Fire Fighting Robot1

8/20/2019 Fire Fighting Robot1

1/61

143.472

Ta Mb:

Ja X 05119308

Wa Cb 05150469

Na B 05041554

Aaa Oa 05158494

X G 05075629

(25/5/2009)


2/61

1. 1

2. 2

3. 3

3.1 Oa 3

3.2 Ta a 9

3.3 Ia a 10

4. 11

4.1 Ma 114.1.1 Haa 11

4.1.2 Sa 11

4.1.2.1 RTOS 12

4.1.2.2 C a 13

4.1.2.3 Fa a 14

4.1.2.4 R a 14

4.2 M 14

4.2.1 D a 144.2.2 T 15

4.2.3 Haa 16

4.2.4 Sa 17

4.3 P 18

4.3.1 D a 18

4.3.2 T 18

4.3.3 Haa 20

4.3.4 Sa 21

4.4 F 22

4.4.1 D a 22

4.4.2 T 23

4.4.2.1 C 24

4.4.3 Haa 26

4.4.3.1 S a 26

4.4.3.2 C 29


3/61

4.4.4 Sa 30

4.4.4.1 P 30

4.4.4.2 T a 30

4.5 Fa 304.6 U ba 31

4.6.1 PCB Maa 32

4.7 Ca D 33

4.8 Ia 36

5. 38

6. 39

7. 40

: Ma 41

: F 50

: M 53

: P 55


4/61

1

1.

T a a a a b

Ia S D a Ia a. T b aaa, a

ba a a a a a a (a ) a . T

a b a a a, a a a a a, b a b a ba a.

O a :

1. Ma

2. M

3. P

4. F

Ea aa aa a a , a

a .

I a, a . T, a

a a . S 4.8 b a .

A a a aa .


5/61

2

2.

T a a b:

• I aaa

• I a a ba

• I a a a (a ) a a a

• T a b NZ$500 ($100 )


6/61

3

3.

3.1

A a a aa b, ab :

• U 6 a , aab a a 360 a. A

, a a , a a,

a a a a a , a a aa

• U S DC

• U IR

T a a a a a a 3.1, a a b

b b a :

• , a a b

b

• , a a a a a ,

a a

• F , a a a a a ab

a a 360 a

• F , a ab a a

• C , a b a a a b

ab

F 3.1: Ma b

F

M

P

Ma

(C )

Fa a


7/61

4

T a b a b aaa:

• W a a a aa a, a a a b b ab

a

• Ha a a aa a ba a a

a a b a , a

• Ba a ba , a b b

a

• Fa b a b a b

a . T a b a b a

• Ma a a a, a a a a.

B a a b a

A a a, a a ba a b. T

a a a a a b b a a

:

• A a . A a a a

a a aab

• T b a a. Ma b

, a a a , a a a a b

a. W a b a b b , a

, a a a b

a ( 4.2)

• Ra a , a a . T a a

b a a a a

W a a b, a

.


8/61

5

F 3.2: M a


9/61

6

F 3.3: M a


10/61

7

F 3.4: C a


11/61

8

F 3.5: Fa a


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9

T a a a b a, a a

a a a a .

T , a , a a b a a

a a a. T a, a a a

a a a a FSM, a 4.1 a A A.

N a a a, CCS C a ICD a a

a CCS a a a a b a.

3.2

T a a a a b . Ta a a a :

• M & Ca : Wa a X

• P : N

• F : Aaa

• Ma , aba a a : Ja

F 3.7: FSM a aa.


13/61

10

3.3

Tab 3.1 a .

/

Pa SFH 309 PFA RS S N / 6548817 2 (10a) $0.90

Ra 5V S Sa Jaa Pa N / SY4092 1 $15.90

NAND Ga 74HC00 Ma Lab 3

H I 74HC04 Ma Lab 2

Da S GP2D120 RS S N / 4775691 3 $34.60

S GWS S03B 2BB Jaa Pa N / YM2760 2 $35.90

M PIC16F877A Jaa Pa N / ZZ8540 6 $17.90

D 1N4001 Ma Lab 8

H TI SN754410 DSE Pa N / Z6845 1 $4.98

Taa ab W D Jaa Pa N / YG2743 2 $35.90

Taa S Jaa Pa N / YG2862 1 $23.90

Caa 0.1 F a

100 F 16 V

Jaa Pa N / RC5360

Jaa Pa N / RE6130

3 (2a)

2

$0.43

$0.48

R 47 Ω

560 Ω

Ma Lab 4

6

Ba E 9V

E AA

DSE Pa N / S3215

DSE Pa N / S3287

2 (2a)

2 (4a)

$15.99

$9.99

: $455.59

Tab 3.1: Pa


14/61

11

4.

4.1

A a a a a a aba a, a .

4.1.1

C , a ba a . Ba a ba a a

a b , a a a a, a a a

aa a , a a a a PIC . L

a a ba:

• Ma

• 10MH a

• PIC16F877A

• Pa S

W a 10MH a, a a a a

aa a b . T a a a a aa ,

a b ab a a b a b

b .

F 4.1.1 PIC, a a b

a a a ba.

4.1.2

T a a . T ba a a ab , a a ba a . T aa

FSM FIG 3.6 a 3.7, a a b aa b

F 4.1.1: C aa


15/61

12

. A a b APPENDIX A,

aa b, a RTOS (Ra T Oa S).

4.1.2.1

Ra a (RTOS) b () a

aa, aa a a a. T a a b a a a,

a a b a a a

a . T a a b a. T

4.1.2 a a a a .

FIG 4.1.2 Ta RTOS Ia

H, a a b 10. T a aa b

PIC a 10 . O a a a b

(2 a). O RTOS a a

b a a. E 10, a ,

a a . I , a

. I a a a a ,

a ab aa, a a a , a

a a .

T a a b aaa b a RTOS. Aa b

b a b a. W a a RTOS a

a aa. F a, , aa (CA) b

b b a a a a. I a,

a ab RTOS b :

(CA)

W _CA a RTOS b a .

I , RTOS a b CSS a a ba,

, a .


16/61

13

4.1.2.2

T a aa a:

• P

• Fa Ta

• M

Ea a a a RTOS . T

600. T a a a, a b a

, a b a a a . A

a a a , a HD

aa.

O , ab a a . T a ab

a . T ba a b :

F P:

• I a ba, a a a a ba

• I a b , ab Fa Ta (a aa

a), a . Fa a ab, ba a b a

ba , b b b a a aa.

• I a b , aa ab a a ( CA), a

• I a b , a a ab a a a

F Fa a, a a a RTOS a a

b a a. I a aa b a. T a

Fa Ta, a a ab aa a

b. T a a :

• I a , a ab CA, a a b

• I a , . CA RTOS b a, a a

a a b. N a ab CA

a a, a a a , a a

CA a a a.

• I a , a ab aa, a

a a a. W aa, a CA RTOS

a a a a ba, a a

• I a b, a ab CA, a a a

a

• I a a , a b,

a 10 , a 180 , a ab a aa a

a


17/61

14

4.1.2.3

T b a b a a. I 3.6, a a

a a a a a . T a a

a aa .

F, a a aa, a a a a a

. T a b a a. T

a b a a a, a a a

ba a a a aa. T , a a

a a, b

a a . T a a b

a a , a a

b a a b a a a

aa.

A, .2.2, a a a RTOS ba a a b

a a ba. W , a b a a ba, a a

a a a , b b CA aa . T

b, a a CA , a b a a ba,

a a b a a ba .

4.1.2.4

A b a b b, a a a a

a 45 . T ba a a a b a

, a a, a b a a . T b, a a a. W a a

b CA, , a b a a

aa a , b a a 90

a a . F a, b a a ,

a a , a ba . O a , a

a a a , a a 90 . T

a b ( A E).

4.2

O a b ba. T

a a a , a a a aa a

. A PIC16F877A b M, b a a a

TI a a .

4.2.1

W a DC a bb .T a a DC aa a a

a, a a b a PWM ( a) a a


18/61

15

ba . T a

a, a

a (ba a ). I a

a a a a a a . T a a

b a b a a;

ba a (1.5 )

a a. T a a a.

4.2.2

U , , aa , a a PWM a

a aba b a. W a

a a Hb . Hb a b aa a

baa a a DC . T a a

a, a a aaab a (IC) .

W Hb IC: a L293D, a b ST M; a

SN754410, b Ta I. B a Qa HaH a

ba a a a, , a DC a ba .

T IC a TTL a CMOS ab , a 600 A a

L293D a 1 A SN754410. T a a 4.5 36 V b

a (aa aa). W a aa

aa, a a 1 A a a ( a

a a a).

T Taa W Gab H.E. ( ) . T a

RE260 (3 V), a a b 216:1 a 336:1 a a a a a aa. T ab

F 4.2.1.

F 4.2.1: Taa W Gab M


19/61

16

4.2.3

F 4.2.2 b a aa SN754410. Va 9 V

(V1) a 4.5 V (V2). T 3.8 V ()

(1, 2, 3, 4Y) a ba aa 0.7 V b a

aa. Ia a V1 a 5 V a (), b

a b a b a a

a a.

T SN754410 a a F 2. A a b , a

, a ab . T ab a , a b a

a a (ba). W ab 5 V ,

a a ba a a a a.

F 4.2.2: P aa SN754410 IC

A a a b PIC

a . W a b

a ESD (a a) , a a

a a ( ) L293D. T a a b a

1N4001 a a a

a, a a a ( a

) a a ba. A 470 μF ba aa a a a a

, a a a. F 3 a

.


20/61

17

F 4.2.3: C

P RD03 a Hb, a RB13 a a

a ba. T ICD a MCLR, PGC, PGD, V a V; MCLR a a

5 V a 47 Ω , a a. A 4 MH a a a a

PIC.

4.2.4

T a a b :

1 2 3

0 0 0 S

0 1 0 L

1 1 0 R

0 0 1 Fa

1 0 1 Baa


21/61

18

F a a , a RD03

a . A b

a , a a a a a b a.

F : XT (a/a


22/61

19

G 4.3.1

A a ab a a a a a a a a

aa a aa ( ), a

b I a a (Tab 4.3.2, Ga 4.3.2).

A C() Va a 4 Va a 5

40 0 0

30 0 0

20 0.72 0.17

10 2.19 2.00

0 2.38 2.09

10 2.26 2.00

20 0.70 0.1130 0 0

40 0 0

4.3. 2

2 4 6 8 10 12 14 16 18 20 22

0

0.5

1

1.5

2

2.5

3

Volts per Distance

White(volts)

Red(volts)

Candle(volts)

Distance (cm)

V o l t a g e

( v o l t s )


23/61

20

G 4.3.2

F ab aa a a a a a 10 0,

ba a a b a b,

.. a a.

4.3.3

W , a a a

a PIC , a a a a

aa a ba a PIC ( 16F877A) a

aa PIC ( aa a PIC). Ba

a aa a a, A/D PIC (AN0 AN7).

-50 -40 -30 -20 -10 0 10 20 30 40 50

0

0.5

1

1.5

2

2.5

Volts per Angle

Voltages at 4cm

Voltages at 5cm

Angle (degrees)

V o l t a g e s

( v o l t s )


24/61

21

4.3.1:

W ab a a ba aa

a , ab .

4.3.4

T a :

0 1 2

0 0 0 N Ob

0 0 1 L M a L

0 1 0 R M a R

0 1 1 M M a L a R

T a a RB0 PIC

aa b a aa a b a , .. RB0

aa b , RB0 .

F I a a a ADC a aa

a a a , A D.


25/61

22

4.4

T a (a ) a a

. T a a a

.

T a a a a a a

a (S 3.1). S a a a a

aba a a a. I a, b b a

a . I a, a b a a

b b a.

F a a a a, a a a a

a a a ba b a ba a. A a

, b a a a a b .

T Aa Da C (ADC) (PIC 16F877A)

a a. T ADC a a a a aa b

a . F PIC16F877A , a b a

a a a . T a a 16 .

T, a a a a a a a 100

.

4.4.1

W aa a a a

a a b. Oa a a a a b a

a a b. T a a

a. T a:

• Pa: L a a ba. I ,

a b a a. A a aaab RSO NZ.

• P : Sa IR b a

a. Ua b a b a a a

IR a a. S aaab RSO NZ.

• Haaa UVT a : S a a a UV

. Aa Rb a UVT a a a UVT .

F , a a a a a aaab a

a aa, a aaab aa. I a,

a a a a a . T a b aaa ba

a a a a a aa a.

A, a a a.

F a a, a a a a a a

a a aa a a a. W a a a a


26/61

23

a a ba a a a a a a 600 1000 a .

A a aa a a a 360 b.

T a a a SFH 309 PFA aa b OSRAM O S. T

a a a a a a 880 a a a aa a

150 . I a a /a 6 , a b .

4.4.2

T a a a aab a

4.4.1. I a a a a.

W a a , a a a b a

a a. I aa b a, b

a a a a .

Da ()

O a (V) 10 15 20 25 30 35 40 45 50 55 60 65 70

R 470 0.37 0.37 0.35 0.33 0.31 0.28 0.19 0.12 0.07 0.04 0.03 0.01 0.01

(Ω) 220 4.78 4.76 4.74 4.68 4.63 4.37 3.97 3.36 3.01 2.48 2.12 1.66 1.48

560 4.88 4.88 4.85 4.83 4.82 4.70 4.44 3.60 3.00 2.90 2.43 2.10 1.90

Tab 4.4.1: E ab . T a a .

T ab a ab a. T b a

a a b a a a

. T ab a a a a a b a a a a

a , a a. W a a a a

aa a.

N, 560 .

T ab 3 a .

F 4.4.1 : C

a

.


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24

Da ()

O a (V) 10 15 20 25 30 35 40 45 50 55 60 65 70

L Da 4.88 4.88 4.85 4.83 4.82 4.70 4.44 3.60 3.00 2.90 2.43 2.10 1.90

L 4.88 4.87 4.86 4.84 4.82 4.80 4.54 4.38 4.07 3.99 3.86 3.90 3.88

Tab 4.4.2: O a a 560 Ω.

T a a a a a

. A a a , a aaa

a . Wa , a a

a a. T a

a a .

T , a a a a a a

a. H, a a

a b a . I a a a a a

a 560 a .

4.4.2.1 C .

T a a a a a, a

a a a a a .

F a, a , a a a

( F 4.4.2). T a a a ba

a . T a a

a aa. H, a a a

a a 150 . A b

a a a a ; a

a a 60 b 360

b.

T 4.4.3. T aa (a)

a . C a a ,

15 a 30 b . I a,

ab a a b b a b a. T aa (b)

a . A a, a 60 , a a a 360 .

F 4.4.2:

F

.


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25

T a a a 560 . T

a aa ab b.

Da ()

O a (V) 10 15 20 25 30 35 40 45 50 55 60 65 70

L Da 4.88 4.88 4.85 4.83 4.82 4.70 4.44 3.60 3.00 2.90 2.43 2.10 1.90

L 4.88 4.87 4.86 4.84 4.82 4.80 4.70 4.10 3.40 2.90 2.60 2.30 2.14

Tab 4.4.3: O a .

T ab 4.4.3 a a a . A b a ab 4.4.1, a a

a a a a a. A aa a,

a b a a a a a

a a ab a . W , a

a a aa a a .

A ()

O a (V) 0 10 20 30 40 50

Da () 40 4.84 4.83 4.82 4.82 2.1 1.9

50 4.82 4.79 4.45 4.72 1.8 1.860 4.82 4.8 4.1 3.6 1.7 1.7

Tab 4.4.4: Ra a ab

a.

Tab 4.4.4 a a a. T a aa

a b a a a 4.4.1 a. W

a aa a 40 a 50 , a a

30 a. W aa b a a 60,

a a a 3.6 30 aa a.

H a 30 a 40 b a a 30 a; a

60 . T a aa .

a b

F 4.4.3: C a . a) C . b) C

. N a ab a.

40˚60˚

5.9

3

3

3.7


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26

T ab ab a . T

a a a ab , a a b . A, a

a ab, a a a a

a . T a b

a aa a a a I b a , a a

aa b .

4.4.3

4.4.3.1 S a

A b , a a . T b

a .

F 4.4.4 a a b a . T

a a ba F 4.4.5.

2.6

2.6

13.7

4.2

F 4.4.4: T a b

4.2

2.6

2

2

F 4.4.5: C a a .

F 4.4.6: P

a.


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27

Ia a , b a

b. A ba a

aa a 4.4.6.

U , a a a a a a

a.

DaV

10 15 20 25 30 35 40 45 50 55 60 65

0 4.87 4.87 4.84 4.81 4.68 4.59 4.50 3.87 3.35 3.00 2.54 2.10

1 4.85 4.84 4.82 4.78 4.72 4.63 4.57 3.99 3.49 2.88 2.47 2.68

2 4.87 4.86 4.84 4.80 4.77 4.67 4.60 4.12 3.75 3.25 2.82 2.04

3 4.88 4.87 4.86 4.82 4.75 4.69 4.61 3.80 3.03 2.46 1.97 1.58

4 4.86 4.86 4.83 4.77 4.64 4.53 4.44 4.24 3.85 3.64 3.34 2.97

5 4.88 4.88 4.86 4.79 4.71 4.62 4.52 4.04 2.89 2.75 2.48 1.86Tab 4.4.5: R ab a

AV @

40 0 10 20 30 40

S 0 4.50 4.42 4.38 3.78 1.96

1 4.63 4.60 4.57 3.52 2.69

2 4.58 4.55 4.49 4.22 3.25

3 4.42 4.39 4.39 3.71 2.42

4 4.65 4.64 4.62 4.59 3.54

5 4.57 4.57 4.52 3.26 2.08

Tab 4.4.6: R a

a

F , a a a a a a

. T b a a . A a

ab, a a a aa a b a

a . A a , a b a a

a a.

S a a

a . A

b a aa. T a

a a aba. T a

a ba aba a a a

a. T a a 2 b 2

ba. T a aa b.

GNDV

V

F 4.4.7: C aa

a a.

2

2


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28

Ea a a a b 0 5 a

a b b. A

4.4.8, 0 a b, 1 a 2

a a ; 3 a 4 a a

a a 5 a b.

S a a a a a. T a a

a . W a a

a aa a a a .

1. O a a ba a

baba . T b b ba a b.

2. T a a b a a . T aa b b

a ba a.

Tab 4.4.7 a a a a 40

b (.. T 0 b a) .

T ab 0 a a

a 4. W aa a a

aa a, b a

a aa a a. U

aa a a a

a a.

T b a a aa

a 2.86 a 3.47. H a

a a a a a a b a a

b 0.8 V a aa a. A

a aa,

a b a

b a a.

A a a a , a a a a

a a a a. I a, b a

a, b a a a .

L Da

S V S V

0 4.74 0 4.52

1 2.67 1 2.34

2 1.87 2 0.68

3 1.96 3 0.23

4 1.34 4 1.25

5 1.57 5 0.76

Tab 4.4.7: R a

a 0aa a 40. Aa

a a 1.88V a 1.05V

a a

.

0

1

2

5

3

4

F 4.4.8: Nb a


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29

4.4.3.2 C PIC 16F877A

T a PIC16F877A a

a. A a a, b

aa a a a ba ba

. T, a b Aa

Da C ab . Ta , A 0, 1, 2, 3 a 5 a E 0. Ma a. I P B 0, 1, 2

a 3 .

T aa PIC 16F877A. N a 4MH a a a V a

5 .

A ab 4.4.8 a 4.4.9 a a ab .

S b 0 1 2 3 4 5

P/ A0 A1 A2 A3 A5 E0

Tab 4.4.8: I .

B0 B1 B2 B3

N 0 0 0 0

L 0 0 0 1

R 0 0 1 0

B 0 0 1 1

F 0 1 0 0

Fa 0 1 0 1Tab 4.4.9 : O Ma

F 4.4.10: P aa PIC 16F877A


33/61

30

4.4.4

4.4.4.1 P

P a a .

1. Ia a .2. Ra a ADC

3. S b bbb . T a a a.

4. Caa aa a a b ( a

a). T aa a aa b

a aa a .

5. Ba aa a, a aa (VT = VE + 0.8V).

6. Ca a a a . T a

a a a a a a . T a,

b a a, a a a a . A, b

a aa, a b a a 3 a a

a a .7. O a a. R ab 4.4.9 a .

8. Ra 2.

T ab C. R a B aa .

4.4.4.2 T a

T a b a a LED .

F, ADC a a aa a a a. I a a a a ADC . T a a. W

a , ADC a a a aa a a. T a

a, a b aa 0.2 a aa a.

W ab b a , a b a aa a. T

a a a a b a a a

P B.

4.5

A , a / a a. T

ba

• I a . T aa , a a a

a b a b

• P . A b b a a, a a b

aa a a a

T ba a a 3 :

• 5V DC a


34/61

31

• 9V ba a aa b

• H a a ba

T a a a ba a b , a a a a a

a . T b a a a 1A ,

a a PIC. A, a a , a PIC aab 20A .

F , a a aa 9V ba. T ba a a a a a

, a b ba ( 4.6) aa a b .

T 9V ba a a a a, a a

a a a a b.

T a a 4.5.1; a a

a a , a.

4.6

T ba PCB a a Ma. T ba a

a a b. A 4.6.1 , ba a :

• 9V ba

• 5V Va a (9V I, 1.2A Ma)

• 4.5V ba

• 9V a

• 5V a

• 4.5V a

• STDP (S T Db P) S

• G a

• Ba aa (0.1F)

• S aa (100F)

F 4.5.1: C aa a


35/61

32

4.6.1

A b. W aa PCB a Ma PCB . T

ba A, a b , a b b

a ba.

U A, a a b a ba. I a ,

a b . T a ab , a b

a a a a. F 4.6.2 a ba

.

F 4.6.1: C ba


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33

T ba A, a a :

1. Sa b ba

2. Da a a A ba. F a a a, a

a Ma ba. S a a

aaa aa ba a a

3. Pa a

4. Da a b a. T a a

5. I , a ab a, a a a

6. E , a PCB

4.7

O a a b a a a a

aa a a aa ba. T :

• F ba ba

• Ba (2 9V + 3 AA)

• Gab/W

• P S

• Fa + M

• T a a

• O a a a LED ba b

T ba a Ta G PCB ba

a, a a.

F 4.6.2: D ba


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Lba Sa a a ,

a a aa a.

A aa a a a aa

Taa ab . T ab b

a . Rbb ba a Taa

aa, a a a

aba a.

F a a a a b baa, a a

a a . T a a a a a a

ba .

T aa a a a a, a a

a aba. T a a LED ba aa b a,

a a .

A ba a aba /a a a ab

a (aa 14.5 ).

Fa, ba a a, a a .

CAD M b a F 4.7.14.7.4:

F 4.7.1: F b


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F 4.7.2: Ra b

F 4.7.4: Rb aa


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F 4.7.4: Da

4.8

H b a.

1. M b a a .

2. P a 1.

3. U ba a 2

4. a a ab

5. Fa a ab

N a a a a a. A a

ab , ba b a a b b. P

a aa b aab a b. U ba a

b a a ba a b. Fa

a a (a) a a.

W a a b a . S b :

• T a b a a a ab a a a

ba. T ab a a a, a aa a a.


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• A 4.2.3, PIC a . T

a b a a b

.

T a a a a a a, a aa a .

• W a a , aaa a a, a

a a , a a,

• A a a, = 5, a a, bb ab a

a, 4.5 b 9

• Rb a a a a / ba

• A ba a b

• T a , a

T a b 4.8.1.

M a a b a CD a

a A E.

F 4.8.1: Fa b


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5.

W a a :

• B a b , a a (R a

a 500). T Rb a a, a a

a a a a a a 45

• B a , ab a 6 a a

, $40, a a a

$100. W a ab abb 3 b PIC b.

• T aa a a a a a . A

a PIC ba, a a aa b a a

PIC a a a b

.


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6.

I , aa a a a a

b a a a a a . T

a b . T b

a a b a ba b a b a .

T, a b a a a

ba. A, aa b ab b $400.

T , a a aa a a a

a . T a a aa a a NZ a

a a a b.


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40

C C S (CCS) I. (2006). D K IC C E :

IC16F877A.

E P . (2009). Aa Rb. R 1 A, 2009

://.aa./b/a/R14423.

M T I. (2001). IC 16F87 D.

OSRAM. (2005). (FH309 FA) D. Pb b OSRAM O

S GbH.

RS N Zaa. (..). R Ma 26 2009, ://aa.

./b/.

Sa Ca. (2006). G2D120 .

(2009). V b. R ://a./Rb%20Fa.

Sa IR Ra Ia. (2008). Aa Rb. R 18 Ma, 2009

://.aa./b//a/a/a.#8

UVT Fa . (2008). Aa Rb. R 1 A, 2009

://.aa./b/a/R66R2868.


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• C.

#

# a=8

#FUSES NOWDT //N Wa D T

#FUSES HS //H O (> 4)

#FUSES NOPROTECT //C a

#FUSES NOBROWNOUT //N b

#FUSES PUT //N P U T

#FUSES NOLVP //L Va Pa B3(PIC16) B5(PIC18)

# a(=10000000)

# (=0,_=10)

• Ma

# "C."

8 STATUS_PANEL_RED = 000;

8 STATUS_PANEL_YELLOW = 001;

8 STATUS_PANEL_GREEN = 002;

8 PROXIMITY_NO_OBJECT = 0;

8 PROXIMITY_LEFT = 2;

8 PROXIMITY_RIGHT = 1;

8 PROXIMITY_FRONT = 3;

8 FLAME_NONE = 0;

8 FLAME_LEFT = 1;

8 FLAME_RIGHT = 2;

8 FLAME_FRONT = 4;

8 FLAME_REAR = 3;

8 FLAME_NEAR = 5;

8 MOTOR_STOP = 0;

8 MOTOR_LEFT = 1;

8 MOTOR_RIGHT = 2;

8 MOTOR_FORWARD = 3;

8 RECURSIVE_MAX = 1;


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8 FAN_ON = 0;

8 FAN_OFF = 1;

aSa(8, 8);

aC(8);

A();

F();

R();

//ba a

8 aA = 0;

8 aB = 0;

8 C = 0;

8 C2 = 0;

8 M = 0;

8 aD = 0;

8 C = 0;

//RTOS P

#a(a=600, =2)

C();

#a(a=100)

_CA();

#a(a=150)

_FT();

R()

aSa(STATUS_PANEL_YELLOW, 009);

_ab(_CA);

//

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

a_(3000);

_ab(_CA);


F()


_ab(_CA);


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_ab(_FT);


//M = MOTOR_STOP;

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

aC(FAN_ON);

a_(10000);

aC(FAN_OFF);

//

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

a_(3000);


_ab(_CA);

_ab(_FT);

_FT()

//============Sa Fa Ta========aA = _a();

aA = aA & 00F;

//============E Fa Ta==========

(aA)

a FLAME_NONE:

aSa(STATUS_PANEL_RED, 000);

(C2 > 0)

C2;

_ab(_CA);

//M = MOTOR_FORWARD;

ba;

a FLAME_LEFT:


_ab(_CA);

C2 = 10;

M = MOTOR_LEFT;ba;


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a FLAME_RIGHT:


_ab(_CA);

C2 = 10;

M = MOTOR_RIGHT;

ba;

a FLAME_REAR:


_ab(_CA);

C2 = 10;

M = MOTOR_LEFT;

ba;

a FLAME_FRONT:


M = MOTOR_FORWARD;

C2 = 10;

_ab(_CA);

ba;

a FLAME_NEAR:

aSa(STATUS_PANEL_RED, 00C);

F();

ba;

a:aSa(STATUS_PANEL_RED, 000);

ba;

_CA()

//============Sa C D===

aB = _b();

((aB & 001) == 0)

a_(5);

aB = _b();

aB = aB & 007;

aB = aB >> 1;

//============E C D=====

(aB) a PROXIMITY_NO_OBJECT:

aSa(STATUS_PANEL_GREEN, 001);


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(C > 0)

C;

_ab(_FT);

M = MOTOR_FORWARD;

ba;

a PROXIMITY_LEFT:


_ab(_FT);

C = 20;

M = MOTOR_RIGHT;

(aD == MOTOR_LEFT)

C++;

(C >= RECURSIVE_MAX)

R();

C = 0;

aD = MOTOR_RIGHT;

ba;

a PROXIMITY_RIGHT:


_ab(_FT);

C = 20;

M = MOTOR_LEFT;

aD = MOTOR_LEFT;ba;

a PROXIMITY_FRONT:


_ab(_FT);

C = 20;

M = MOTOR_RIGHT;

ba;

a:


M = MOTOR_STOP;

ba;

A()

__a(01F);

__b(00F);__(000);

__(000);


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__(000);

_a(ADC_OFF);

_a_(NO_ANALOGS);

_(000);

_(000);

_(PIN_D1);

//S

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

_(PIN_D3);

a_(5000);

_(PIN_D3);

aC(8 )

( == FAN_ON)

_(PIN_D1);

_(PIN_D1);

aSa(8 a, 8 a)

8 b = 000;

8 [4];

(a)

a STATUS_PANEL_RED:

//R a a D2(E), D3, C4, C5

b = a & 00F;

[0] = b & 001;

[1] = b & 002;

[2] = b & 004;

[3] = b & 008;

([0] == 0)

_(PIN_D2);

_(PIN_D2);

([1] == 0)

_(PIN_D3);

_(PIN_D3);

([2] == 0)


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_(PIN_C4);

_(PIN_C4);

([3] == 0)

_(PIN_C5);

_(PIN_C5);

ba;

a STATUS_PANEL_YELLOW:

//Y a C6(T ), C7, D4

b = a & 00F;

[0] = b & 001;

[1] = b & 002;

[2] = b & 004;

([0] == 0)

_(PIN_C6);

_(PIN_C6);

([1] == 0)

_(PIN_C7);

_(PIN_C7);

([2] == 0)

_(PIN_D4);

_(PIN_D4);ba;

a STATUS_PANEL_GREEN:

//G a D5(T ), D6, D7

b = a & 00F;

[0] = b & 001;

[1] = b & 002;

[2] = b & 004;

([0] == 0)

_(PIN_D5);

_(PIN_D5);

([1] == 0)

_(PIN_D6);

_(PIN_D6);

([2] == 0)

_(PIN_D7);

_(PIN_D7);

ba;


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C()

8 = 0;

/*

(__() > 0)

= __a();

;

*/

= M;

()

a MOTOR_STOP:

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

ba;

a MOTOR_LEFT:

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);ba;

a MOTOR_RIGHT:

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

ba;

a MOTOR_FORWARD:

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

ba;

a:

_(PIN_C1);

_(PIN_C2);

_(PIN_C3);

ba;


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a()

A();

_();


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#

#DEVICE ADC=10

# XT, NOLVP, NOWDT, NOPROTECT, NOBROWNOUT, PUT# a(=4000000)

# FLAME_NO_SRC 000

# FLAME_SRC_LEFT 001

# FLAME_SRC_RIGHT 002

# FLAME_SRC_REAR 003

# FLAME_SRC_FRONT 004

# FLAME_SRC_FAN 005

# THRESHOLD 163 //0.8# MIN_BASE 655 //3

# FAN_RANGE 820 //4

A();

aS();

16 Ba();

S(16 ba);

S(8 );

16 [6] = 0;16 S[6] = 0;

A()

SETUP_ADC(ADC_CLOCK_INTERNAL);

SETUP_ADC_PORTS(ALL_ANALOG);

__a(02F);

__b(000);

__(000);

__(000);__(007);

_b(000);

aS()

8 ;

(=0;


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16 Ba()

/*

bbbS( A : ab ) a:

a := a a 0 (A) 2 :

A[ ] > A[ + 1 ]

a( A[ ], A[ + 1 ] )

a :=

a

*/

8 a = 0; //0 a

8 ;16 ;

16 aa;

a = 0;

(=0; S[+1])

= S[];

S[] = S[+1];

S[+1] = ;

a = 1;

(a);

aa = S[0] + S[1] + S[2];

aa = (aa+1) / 3; //a b 0

aa;

S(16 ba)

8 , ;

(=6; >0; )

((S[1] > ba) && (S[1] > MIN_BASE))

(=0; = FAN_RANGE) && ( == 0))

S(6);

S();

;


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S(99);

S(8 )

/*# FLAME_NO_SRC 000

# FLAME_SRC_LEFT 001

# FLAME_SRC_RIGHT 002

# FLAME_SRC_REAR 003

# FLAME_SRC_FRONT 004

*/

()

a 0:

_b(FLAME_SRC_FRONT);

ba;a 1:

a 2:

_b(FLAME_SRC_LEFT);

ba;

a 3:

a 4:

_b(FLAME_SRC_RIGHT);

ba;

a 5:

_b(FLAME_SRC_REAR);

ba;a 6:

_b(FLAME_SRC_FAN);

ba;

a 99:

_b(FLAME_NO_SRC);

ba;

a()

16 ba;

A();

(1)

aS();

ba = Ba();

S(ba + THRESHOLD);


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#

# XT, NOLVP, NOWDT, NOPROTECT, NOBROWNOUT, PUT

# a(=4000000)

8 B3, B2, B1;

();

();

();

a();

baa();

()

_(PIN_D0);

_(PIN_D1);

_(PIN_D2);

_(PIN_D3);

()

_(PIN_D0);

_(PIN_D1);

_(PIN_D2);

_(PIN_D3);

()

_(PIN_D0);

_(PIN_D1);

_(PIN_D2);

_(PIN_D3);

a()

_(PIN_D0);

_(PIN_D1);

_(PIN_D2);

_(PIN_D3);

baa() _(PIN_D0);

_(PIN_D1);


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_(PIN_D2);

_(PIN_D3);

a()

__a(0); // S

__b(00E);

__(0);

__(0);

__(0);

_(PIN_D0);

_(PIN_D1);

_(PIN_D2);

_(PIN_D3);

(1)

B1=(PIN_B1);

B2=(PIN_B2);

B3=(PIN_B3);

(!B1 && !B2 && !B3)

();

(!B1 && B2 && !B3)

();

(B1 && B2 && !B3)

(); (!B1 && !B2 && B3)

a();

(B1 && !B2 && B3)

baa();


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N b a , a PIC a .

# BJECE

# BJECE

// IC

# LEFADCCHAEL

# LEFADCCHAEL IA2

#

// IC

# IGHADCCHAEL

# IGHADCCHAEL IA1

#

// IC

# IDADCCHAEL

# IDADCCHAEL IA3

#

// : I

// I:

// :

()

EADC(ADCCLCKIEAL);

EADC(ALLAALG);

// : ADC

// I:

// : ' ADC

# ("ADCELI") == 8

8 ()

#

16 ()

#

// ADC

EADCCHAEL(LEFADCCHAEL);

// A

(1);

//

EADADC();

// : ADC

// I: // : ' ADC

# ("ADCELI") == 8


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8 ()

#

16 ()

#

// ADC

EADCCHAEL(IGHADCCHAEL);

// A

(1); //

EADADC();

// : ADC

// I:

// : ' ADC

# ("ADCELI") == 8

8 ()

#

16 ()#

// ADC

EADCCHAEL(IDADCCHAEL);

// A

(1);

//

EADADC();

// : ADC // I: 1) A

// 2) A

// :

# ("ADCELI") == 8

(8& , 8& , 8& )

#

(16& , 16& , 16& )

#

// ADC

EADCCHAEL(LEFADCCHAEL); // A

(1);

//

= EADADC();

// ADC

EADCCHAEL(IGHADCCHAEL);

// A

(1);

//

= EADADC();

// ADC EADCCHAEL(IDADCCHAEL);

// A


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(1);

//

= EADADC();

#

T b a a:

#

// ADC

# DEEC 32

();

8 ();

8 ();

8 ();

8 ;

8 ;

8 ;

()

= = = 0;

()

//

(, , );

// = ;

//(10000);

(!() && !() && !()) // 00

L(IB0);

L(IB1);

L(IB2);

HIGH(IB0);

((() && !() && !()) (() && !() && ()))

// 01()

L(IB0);

L(IB1);

HIGH(IB2);

HIGH(IB0);

((!() && () && !()) (!() && () && ()))

// 10()

L(IB0);

HIGH(IB1);

L(IB2);

HIGH(IB0);

((!() && !() && ()) (() && () && !()) (() && () &&

())) // 11(ALL)

L(IB0);


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HIGH(IB1);

HIGH(IB2);

HIGH(IB0);

8 ()

// 0;

(

Fire Fighting Robot1

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