Obstacle Detctor Robot report

IR OBSTACLE DETECTOR WITH VACCUM
CLEANER ROBOT

Project Report Submitted in Partial Fulfillment of the Requirement for
The Award of Degree of Bachelor of Engineering in
Electronics and Communication Engineering of
Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal (MP)

By
Harish Bhute (0178ec091030)
Mukesh Kumar Sharma (0178ec091048)
Nikita Kaushal (0178ec091055)

Department of Electronics and Communication
Engineering
Jai Narain College of Technology & Science,
Bhopal
June – 2012

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DECLARATION

We, Harish Bhute , Mukesh Kumar Sharma, and Nikita Kaushal the
students of Bachelor of Engineering (Electronics and Communication
Engineering), Jai Narain College of Technology and Science, Bhopal hereby
declare that the work presented in this Minor Project is an authentic record of our
own and has been carried out taking care of Engineering Ethics under the
guidance of Prof. Amit Sawaskade.

Harish Bhute (0178ec091030) ………………………

Mukesh Kumar Sharma (0178ec091048) ………………………

Nikita Kaushal (0178ec091055) ………………………

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CERTIFICATE

This is to certify that the work embodied in this Minor Project entitled “IR
Obstacle Detector With Vacuum Cleaner” has been satisfactorily completed by
the students of final year, Mr. Harish Bhute, Mr. Mukesh Kumar Sharma, and
Miss. Nikita Kaushal. The work was carried out satisfactorily under the
supervision and guidance of the undersigned in the Department of Electronics and
Communication Engineering, Jai Narain College of Technology and Science,
Bhopal for the partial fulfillment of the requirement of degree of Bachelor of
Engineering during the Academic year 2011-2012.

Prof. Amit Sawaskade
Professor and Project Guide,
Electronics and Communication
Department

Approved

Prof. Ashok Agrawal Dr. B D Shukla
Head of Department Director

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ACKNOWLEDGEMENT

This gives us a great pleasure to express our deep sense of gratitude to our
project supervisor Prof. Amit Sawaskade, Associate Professor of Electronics and
Communication Engineering for guidance, suggestion, support, help and
constructive criticisms throughout the period of project work. Without his able
guidance it would not have been possible to complete the project in time.
We are greatly indebted to Prof. Ashok Agrawal, Head, Department of
Electronics and Communication Engineering for his keen interest in this work and
time to time guidance, encouragement and providing required facilities for
completing the project work. We are grateful to Dr. Meghna Dubey, Principal,
JNCTS for his guidance and critical comments which improved the quality of
this report. Thanks are due to Dr. B D Shukla, Director, JNCTS for providing
necessary help and time to time necessary guidance in completion of this task.
Then other faculty members, friends, etc, may be added accordingly in the
acknowledgement to which the students want to acknowledge for their help and
guidance in the project.

Harish Bhute (0178ec091030)
Mukesh Kumar Sharma (0178ec091048)
Nikita Kaushal (0178ec091055)

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CONTENTS

DECLARATION … ii
CERTIFICATE … iii
ACKNOWLWEDGEMENTS … iv
1. INTRODUCTION … 01
2. REWVIEW OF LITERATURE … 05
2.1 Construction … 07
2.1.1 Hardware Unit … 07
2.1.2 Software Unit … 13
2.2 Basic Parts Of Project …29
2.2.1 Sensors … 29
2.2.2 Microcontroller … 29
2.2.3 Driver … 30
2.2.4 Motors … 30
2.2.5 Blower … 31
2.3 Problem Faced In Making Project … 31
2.4 Testing … 32
2.5 Applications … 33
2.6 Future Scope By Improvement … 33
3. COMPONENTS … 34
3.1 Microcontroller ATMEGA8L … 35
3.2 IC L293D … 36
3.3 IC LM324N … 37
3.4 IC 7805 … 38
3.5 Resistor … 38
3.6 IR LED … 39
3.7 Photodiode … 40
4. RESULTS … 41
5. REFERENCES ... 42
6. APPENDICES … 43
6.1 Datasheet … 43
6.2 Program …48

LIST OF FIGURS

Figure 2.1 Block Diagram of Project ... 06
Figure 2.2 IR Sensor circuit ... 10
Figure 2.3 Controller Circuit ... 12
Figure 2.4 PCB layout of sensor …18
Figure 2.5 PCB of Controller Circuit ... 19
Figure 2.6 Final PCB Layout ... 20
Figure 3.1 Microcontroller ATMEGA8L ... 35
Figure 3.2 IC L293D ... 36
Figure 3.3 IC LM324N … 37
Figure 3.4 IC 7805 … 38
Figure 3.5 Resistor … 39
Figure 3.6 IR LED … 39
Figure 3.7 Photodiode … 40
Figure 6.1 ATMEGA8L Pin Diagram … 45
Figure 6.2 IC 7805 Pin Diagram … 46
Figure 6.3 IC LM324N Pin Diagram … 47
Figure 6.4 IC 293 Pin Diagram … 48

1. INTRODUCTION

Robotics is part of Today’s communication. In today’s world
ROBOTICS is fast growing and interesting field. It is simplest way for latest
technology modification. Now a day’s communication is part of advancement of
technology, so we decided to work on robotics field, and design something which
will make human life simpler in day today aspect. Thus we are supporting this
cause.
Robotics is the branch of technology that deals with the design,
construction, operation, structural disposition, manufacture and application of
robots and computer systems for their control, sensory feedback, and information
processing.
Obstacle detection and avoidance robots are intelligent robots which
can perform desired tasks in unstructured environments by finding and
overcoming obstacles in their way without continuous human guidance.
In robotics, obstacle avoidance is the task of satisfying some control
objective subject to non-intersection or non-collision position constraints.
Normally obstacle avoidance is considered to be distinct from path planning in
that one is usually implemented as a reactive control law while the other involves
the pre-computation of an obstacle-free path which a controller will then guide a
robot along. A practical real-time system for passive obstacle detection and
avoidance is presented.
Robot Sensors are essential components in creating autonomous
robots as they are the only means for a robot to detect information about itself
and its environment. As little as one sensor is needed by a robot, though
increasing the number and variety of sensors tends to increase the robot’s ability
to get a more thorough understanding of the world around it.
There are a wide variety of sensors available which are capable of
measuring almost anything, from environmental conditions (distance, light,
sound, temperature) to angular and linear acceleration, forces and distances. The

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first sensor often incorporated into a mobile robot is a distance sensor, which is
usually in the form of an infrared or ultrasonic sensor. In both cases, a pulse (of
light or sound) is sent and its reflection is timed to get a sense of distance. Usually
these values are sent to the controller many times each second.
Robot Shop offers a wide variety of sensors applicable to almost any
robotics project. If you are looking for a distance sensor, we offer them in a
variety of configurations and optimal distances to suit almost any budget. If you
are looking for a more professional solution for measuring distances, take a look
at our selection of scanning laser rangefinders, which are able to scan over >180
degrees (and less than 1 degree of accuracy) in well under 1 second.IR Pair is
used as sensor to detect the presence of objects. IR LED is used for detecting
objects.
In this project mainly when ever robot senses any obstacle
automatically diverts its position to left or right and follows the path. Robot
consists of two motors, which control the side pair wheels of each and help in
moving forward and backward direction. Robot senses the object with help of
obstacle sensor. IR pair is used for detecting the obstacle. The two basic parts for
working with IR are the emitter and the detector. The emitter is typically an LED
that emits near-infrared light.
Infrared (IR) light is electromagnetic radiation with a wavelength
longer than that of visible light, measured from the nominal edge of visible red
light at 0.74 micrometers (µm), and extending conventionally to 300 µm. These
wavelengths correspond to a frequency range of approximately 1 to 400 THz, and
include most of the thermal radiation emitted by objects near room temperature.
Microscopically, IR light is typically emitted or absorbed by molecules when they
change their rotational-vibration movements.
Infrared light is used in industrial, scientific, and medical applications.
Night-vision devices using infrared illumination allow people or animals to be
observed without the observer being detected. In astronomy, imaging at infrared
wavelengths allows observation of objects obscured by interstellar dust. Infrared

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Imaging cameras are used to detect heat loss in insulated systems, observe
changing blood flow in the skin, and overheating of electrical apparatus.
IR LED IR detectors are specially filtered for Infrared lighted are not
good at detecting visible light. On the other hand, photocells are good at detecting
yellow/green visible light, not well at IR light.
IR detectors have a demodulator inside that looks for modulated IR at
38 KHz. Just shining an IR LED won’t be detected, it has to be PWM blinking at
38KHz. Photocells do not have any sort of demodulator and can detect any
frequency (including DC) within the response speed of the photocell (which is
about 1KHz). IR detectors are digital out - either they detect 38KHz IR signal
and output low (0V) or they do not detect any and output high (5V). Photocells
act like resistors, the resistance changes depending on how much light they are
exposed to.
A photodiode is a type of photo detector capable of converting light
into either current or voltage, depending upon the mode of operation. The
common, traditional solar cell used to generate electric solar power is a large area
photodiode.
Photodiodes are similar to regular semiconductor diodes except that
they may be either exposed (to detect vacuum UV or X-rays) or packaged with a
window or optical fiber connection to allow light to reach the sensitive part of the
device. Many diodes designed for use specifically as a photodiode use a PIN
junction rather than a p-n junction, to increase the speed of response. A
photodiode is designed to operate in reverse bias. In this project we develop a
robot such that it will be moving according to path assigned to it if at all there is
any obstacle in between then the robot stops and change its direction. This sort of
project is very much useful in the industries where the automated supervision is
required.
This project is basic stage of any automatic robot. This robot has
sufficient intelligence to cover the maximum area of provided space. It has a
infrared sensor which are used to sense the obstacles coming in between the path
of robot. It will move in a particular direction and avoid the obstacle which is
coming in its path.
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A robot obstacle detection system comprising: a robot housing which
navigates with respect to a surface; a sensor subsystem having a defined
relationship with respect to the housing and aimed at the surface for detecting the
surface, the sensor subsystem including: an optical emitter which emits a directed
beam having a defined field of emission, and a photon detector having a defined
field of view which intersects the field of emission of the emitter at a finite
region; and a circuit in communication with the detector for redirecting the robot
when the surface does not occupy the region to avoid obstacles.
Obstacle sensors are nothing but the IR pair. As the transmitter part
travel IR rays from to receiver here also transmitter send the data receiver but
these IR pair are places beside each other. So whenever an obstacle senor got a
obstacle in between its way the IR rays reflects in a certain angle. As they are
placed side by each.
We have used two D.C motors to give motion to the robot. The
construction of the robot circuit is easy and small .The electronics parts used in
the robot circuits are easily available and cheap too.
Here we are also adding an application of cleaning to this obstacle
detecting robot that is by adding a electrical device known as blower. This blower
have a fan with attach motor which work as vacuum cleaner and this robot
because of this application can be sent to any where to clean a particular place or
area the motor used here is D.C motor.
Blowers for ventilation and for industrial processes that need an air
flow. Fan systems are essential to keep manufacturing processes working and
consist of a fan, an electric motor, a drive system, ducts or piping, flow control
devices, and air conditioning equipment (filters, cooling coils, heat exchangers,
etc.).
Fans, blowers and compressors are differentiated by the method used
to move the air, and by the system pressure they must operate against. Blowers
can achieve much higher pressures than fans, as high as 1.20 kg/cm2. They are
also used to produce negative pressures for industrial vacuum systems.

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2. REVIEW OF LITERATURES

This robot has sufficient intelligence to cover the maximum area of
provided space. It has an infrared sensor which is used to sense the obstacles
coming in between the path of robot. It will move in a particular direction and
avoid the obstacle which is coming in its path.
It uses IR (Infra Red) sensors and two IR transmitting circuitry. When
the obstacle comes in path of robot IR beam is reflected from the obstacle then
sensor gives zero voltage to µc. This zero voltage is detected then µc decides to
avoid the obstacle by taking left or right turn. If the sensor gives +5v to µc that
means there is no obstacle present in its path so it goes straight until any obstacle
is detected.
The two IR transmitter circuits are fitted on front and left side of
robot. The two IR sensors are placed near to transmitters’ IR LEDs. The
connections can be given from main circuit to sensors using simple twisted pair
cables. Two motors namely right motor and left motor are connected to driver IC
(L293D). L293D is interface with µc. Micro-controller sends logic 0 & logic 1 as
per the programming to driver IC which moves motors forward or reverse
direction.
Now let us see all the things in our project.

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Figure 2.1: Block Diagram of Project

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2.1 Construction

The project is combination of different units as follows:
1. Hardware
2. Software

2.1.1 Hardware Unit

The hardware part includes the structure of robot that is Electronics and
Communication structure, PCB (printed circuit board), blower, and battery. In this
unit all the connections are being made along with the PCB now let us see in brief
how it can be done.

2.1.1.1 Electronics and Communication Connection

In Electronics and Communication connection wheel is connected to base very
tightly to avoid errors in the system. Connection of blower is made with lower
part of base and battery is connected in upper portion of base for power supply to
the system which is very important battery used here is of 6v battery, blower of
+5V to +9V. And along with wheel electrical motors are connected with base
having r.p.m of 100 rpm.

2.1.1.2 PCB Connection

A printed circuit board, or PCB, is used to Electronics and Communicationly
support and electrically connect electronic components using conductive
pathways, tracks or signal traces etched from copper sheets laminated onto a non-
conductive substrate.

The PCB is printed circuit board having circuit made with cooper
layer on the plate there are various steps to design a PCB for that the basic thing
required is circuit. So, the circuits required for the system are:

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2.1.1.2.1 IR Sensor Circuit

An infrared sensor is an electronic device that emits and/or detects infrared
radiation in order to sense some aspect of its surroundings. Infrared sensors can
measure the heat of an object, as well as detect motion. Many of these types of
sensors only measure infrared radiation, rather than emitting it, and thus are
known as passive infrared (PIR) sensors.
All objects emit some form of thermal radiation, usually in the infrared
spectrum. This radiation is invisible to our eyes, but can be detected by an
infrared sensor that accepts and interprets it. In a typical infrared sensor like a
motion detector, radiation enters the front and reaches the sensor itself at the
center of the device. This part may be composed of more than one individual
sensor, each of them being made from piezoelectric materials, whether natural or
artificial.
IR Sensor includes photodiode and IR LED which play the role of
receiver and transmitter respectively.

2.1.1.2.1.1 IR LED

An IR LED, also known as IR transmitter, is a special purpose LED that transmits
infrared rays in the range of 760 nm wavelength. Such LEDs are usually made of
gallium arsenide or aluminum gallium arsenide. They, along with IR receivers,
are commonly used as sensors.
The appearance is same as a common LED. Since the human eye
cannot see the infrared radiations, it is not possible for a person to identify
whether the IR LED is working or not, unlike a common LED. To overcome this
problem, the camera on a cell phone can be used. The camera can show us the IR
rays being emanated from the IR LED in a circuit.

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2.1.1.2.1.2 Photodiode

A photodiode is a type of photo detector capable of converting light into either
current or voltage, depending upon the mode of operation. The common,
traditional solar cell used to generate electric solar power is a large area
photodiode. It is use to sense the reflected IR rays which reflect due to presence of
obstacle and due to it robot change its path.
This sensor uses IR (Infra Red) sensors and two IR transmitting
circuitry. When the obstacle comes in path of robot IR beam is reflected from the
obstacle then sensor gives zero voltage to µc. This zero voltage is detected then
µc decides to avoid the obstacle by taking left or right turn. If the sensor gives
+5v to µc that means there is no obstacle present in its path so it goes straight
until any obstacle is detected. The sensor circuit is shown in figure 2.2.

It uses IR (Infra Red) sensors and two IR transmitting circuitry.
When the obstacle comes in path of robot IR beam is reflected from the obstacle
then sensor gives zero voltage to µc. This zero voltage is detected then µc decides
to avoid the obstacle by taking left or right turn. If the sensor gives +5v to µc that
means there is no obstacle present in its path so it goes straight until any obstacle
is detected.
The two IR transmitter circuits are fitted on front and left side of
robot. The two IR sensors are placed near to transmitters’ IR LEDs. The
connections can be given from main circuit to sensors using simple twisted pair
cables.

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Figure 2.2: IR Sensor circuit

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After having the circuit it is easy to design PCB. Circuit is traced in PCB by using
different software here we have used PCB Express software to design layout then
it is etched and further the component are soled in it.

2.1.1.2.2 Controller Circuit

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer
on a single integrated circuit containing a processor core, memory, and
programmable input/output peripherals.
Microcontrollers are used in automatically controlled products and
devices, such as automobile engine control systems, implantable medical devices,
remote controls, office machines, appliances, power tools, toys and other
embedded systems. By reducing the size and cost compared to a design that uses a
separate microprocessor, memory, and input/output devices, microcontrollers
make it economical to digitally control even more devices and processes. Mixed
signal microcontrollers are common, integrating analog components needed to
control non-digital electronic systems.
Here we are giving code to Microcontroller according to those codes
our robot move; these codes are created by programming logic in Keil software
and latter burn in microcontroller by flash magic software. These codes control
the motor by the logic of 0 and by logic 1 and through this direction of robot is
control.
But for the purpose of providing this logic to motor we use an IC that
is L293D Having 16 pin it get input by output of microcontroller this make robot
an intelligent or autonomous robot this IC also amplifies the current and provide
to motor .

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Figure 2.3: Controller Circuit

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After having the circuit it is easy to design PCB. Circuit is traced in PCB by using
different software here we have used PCBExpress software to design layout then
it is etched and further the component are solded in it.
Now when all the PCBs are connected according to required condition
and the electro-Electronics and Communication structure is ready still the system
will not work without software unit.
Let us discuss the software unit.

2.1.2 Software Unit

Computer software or just software is a collection of computer programs and
related data that provides the instructions for telling a computer what to do and
how to do it. Software refers to one or more computer programs and data held in
the storage of the computer for some purposes. In other words, software is a set of
programs, procedures, algorithms and its documentation concerned with the
operation of a data processing system. Program software performs the function of
the program it implements, either by directly providing instructions to the
computer hardware or by serving as input to another piece of software.
The term was coined to contrast to the old term hardware (meaning
physical devices). In contrast to hardware, software "cannot be touched".
Software is also sometimes used in a more narrow sense, meaning application
software only. Sometimes the term includes data that has not traditionally been
associated with computers, such as film, tapes, and records.
Here we are using various software to design our project we required
software for designing PCB layout, microcontroller programming, burning of
microcontroller.
Let us see different software unit in our project:
Here first let us see how to design a PCB over which we are using
these software so following steps we are using to design a PCB:

1. Choose a method to use for creating the PCB. Your choice will usually be
based on the availability of materials needed by the method, the technical
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Difficulty level of the method or the quality of PCB you desire to obtain. Here's a
brief summary of the diff- availability of many materials such as the etchant and
it is somewhat slow. The quality of PCB obtained varies according to the
materials you use but generally, it is a good method for simple to intermediate
levels of complexity circuits. Circuits involving more close wiring and tiny wires
usually use other methods.
3. UV etching method: this method requires more expensive materials that might
not be available everywhere. However, the steps are simple; it requires less safety
measures and can produce finer and more complicated circuit layouts.
4. Mechanical etching/routing method: this method requires special machines that
will mechanically etch away unnecessary copper from the board or route empty
separators between wires. It can be expensive if you intend to buy one of those
machines and usually leasing them requires the availability of a workshop nearby.
However, this method is good if you need to create many copies of the circuit and
also can produce fine PCBs.
5. Laser etching method: this is usually used by large production companies, but
can be found on some universities. The concept is similar to mechanical etching
but LASER beams are used to etch the board. It is usually hard to access such
machines, but if your local university is one of the lucky ones having such
machine, you can use their facilities if they allow it.

2.1.2.1. Create the PCB Layout of your circuit :

This is usually done by converting your circuit's schematic diagram
into a PCB layout using PCB layout software. There are many open source
software packages for PCB layout creation and design, some are listed here to
give you a head-start:

1. PCB
2. Liquid PCB

3. Shortcut

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2 . Make sure you gathered all the materials needed by the method of your
choosing.
3. Draw the circuit layout on the copper coated board. This is only applicable in
the first two methods. More details can be found on the detail section of your
method of choice.
4 . Etch the board. Look for the details sections for how to etch the board. This
process removes any unnecessary copper from the board leaving only wiring of
the final circuit.
5 . Drill mounts points. Drilling machines used for that are usually custom
machines designed specifically for this purpose. However, with some adjustments
a usual drilling machine will do the job at home.
6 . Mount and solder the electronic components on board.

2.1.2.2 Acid etching method specific steps

1 . Choose your etching acid. Ferric chloride is a common choice for an etchant.
However, you can use Ammonium Per sulfate crystals or other chemical
solutions. No matter what choice for the chemical etchant, it will always be a
dangerous material, so besides following the general safety precautions mentioned
in this article, you should also read and follow any additional safety instructions
that come with the etchant.
2 . Draw the PCB layout. For acid etching, you need to draw the circuitry using
an etchant resistant material. Special markers can be found easily for this specific
purpose if you intend to do the drawing by hand (not appropriate for medium to
large circuits). Laser printers' ink is the most commonly used material however.
The steps to use laser printers for drawing the circuit layout are as follows:
1 . Print the PCB layout on a glossy paper. You should ensure the circuit is
mirrored before doing that (most PCB layout programs have this as an option
when printing). This only works using a laser printer.
2 . Put the glossy side, with the printing on it, facing the copper.

3 . Iron the paper using an ordinary clothes iron. The amount of time this will
take depends on the type of paper and ink used.

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4 . Immerse the board and paper in hot water for a few minutes (up to 10
minutes).
5 . Remove the paper. If certain areas seem particularly difficult to peel off, you
can try soaking a bit more. If everything went well, you will have a copper board
with your PCB pads and signal lines traced out in black toner.
6. Prepare the acid etchant. Depending on the acid etch that you choose, there
might be additional instructions. For example, some crystallized acids require
being dissolved in hot water, but other etchants are ready to use.
7 . Submerge the board in the acid.
8 . Make sure to stir every 3-5 minutes.
9. Take the board out and wash it when all unnecessary copper is etched away
from the board.
10. Remove the insulating drawing material used. There are special solvents
available for almost all types of insulating drawing material used in drawing PCB
layouts. However, if you don't have access to any of these materials, you can
always use a sand paper (a fine one).

2.1.2.3 Ultra-Violet etching method specific steps

1. Draw the PCB layout on the special copper coated board.
2. Cover the board with a transparent sheet (optional)
3. Put the board in the UV etching machine/chamber
4. Turn on the UV machine for the specified amount of time depending on the
specification of the board and machine.

2.1.2.3 PCB Express

For designing of PCB layout we are using this software with the help
of tools embedded in it designing of PCB became very easy. Firstly circuit is

drawn in PCB Express software and of it only upper layer that is copper layer is
chosen to provide proper connectivity in circuit. Hence we get two PCB layout of
sensor and controller both
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Figure 2.3 shows PCB layout of IR sensor, figure 2.4 shows PCB layout of
controller circuit.
Steps to design PCB are:
1. Fire up Express SCH.
2. You will see a ‘Welcome to Express PCB …..’ screen. You may go through
the quick start guide, but if you are reading this, that won’t be necessary Click
‘Ok’.
3. We’ll first need to place some components. Say we want to make a Voltage
Regulator circuit.
4. Click on the ‘component and symbol manager’ that is. the button to which I
have shown an arrow pointing
5. You’ll see the above window. Click Find–> Then key in ‘lm7805′. Once
you find it , select it and click —>Insert into schematic.
6. Now to connect the components together , click on ‘Place a wire’ . Click once
on an end of one component, then another time on an end of another component
to connect the them together. Use ‘Insert corner in a wire’ option (directly below
‘Place wire’ ) to bend the wire into a neater right angle. It doesn’t really matter
whether you do this or not.
7. Please note than ground , Vcc etc. will be found in list.

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Figure 2.4: PCB layout of sensor

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Figure 2.5: PCB of Controller Circuit

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Figure 2.6: Final PCB Layout

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2.1.2.4 Keil Software
Keil was founded in 1982 by Günter und Reinhard Keil, initially as a
German GbR. In April 1985 the company was converted to Keil Elektronik GmbH to
market add-on products for the development tools provided by many of the silicon
vendors. Keil implemented the first C compiler designed from the ground-up specifically
for the 8051 microcontroller.
Keil provides a broad range of development tools like ANSI C
compiler, macro assemblers, debuggers and simulators, linkers, IDE, library
managers, real-time operating systems and evaluation boards for 8051. Keil
provides IDE for 8051 programming & is very easy to use. When starting a new
project, simply select the microcontroller you use from the Device Database and
the µVision IDE sets all Compiler, Assembler, Linker, and Memory options. It’s
device database is large which supports many ICs of the 8051 family. A HEX file
can be created with the help of Keil which is required for burning onto chip. It has
a powerful debugging tool which detects most of the errors in the program.
1. Here we are writing codes in Keil software creating .asm file that is assembly
file and then use these codes further in microcontroller.
1. Open the Project menu and choose New Project.
2. Enter the name of the project you are creating. Enter the name usb.prj and
pressOK. usb.prj will be entered under File name.
The window is used to add various files to your project. These include
ASCII files, C and assembly source, and macros. The list is quite extensive and is
found in the Translator window if any files are present in the project. Note this
window is blanked out at this time. This window is accessible at any, time by
selecting Project/Edit Project and you may easily edit your file list. Note that any
assembler files must be last in this list. If they are not, changes made to them may
not be reflected in the final object file. When creating a new project in this
manner no source files are yet available. Therefore, select save to close this

window. Your project usb.prj will be active. Click on Project and confirm usb.prj
is visible.

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2.1.2.5 CREATING A NEW SOURCE CODE FILE

The pathname for this file (example.c) is c:c51evalexamplestutorialexample.c.
Type this program in
if you do not have this directory: This tutorial needs example.c in c:c51evalbin.
1) Do this step if you do not have the source. Open the File menu and choose
New to go to the µVision integrated editor. Use the editor to type in example.c .
When you have entered the file, do a save as to the c:c51evalbin directory. The
filename should be example.c . This will keep things easy to follow.
2) If you have the source code as a file, choose Open and get example.c in the
usual fashion. Source code. This sample program uses a number of simple C
source lines to demonstrate the Keil tool set.
3) Open the File menu and choose Save as. Save this file in the indicated
directory. This tutorial uses the directory: c:c51evalbin and the filename
example.c. Normally your project and source code would be in a directory of your
choosing.
4) At this point you have created a project called usb.prj and a C source file
called example.c.
The next step is to build your project. This includes compiling,
assembling, linking and locating and creating the hex file. The hex file would be
programmed into an EPROM and is not used here.

2.1.2.6 BUILDING THE PROJECT

1) Open the Project menu and choose Edit Project. This is where you add various
files to your project. Note there are no files in the project yet.
2) Choose Add. This is where you add the files to your project.
3) Select the file: example.c and press Enter.

4) Choose Add then Close. Example.c will be listed in the Source Files window.
5) Make sure Include in Link/Lib is checked.
6) Choose Save.

22
With the tool configured, you are ready to run the compiler and linker using the
Make utility.
1. Click on the “Build All” icon (it has three arrows pointing downwards) or open
Options and select
Make.
• If the program specified (example.c) has any errors; they will appear on the
screen. Use the editor to correct the error(s) in the source code and save the file.
You can double-click on the error of interest and µVision will take you to the
offending line in the source code. You can edit this line and rebuild the project by
repeating this section: beginning at step 1.
• If there are no errors, the code is assembled and linked with the executable code
ready to be downloaded to the board. The Project Status window will state “Make
Successful - HEX File Created” if everything is working properly. Continue to the
next section.
The following files in the directory bin are associated with this
project:
• example.c original source file - needed for debugging purposes.
• example.bak a backup file produced by µVision.
• example.lst a listing file of the source example.
• example.obj a relocatable object file. Needs to be linked.
• usb.prj the Project File. Note that the output code assumes the name of the
project file.
• usb.m51 map file.
• usb.hex Intel Hex File Created by the Object to Hex Converter oh51.exe.
• usb absolute object file with debugging information (if so set in the compiler
option)

This file is the input for the Keil simulator dScope and emulators. This
file is created by the linker.

23

2.1.2.7 Flash Magic Software

This software is use to burn microcontroller, through interfacing kit connecting
cables are connected to computer, it connect computer and the unit of
microcontroller and when we use this software it transfer the codes from keil
software to transfer to microcontroller and on bases of those codes our robot
works.

Flash Magic is a PC tool for programming flash based
microcontrollers from NXP using a serial or Ethernet protocol while in the target
hardware. It has some excellent features like changeable baud rate, erase all flash
before programming, setting security bits etc. The HEX file created with the help
of keil was selected through it for programming the microcontroller.

2.1.2.8 Code Vision Area
Compiler
• Enhanced the code optimizer
• Added support for the AVR Studio 5.1 and Atmel Studio 6 debuggers in
the Settings|Debugger menu. Details about using CodeVisionAVR with these
debuggers are available in the Help topics:
- CodeVisionAVR IDE|Tools|The AVR Studio Debugger
- CodeVisionAVR C Compiler Reference|Using the AVR Studio 4.19 Debugger
- CodeVisionAVR C Compiler Reference|Using the AVR Studio 5.1 and Atmel
Studio 6 Debuggers
and in the chapters: 2.4.1, 3.21 and 3.22 of the CodeVisionAVR User Manual.
• Added support for the SSD1963 color TFT graphic controller (Advanced
license required)

• Improved the speed of the SSD1289 graphic LCD library (Advanced
license required)
• Added function's memory address and size list to the .map file
• Renamed the adc member of GLCDINIT_t structure to reverse_x in the
header files for the SED1530, SPLC501C, ST7735 graphic LCD controllers.

24

• Renamed the seg_rev member of GLCDINIT_t structure to reverse_x in
the header file glcd_uc1701.h for the UC1701 graphic LCD controller
• Renamed the adc_rev132_x0 member of GLCDINIT_t structure to
rev132_x0 in the header files for the SED1530, SPLC501C, ST7735, UC1701
graphic LCD controllers
• Added the reverse_y member to the GLCDINIT_t structure in the header
files for the SED1530, SPLC501C, ST7735, UC1701 graphic LCD controllers
• Added the reverse_x member to the GLCDINIT_t structure for the
SSD1289 TFT controller. Replaced the gate_scan member with reverse_y.
• Added transparency support for color images in graphics.h (documented
in the Help and User Manual)
• Improved the delay_us function (delay.h) so that short delays can be
obtained even for low clock frequencies. Added a warning if the clock frequency
is too low and the desired delay can't be obtained.
• Added the SCAN (XMEGA ADC channel scan register) member to the
ADC_CH_t structure in the xmstruct.h header file
• Fixed: the strlcpy and strlcpyf functions (string.h) should copy maximum
n-1 characters.

CodeWizardAVR

• Fixed: the CodeWizardAVR for XMEGA devices signaled that not
enabled EBI /CS0../CS3 signals should be configured as outputs
• LCD Vision
• Added support for the SDD1963 color TFT graphic controller

• Added scrollbars to LCD preview if the image doesn't fit in the docking
panel
• Added the possibility to select opaque or transparent background when
pasting during image editing
• Fixed: Image inverting was functional only for text inserting mode
• Fixed: Large font characters didn't fit in the preview window

25

• Chip Programmer
• Added programming support for Atmel JTAGICE 3 (requires AVR Studio
5.1 or Atmel Studio 6 to be installed).
• Fixed: incorrect FLASH page size for ATmega16U4 and ATmega32U4
chips, which lead to programming failure when using parallel port, STK500 and
AVR910 programmers.

V2.05.6 Commercial Release

Compiler

• Enhanced the expression optimizer for cases when ANSI char to int
promotion is enabled in the project configuration
• Improved generated code when passing a struct/union with size 1, 2 or 4
as function argument
• Added support for ATxmega64A3U, ATxmega128A3U,
ATxmega192A3U, ATxmega256A3U, ATxmega256A3BU, ATxmega16A4U,
ATxmega32A4U, ATxmega64A4U, ATxmega128A4U chips
• Added support for the UltraChip UC1701 graphic LCD controller
• Added in glcd_st7565.h, glcd_sed1530.h and glcd_spl501.h the
adc_rev132_x0 member to the GLCDINIT_t structure, for displays that use
reversed RAM column address driver (ADC=1) and the pixel with x=0 is
connected to column driver #132

• Added 102x64 display support for the ST7565 graphic LCD controller
• Modified ff.lib so that LFN support can be enabled from ff.h
• Modified sdcard.lib and the Project|Configure|C Compiler|Libraries|
MMC/SD/SD HC Card
menu to allow SD card sockets without a /CD signal to be used
• Added the sdcard_present function in sdcard.h to check if a card is
inserted, when the /CD card socket signal is not used

26

• Changed the declaration of the twi_init function from twix.h to
void twi_init(TWI_t *module,bool ext_driver_intf,unsigned char sda_hold) in
order to be compatible with the ATxmega64A3U, ATxmega128A3U,
ATxmega192A3U, ATxmega256A3U, ATxmega256A3BU, ATxmega16A4U,
ATxmega32A4U, ATxmega64A4U, ATxmega128A4U chips
• Improved the twi_init function (twi.h) for better handling recovery after a
bus conflict
• Modified the snprintf, vsnprintf functions (stdio.h) so that they will return
the number of characters that would have been output, had the buffer been big
enough (as required by C99). Previous versions returned the number of characters
effectivelly written in the buffer (limited by the buffersize)
• Fixed: RAM access code was generated when passing a struct/union
located in FLASH or EEPROM as function argument
• Fixed: bug in glcd_sed1520.lib that produced a compilation error for
Xmega chips
• Added missing TWI registers bit definitions in the mega32u4_bit.h header
file

CodeWizardAVR

• Modified to generate the functions for external memory access, for
graphic LCDs, only if the Use Image Storage in External Memory option is
enabled

• Removed the TWIE peripheral for the
ATxmega256D3/192D3/128D3/64D3 chips, according to the errata from the
latest Atmel datasheet
• Fixed: for XMega chips the peripheral clock frequency (not the system
clock frequency as is incorrectly specified in the current Atmel XMEGA A
Manual Rev. 8077H-AVR-12/09) will be used for setting the value of the TWI
baud rate register

27

• Fixed: for XMega chips, in certain situations when using the differential
input mode, the ADC positive and negative input selections were reset to 0, when
switching the settings display between ADCA and ADCB
• Fixed: for the ATtiny2313/4313 chips, when the Timer 0 OC0B output
was used, no checks were performed if PORTD bit 5 was configured as output
• LCD Vision
• Added support for creating, editing and converting graphic images
• Chip Programmer
• Fixed: chip signature for ATmega328
• Fixed: the WDP and WDWP Xmega fuse bits state was not correctly
saved in the project file, when the option to program the chip after build was
enabled
• Fixed: improper BODACT fuse programming for Xmega A chips, because
of a mistake in Atmel XMEGA A Manual
• Fixed: the Xmega D chips don't have the JTAGEN fuse. The JTAGUID
fuse bits were replaced with USERID fuse bits.

2.1.2.9 Algorithm

The algorithms used in this robot are as follows:
1) Start
2) Initialize the input port & output port. Set the bit of port pin 1.0
3) Read data from port 1.
4) Check the bit on pin P1.0.
5) If bit is present move motors in forward direction. Else go to step 6.
6) If bit is not present on pin P1.0, then stop right motor & move left motor in
forward direction until we get bit on pin p1.0.
7) Again go to step 3.
8) Stop.
28
2.2 Basic Parts Of Project

So, now we may say that there are following main parts are there used
in our projects those are:

2.2.1 Sensors

A sensor (also called detector) is a converter that measures a physical
quantity and converts it into a signal which can be read by an observer or by an
(today mostly electronic) instrument.

Sensors are used in everyday objects such as touch-sensitive elevator
buttons (tactile sensor) and lamps which dim or brighten by touching the base.
There are also innumerable applications for sensors of which most people are
never aware. Applications include cars, machines, aerospace, medicine ,
manufacturing and robotics.

The IR Transmitter block mainly used to generate IR signal. It uses
timer IC555 in astable multivibrator mode to generate square wave which have
continuous pulses of 50% duty cycle of frequency 38 KHz. This transmitter is so
arranged that the IR rays are focused on the sensor.

2.2.2 Microcontroller

This is the most important block of the system. Microcontroller is the
decision making logical device which has its own memory, I/O ports, CPU and
Clock circuit embedded on a single chip.

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small
computer on a single integrated circuit containing a processor core, memory, and
programmable input/output peripherals. Program memory in the form of NOR flash or
OTP ROM is also often included on chip, as well as a typically small amount of RAM.
Microcontrollers are designed for embedded applications, in contrast to the
microprocessors used in personal computers or other general purpose applications.

29
Microcontrollers are used in automatically controlled products and
devices, such as automobile engine control systems, implantable medical devices,
remote controls, office machines, appliances, power tools, toys and other
embedded systems.
By reducing the size and cost compared to a design that uses a separate
microprocessor, memory, and input/output devices, microcontrollers make it
economical to digitally control even more devices and processes. Mixed signal
microcontrollers are common, integrating analog components needed to control
non-digital electronic systems

2.2.3 Driver

L293D is used as driver IC. Motors are connected to this IC. According to
program in µc it drives the left and right motor. L293D is a dual H-bridge motor
driver integrated circuit (IC). Motor drivers act as current amplifiers since they
take a low-current control signal and provide a higher-current signal. This higher
current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common
mode of operation, two DC motors can be driven simultaneously, both in forward
and reverse direction. The motor operations of two motors can be controlled by
input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the

corresponding motor. Logic 01 and 10 will rotate it in clockwise and
anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high
for motors to start operating. When an enable input is high, the associated driver
gets enabled. As a result, the outputs become active and work in phase with their
inputs. Similarly, when the enable input is low, that driver is disabled, and their
outputs are off and in the high-impedance state.

2.2.4 Motors

An electric motor is an electromechanical device that converts electrical energy
into mechanical energy.
30
Most electric motors operate through the interaction of magnetic fields
and current-carrying conductors to generate force.
The reverse process, producing electrical energy from mechanical
energy, is done by generators such as an alternator or a dynamo; some electric
motors can also be used as generators, for example, a traction motor on a vehicle
may perform both tasks. Electric motors and generators are commonly referred to
as electric machines.

2.2.5 Blower

Blowers for ventilation and for industrial processes that need an air flow. Fan
systems are essential to keep manufacturing processes working and consist of a
fan, an electric motor, a drive system, ducts or piping, flow control devices, and
air conditioning equipment (filters, cooling coils, heat exchangers, etc.).
Fans, blowers and compressors are differentiated by the method used
to move the air, and by the system pressure they must operate against. Blowers
can achieve much higher pressures than fans, as high as 1.20 kg/cm2. They are
also used to produce negative pressures for industrial vacuum systems.

2.3 Problem Faced In Making Project

Although the concept & design of the project seemed perfect, there were
some problems faced while actual implementation:

2.3.1 Proving Proper Power to different circuit

Solution: taking high precaution in designing of circuit.

2.3.2 Availability of Burner

Solution: as burner kit is not easily available, so we have design & implement hardware
for burn the IC.

31

2.4 Testing
There is always necessary to check the work for that here we have
implemented various test for following:

2.4.1 Continuity test
First of all we checked the PCB that all the tracks are as per the design
of PCB and showing continuity with the help of multimeter and PCB layout.

2.4.2 Short circuit test
Then we checked the PCB for any unwanted short circuits with the
help of multimeter and PCB layout.

2.4.3 Soldering
In the next step, we soldered the required components. And then
checked that there are no any unwanted shorts occurred due to soldering without
putting IC's and keeping power supply off.

2.4.4 Power supply test
In the next step, we put power supply on and checked whether
required voltage is appearing at the required voltage is appearing at the required

points i.e.+Vcc and GND at the respective points. We took care of not connecting
IC's in the circuit while performing this test.

2.4.5 Microcontroller test
For testing the microcontroller, we wrote the square wave generation
program for generating square wave on each port pin. Then we fed the program in
microcontroller and checked the output with the help of CRO by connecting the
microcontroller in the circuit. We took care of not connecting any other IC in the
circuit.

32

2.5 Applications
There are following application of IR obstacle detecting robot
1) This logic has been specially designed for vacuum cleaner. By using heavy
rating motors, strong mechanical structure and using highly sensitive obstacle
sensors, it efficiently works as vacuum cleaner.

2) Just by making small changes in software this system can be used for avoiding
concealed paths. This robot can effectively sense the obstacles and find out
correct path.

3) With proper programming we can use it as a weight lifter.

4) In Mines.

2.6 Future Scope By Improvement
The future uses of IR obstacle detector are as follows:

2.6.1 Adding a Camera:

If the current project is interfaced with a camera (e.g. a Webcam) robot
can be driven beyond line-of-sight & range becomes practically unlimited as
networks have a very large range.

2.6.2 Use as a fire fighting robot:
By adding temperature sensor, water tank and making some changes in
programming we can use this robot as fire fighting robot.

33
3. COMPONENTS

An electronic component is a basic electronic element that is available in a
discrete form (a discrete device or discrete component) that has two or more
electrical terminals (or leads). These leads connect, usually soldered to a printed
circuit board, to create an electronic circuit (a discrete circuit) with a particular
function (for example an amplifier, radio receiver, or oscillator). Basic electronic
components may be packaged discretely, as arrays or networks of like
components, or integrated inside of packages such as semiconductor integrated
circuits, hybrid integrated circuits, or thick film devices. The following list of
electronic components focuses on the discrete version of these components,
treating such packages as components in their own right.
So the components used in our project are:

1. Microcontroller ATMEGA8L
2. IC 293D
3. IC LM324N
4. IC 7805

5. Potentiometer 20k
6. Resistor 1k ohm
7. IR LED
8. Photo diode
9. Battery
10. Soldering wire
Let us discuss all components in brief

34
3.1. Microcontroller ATMEGA8L
The ATmega8 is a low-power CMOS 8-bit microcontroller based on the AVR
RISC architecture. By executing powerful instructions in a single clock cycle, the
ATmega8 achieves throughputs approaching 1 MIPS per MHz, allowing the
system designer to optimize power consumption versus processing speed.

Fig 3.1 Microcontroller ATMEGA8L

ATMEGA8L Features:
High-performance, Low-power AVR® 8-bit Microcontroller Advanced RISC
Architecture
– 130 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
Nonvolatile Program and Data Memories
– 8K Bytes of In-System Self-Programmable Flash
In-System Programming by On-chip Boot Program
Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
35
I/O and Packages
– 23 Programmable I/O Lines
– 28-lead PDIP, 32-lead TQFP, and 32-pad MLF
Operating Voltages 2.7 - 5.5V (ATmega8L)

3.2 IC L293D
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act
as current amplifiers since they take a low-current control signal and provide a
higher-current signal. This higher current signal is used to drive the motors.

Fig 3.2 IC L293D

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and
reverse direction. The motor operations of two motors can be controlled by
input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the
corresponding motor. Logic 01 and 10 will rotate it in clockwise and
anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to
36
the two motors) must be high for motors to start operating. When an enable
input is high, the associated driver gets enabled.
As a result, the outputs become active and work in phase with
their inputs. Similarly, when the enable input is low, that driver is disabled, and
their outputs are off and in the high-impedance state.

3.3 IC LM324N
LM324 is a 14pin IC consisting of four independent operational amplifiers (op-
amps) compensated in a single package. Op-amps are high gain electronic voltage
amplifier with differential input and, usually, a single-ended output. The output

voltage is many times higher than the voltage difference between input terminals
of an op-amp.

Fig 3.3 IC LM324N

These op-amps are operated by a single power supply LM324 and need
for a dual supply is eliminated. They can be used as amplifiers, comparators,
oscillators, rectifiers etc. The conventional op-amp applications can be more
easily implemented with LM324.

37
3.4 IC 7805
Fixed voltage Positive and Negative regulator ICs are used in circuits to give
precise regulated voltage.78 XX series regulator IC can handle maximum 1
ampere current. The Regulator ICs require minimum 1.5 higher input voltage than
their voltage rating. For example 7805 IC requires minimum 6.5 volts to give 5
volt output. Here are some circuit designs of IC 7805 to monitor the output
voltage.

Fig 3.4 IC 7805

3.5 Resistor
A resistor is a passive two-terminal electrical component that implements
electrical resistance as a circuit element. The current through a resistor is in direct
proportion to the voltage across the resistor's terminals. Thus, the ratio of the
voltage applied across a resistor's terminals to the intensity of current through the
circuit is called resistance.

V= IR
where I is the current through the conductor in units of amperes, V is
the potential difference measured across the conductor in units of volts, and R is
the resistance of the conductor in units of ohms. More specifically, Ohm's law
states that the R in this relation is constant, independent of the current.
38
Resistors are common elements of electrical networks and electronic
circuits and are ubiquitous in electronic equipment. Practical resistors can be
made of various compounds and films, as well as resistance wire (wire made of a
high-resistivity alloy, such as nickel-chrome). Resistors are also implemented
within integrated circuits, particularly analog devices, and can also be integrated
into hybrid and printed circuits.

Fig 3.5 RESISTOR

3.6 IR LED
An IR LED, also known as IR transmitter, is a special purpose LED that transmits
infrared rays in the range of 760 nm wavelength. Such LEDs are usually made of
gallium arsenide or aluminum gallium arsenide. They, along with IR receivers,
are commonly used as sensors.

Fig 3.6 IR LED

39
The appearance is same as a common LED. Since the human eye
cannot see the infrared radiations, it is not possible for a person to identify
whether the IR LED is working or not, unlike a common LED. To overcome this
problem, the camera on a cell phone can be used. The camera can show us the IR
rays being emanated from the IR LED in a circuit.

3.7 Photodiode
A photodiode is a type of photo detector capable of converting light
into either current or voltage, depending upon the mode of operation. The
common, traditional solar cell used to generate electric solar power is a large area
photodiode.

Fig 3.7 Photodiode

Photodiodes are similar to regular semiconductor diodes except that they may be
either exposed (to detect vacuum UV or X-rays) or packaged with a window or
optical fiber connection to allow light to reach the sensitive part of the device.
Many diodes designed for use specifically as a photodiode use a PIN junction
rather than a p-n junction, to increase the speed of response. A photodiode is
designed to operate it.

40

4. RESULTS

Thus, we believe that our project will be beneficial for various purposes & hence

our efforts will be fruitful . So, we made a successfully obstacle detector robot
having application of vacuum cleaner which have ability to move freely anywhere

and along with it, it have ability to create its own path and it avoid obstacle by
artificial intelligence provided by programming in microcontroller to perform
action and IR sensor to sense the obstacle, it also clean the area where it move
with vacuum cleaner which is its application.

41
5. REFERENCES

1. "Atmel’s Self-Programming Flash Microcontrollers" by Odd Jostein
Svendsli 2003
2. http://www.semico.com
3. Heath, Steve (2003). Embedded systems design. EDN series for design
engineers (2 ed.). Newnes. pp. 11–12. ISBN 9780750655460.

4. Easy Way to build a microcontroller project
5. Robert Edwards (1987). "Optimizing the Zilog Z8 Forth Microcontroller
for Rapid Prototyping". p. 3.
6. www.infineon.com/mcu

42

6. APPENDICES

6.1 Datasheet
6.1.1 ATMEGA8L
6.1.2 IC 7805
6.1.3 IC LM324N
6.1.4 IC 293D

6.1.1 ATMEGA8L
1. Introduction
• High-performance, Low-power Atmel®AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 130 Powerful Instructions – Most Single-clock Cycle Execution
– 32 × 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16MIPS Throughput at 16MHz
– On-chip 2-cycle Multiplier
• High Endurance Non-volatile Memory segments
– 8Kbytes of In-System Self-programmable Flash program memory
– 512Bytes EEPROM
– 1Kbyte Internal SRAM
– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data retention: 20 years at 85°C/100 years at 25°C
– Optional Boot Code Section with Independent Lock Bits
2. In-System Programming by On-chip Boot Program
3. True Read-While-Write Operation
– Programming Lock for Software Security
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and
Capture

43

2. Mode
– Real Time Counter with Separate Oscillator
– Three PWM Channels
– 8-channel ADC in TQFP and QFN/MLF package
3. Eight Channels 10-bit Accuracy
– 6-channel ADC in PDIP package

4. Six Channels 10-bit Accuracy
– 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
– Five Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down,
and
5. Standby
• I/O and Packages
– 23 Programmable I/O Lines
– 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF
• Operating Voltages
– 2.7V - 5.5V (ATmega8L)
– 4.5V - 5.5V (ATmega8)
• Speed Grades
– 0 - 8MHz (ATmega8L)
– 0 - 16MHz (ATmega8)
• Power Consumption at 4Mhz, 3V, 25°C
– Active: 3.6mA
– Idle Mode: 1.0mA
44
6. 8-bit
7. with 8KBytes
8. In-System
9. Programmable
10. Flash

Fig 6.1 ATMEGA8L PIN DIAGRAM

6.1.2 IC 7805

1. Internal Thermal Overload Protection.
2. Internal Short Circuit Current Limiting.
3. Output Current up to 1.5A.
4. Satisfies IEC-65 Specification. (International Electronical Commission).
5. Package is TO

45

Fig 6.2 IC 7805 PIN DIAGRAM

6.1.3 IC LM324N

• Internally frequency-compensated for unity gain
• Large DC voltage gain: 100dB
• Wide bandwidth (unity gain): 1MHz (temperature-compensated)
• Wide power supply range Single supply: 3VDC to 30VDC or dual
Supplies: ±1.5VDC to ±15VDC
• Very low supply current drain: essentially independent of supply
Voltage (1mW/op amp at +5VDC)
• Low input biasing current: 45nADC (temperature-compensated)
• Low input offset voltage: 2mVDC and offset current: 5nADC
• Differential input voltage range equal to the power supply voltage
• Large output voltage: 0VDC to VCC-1.5VDC swing

46

Fig 6.3 LM324N PIN DIAGRAM

6.1.4 IC 293D

• Terminations: 100 % matte tin, standard, tin/lead available
• Compliant terminations
• Molded case available in six case codes
• Compatible with “High Volume” automatic pick and place equipment
• Optical character recognition qualified
• Meets IEC specification QC300801/US0001 and
EIA535BAAC mechanical and performance requirements
• Compliant to RoHS Directive 2002/95/EC
• Moisture sensitivity level 1

47

Fig 6.4 IC 293 PIN DIAGRAM

6.2 Program

#include <mega8.h>
#include <delay.h>
// Declare your global variables here

void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port B initialization
// Func7=In Func6=In Func5=In Func4=Out Func3=Out Func2=Out Func1=Out
Func0=In
// State7=T State6=T State5=T State4=0 State3=0 State2=0 State1=0 State0=P
PORTB=0x01;
DDRB=0x1E;
// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;

48

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In
Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=P State0=P
PORTD=0x03;
DDRD=0x00;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
TCCR0=0x00;
TCNT0=0x00;
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off

49
// INT1: Off

MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

while (1)
{
if(PIND.0==1)
{
PORTB.1=1,PORTB.2=0,PORTB.3=1,PORTB.4=0;
delay_ms(100);
}
else
{
delay_ms(400);
delay_ms(300);
delay_ms(400);
}

}
}

Chip type : ATmega8L
Program type : Application
Clock frequency : 1.000000 MHz
Memory model : Small
External SRAM size :0
Data Stack size : 256

50

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