
distance, pressure etc.

40. IR sensor pair
* Transmitter = LED (light emitting diode)
It is similar to normal LEDs but emit
infrared light that can be seen through digital cameras.
* Receiver = Photodiode/IR transistor
A photodiode is a diode that
conducts when light falls on it.

41. Circuit of IR sensor
* when the surface is
white, the reflection is
maximum.
* when the surface is
black, the reflection is
minimum.

42. Comparators
The comparator circuit work by simply taking two analog inputs,
comparing them and produce the logical output high “1” or low “0“.

43. Any
query!!!

44. Thank you