Report on Advanced Robotics & Programming

1

Report

(Advanced Robotics)

Submitted By

ASEEM ANAND

(Electronics & Communication Engineering)

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Declaration

I, Aseem Anand hereby declare that the work which is being presented in this project report titled

“Advanced Robotics” by me, in partial fulfillment of the requirements for the award of B.Tech Degree

in “Electronics & Communication Engineering”, is an authentic record of my own work carried out.

To the best of my knowledge, the matter embodied in this report has not been submitted to any other

University/ Institute for the award of any degree or diploma.

Aseem Anand

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Acknowledgement

It is a pleasure to acknowledge many people who knowingly and unwittingly helped us, to complete this

report.

I express my gratitude to TIMTS (Times Institute of Management and Technical Studies) for

providing lots of material and knowledge.

I would like to expresses my gratitude towards All India Council of Robotics & Automation (AICRA) to

give us complete practical platform for learning, implementing and completing this report.

Aseem Anand

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List of Figures

AVR DEVELOPMENT BOARD

MICROCONTROLLER ATmega16

5

MICROCONTROLLER HOLDER

DC GEARED MOTOR

6

IR SENSOR

SOUND SENSOR

7

7 SEGMENT DISPLAY

LCD DISPLAY

8

WHEEL

AUX CABLE

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Table of Contents

Declaration

Acknowledgement

List of Figures

List of Tables

Chapter 1: Introduction

1.1) About Company

1.2) About Company’s Mission & Vision

1.3) Various Areas of work

1.4) Introduction about the Project

Chapter 2: System Specification

2.1) Software Requirements

2.2) Hardware Requirements

Chapter 3: Software Description

3.1) Description about the software used

3.2) Describe Process about installation & uses

Chapter 4: Hardware Description

4.1) Descriptions about the hardware in project

4.2) Describe interfacing

Chapter 5: Coding

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Chapter 1: Introduction

1.1 Times Global.com (P) Ltd.

It is an ISO 9001:2008 certified company.

This company works vividly into various domains, education being 1 of them. The brand name

is stated as ‘TIMTS’.

This brand is a leading international brand in Online Education and holds its specialization in

Management & Information Technology.

It partners with leading institutes has provided the edge in different domains like management,

organized retail, Bio-Tech & pharmaceutical, capital market, etc.

Help to prepare educational professionals recognized for the quality and significance of their

teaching, research, scholarship, service, outreach, and leadership.

Enhance the commitment of faculty, staff, and students to the centrality of diversity. Sustain a

caring, supportive climate throughout the event.

About TIMTS (Times Institute of Management and Technical Studies)

TIMTS is a leading international brand in Online Education and specialized in Management,

Information Technology, e-Security training and consulting.

TIMTS is ISO 9001:2008 compliant.

India’s 1st Online Institute adopted virtual live class’s methodology.

Approved by International Association of Distance Learning (IADL), UK.

Member of International Association of Automation & Robotics Construction (IAARC).

Member of USDLA (United States Distance Learning association).

TIMTS serves more than 12% of India’s top 100 companies.

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1.2 About Company’s Mission & Vision

Mission:

The mission of the College of Education is to help prepare outstanding educators, scholars, and

researchers, and to advance the profession of education, as broadly defined, through research on the

science and art of teaching and learning, the application of clinical processes, the effective uses of

technology, and the analysis and development of leadership and educational policy.

Vision:

The College of Education will be a world leader in the integration of

(a) teaching and learning,

(b) advancement of the knowledge base through research and scholarship, and

(c) leadership in service and outreach.

Further, the College will be a world leader in preparing professionals who provide leadership and

exemplary educational and related services to improve the lives of individuals in a changing and

complex global society.

1.3 Various Services provided by the Company:

Robotics Lab

Research Work

Online Electronics Store – Robohaat.com

Workshops, Summer Training, Winter Training

Industrial Solution

Engineering Solution

Training and Certification

Job Oriented Program

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Chapter 2: System Specification

2.1 Software Requirements

Atmel Studio 6.0

Win AVR

USBASP Driver

AVR Burn-O-Mat

2.2 Hardware Requirements

AVR Development Board

Microcontroller (ATMEGA16A)

Motors

IR Sensors

Sound Sensors

7 Segment Display

LCD

Wheels

Connecting Wires

Data Cable

AUX Cable

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Chapter 3: Software Description

3.1 Description about the software used

Atmel Studio 6.0:

Atmel® Studio 6 is the integrated development platform (IDP) for developing and debugging Atmel

ARM® Cortex®-M and Atmel AVR® microcontroller (MCU) based applications. The Atmel Studio 6

IDP gives you a seamless and easy-to-use environment to write, build and debug your applications

written in C/C++ or assembly code.

Gain insight into the run-time of embedded software with trace visualization. Percepio Trace for Atmel

Studio features:

Control-flow trace (tasks and interrupts)

Custom data plots

Application debug output

Statistical code profiling

Support for viewing MCU event counters

Real-time operating system (RTOS) awareness

WinAVR:

WinAVRTM is a suite of executable, open source software development tools for the Atmel AVR series

of RISC microprocessors hosted on the Windows platform. It includes the GNU GCC compiler for C

and C++.

WinAVRTM contains all the tools for developing on the AVR. This includes avr-gcc (compiler), avrdude

(programmer), avr-gdb (debugger), and more! WinAVR is used all over the world from hobbyists sitting

in their damp basements, to schools, to commercial projects.

WinAVRTM is comprised of many open source projects. If you feel adventurous, volunteers are always

welcome to help with fixing bugs, adding features, porting, writing documentation and many other tasks

on a variety of projects.

USBASP Driver:

USBasp is a USB in-circuit programmer for Atmel AVR controllers. It simply consists of an ATMega88

or an ATMega8 and a couple of passive components. The programmer uses a firmware-only USB

driver, no special USB controller is needed.

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Features

Works under multiple platforms. Linux, Mac OS X and Windows are tested.

No special controllers or smd components are needed.

Programming speed is up to 5kBytes/sec.

SCK option to support targets with low clock speed (< 1,5MHz).

Planned: serial interface to target (e.g. for debugging).

AVR Burn-O-Mat:

AVR Burn-O-Mat is a cross-platform GUI for avrdude written in JAVA. It simplifies programing and

configuration of AVR microcontrollers with easy to use dialogs. The program offers support for several

microcontrollers, such as ATmega8, ATmega16, ATmega32, ATmega64, ATmega128, ATmega48,

ATmega88, ATmega168, ATmega162, ATmega8515, ATmega8335, ATmega164, ATmega324, and

others.

3.2 Describe Process about installation & uses

Click on install button

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Extract the file

Click on next after clicking on the license terms

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Select full and then click on install button

Click on finish button and then click on next button to install Atmel USB

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Click On License Then Next And Then Click On Install Button

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Click on next button

Click on Finish button

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Click on Atmel Studio 6.1 Click on New Project

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Chapter 4: Hardware Description

4.1 Descriptions about the hardware in project


The AVR ATMega16 Development Board can be used to evaluate

and demonstrate the capabilities of AVR ATMega16 microcontroller. The MCU socket on board

provides support for 40 pin DIP package of AVR ATMega16 controller. The board is designed

for general purpose applications and includes a variety of hardware to exercise microcontroller

peripherals. It is a fantastic tool for code debugging, development and prototyping.

Features

Compact and Ready to use design

Professional EMI/RFI Complaint PCB Layout Design for Noise Reduction

High Quality Two layer PTH PCB

Includes AT MEGA16 Microcontroller

Board Supports AVR AT MEGA32AT MEGA8535 Microcontrollers

No separate programmer required (Built in Boot loader)

No Separate power adapter required (USB power source)

Screw terminal for External power Supply (with Jumper Select Option)

External Power Supply range of 7V to 20V

Adaptor (any standard 9-12V power supply) option

RS-232 Interface (For direct connection to PC’s serial port)

On board Two Line LCD Display (2x16)

On board I2C EEPROM (4K-AT24C04)

On board I2C RTC (DS 1307) with Crystal and Battery

Four multiplexed 7-Segment LED Display

Built in Matrix keyboard (12 keys)

Built in Pull-Up (4 Keys) Keyboard

Built in IR Sensor Interface – TSOP 1738

Built in 8 LED Interface to test I/O

On Board External Interrupt and Reset buttons

Built in Potentiometer interface to ADC

On Board Temperature Sensor Interface (LM35)

On Board Buzzer Interface

On Board PWM Output pin

On Board JTAG Connector for Debugging/Programming

On Board ISP Connector

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On Board 16 MHz Crystal Oscillator

On Board Power LED Indicator

On Board DB9 Connector

On Board USB Connector

All Port Pins available at IDC (2x5) Connector

Can be used as main board for developing applications

Power Supply Reverse Polarity Protection

On Board 1 Amp Voltage Regulator

Demo HEX codes included for testing of board features

Example codes included

Microcontroller ATMega16A

Atmel AVR AT Mega16 with 16 MHz Crystal Oscillator (With Boot loader Software)

16 K bytes programmable flash

1 K bytes SRAM

512 bytes EEPROM

16 MHz operation (Up to 16 MIPS)

32 I/O pins

8 channel 10 bit ADC

4 PWM Channels

Two 8-Bit Timer/Counter

One 16-Bit Timer/Counter

One Serial USART

1 Two Wire Serial Interface TWI

SPI Master/ Slave

Power Consumption

14 mA

Operating voltage -2.7-5.5V for ATmega16L

-4.5-5.5V for ATmega16

Motors It is an arrangement of coils and magnets that converts electric current (ac or dc) into

mechanical rotation. In a motor, practically all of the electromechanical energy conversion takes

place in the air gap, using magnetic fields as the energy link between the electrical input and the

mechanical output. The air-gap magnetic field is set up by current-carrying windings located on

the stator. The magnetic field exerts force on the rotor to produce the mechanical torque, on the

shaft connected to the rotor.

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Types

AC motors

DC motors

DC geared motors

Stepper motors

Servo motors

IR Sensors An IR sensor is used to detect obstacles in front of the robot or to differentiate

between colour depending on the configuration of the sensor.

Sound Sensors The Sound Sensor is a device witch sense the sound. Sound sensor having a

microphone with an internal amplifier. The sensor measure the variations in pressure (of the air).

555 Timer plays a vital role in its working. The 555 Timer IC is an integrated circuit

implementing a variety of timer and multivibrator applications. Operating Modes:

Monostable Mode

Bistable Mode

Astable Mode

7 Segment Display Seven segment LED Display is display device which can display one digit at a time. One digit

is represented by arrangement of Seven LEDs in a small cubical box. For representing 3 digit

number we need three Seven segment LED Displays.

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Types

Common Cathode

Common Anode

Common Cathode

We need to provide +5 V to other open ends to turn ON that particular

segments. We need to provide 0 V to other open ends to turn OFF that particular segments.

Common Anode

We need to provide +5 V to other open ends to turn OFF that particular

segments. We need to provide 0 V to other open ends to turn ON that particular segments.

LCD Display It is a display device used in Embedded system to display information. It

contains 32 character space on screen arranged in 16 columns and 2 rows.

lcd_16.c file contains LCD related functions to manipulate data on LCD.

lcd_16.h contains LCD related macros, function signatures and settings for LCD Display.

#include"lcd_16.h" //include lcd_16.h

#include"lcd_16.c" //include lcd_16.c

Include both files in your project and paste both “lcd_16.c” and “lcd_16.h” in the same

folder where your .c file resides.

lcd_init(LCD_DISP_ON)

This function is used to initialize LCD Module with some default setting.

This function with above argument will Start the display, clear it and put cursor on (0,0)

location.

See lcd_16.h file for more macro.

lcd_puts(“Hello")

This function will print Hello on the screen of LCD at current cursor location.

After clearing the screen, current cursor location would be (0,0).

lcd_gotoxy(column, row)

This function is used to set the current cursor location on the LCD.

Display will always print the text/data at current cursor location.

You can set the current cursor location any time in programming.

lcd_clrscr()

This function will clear the Display and position the cursor on (0,0) location.

lcd_command(Macro_for_Command)

Using this function you can execute commands of LCD module.

LCD_MOVE_DISP_LEFT

This is the command for shifting the display to left hand side.

LCD_MOVE_DISP_RIGHT

This is the command for shifting the display to right hand side.

You need to execute this command 16 times to shift all current text on the screen.

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4.2 Interfacing


Microcontroller

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Motors

IR Sensors

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Sound Sensor

7 Segment Display

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LCD display

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Chapter 5: Coding LED Blinking:

#include<avr/io.h>

#include<util/delay.h>

int main()

{

while(1)

DDRB=0b11111111;

{

PORTB=0b11111111;

_delay_ms(1000);

PORTB=0b00000000;

_delay_ms(1000);

}

}

LED Blinking using For Loop:

#include<avr/io.h>


int main()

{

DDRB=0b11111111;

int i;

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while(1)

{

for(i=1;i<=8;i=2*i)

{

PORTB=i;

_delay_ms(1000);

}

}

}

LED Blinking (Increment & Decrement):

#define F_CPU 8000000UL

#include<avr/io.h>


int main()

{

DDRB=0b11111111;

int i;

while(1)

{

for(i=1;i<=15;i=2*i+1)

{

PORTB=i;

_delay_ms(1000);

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}

for(i=15;i>=1;i=(i-1)/2)

{

PORTB=i;

_delay_ms(1000);

}

}

}

Line Follower:

#include <avr/io.h>


int main()

{

DDRD=0b11111111;

DDRC=0b00000000;

int ls=0, rs=0;

while(1)

{

ls=(PINC&0b00000001);

rs=(PINC&0b00000010);

{

if((ls==0b00000000)&&(rs==0b00000000))

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{

PORTD=0b00000000;

}

if((ls==0b00000000)&&(rs==0b00000010))

{

PORTD=0b00000001;

}

if((ls==0b00000001)&&(rs==0b00000000))

{

PORTD=0b00001000;

}

if((ls==0b00000001)&&(rs==0b00000010))

{

PORTD=0b00001001;

}

}

}

}

Obstacle Avoider:


#include <avr/io.h>

#include <util/delay.h>

int main()

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{

DDRD=0b11111111;

DDRC=0b00000000;

int ls=0, rs=0;

while(1)

{

ls=(PINC&0b00000001);

rs=(PINC&0b00000010);

if((ls==0b00000000)&&(rs==0b00000000))

{

PORTD=0b00001001;

}

if((ls==0b00000010)&&(rs==0b00000000))

{

PORTD=0b00001000;

}

if((ls==0b00000000)&&(rs==0b00000001))

{

PORTD=0b00000001;

}

if((ls==0b00000010)&&(rs==0b00000001))

{

PORTD=0b00000110;

_delay_ms(500);

PORTD=0b00001000;

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_delay_ms(500);

}

}

}

7 Segment Display-1:


#include <avr/io.h>


int main()

{

DDRD=0b11111111;

while(1)

{

PORTD=0b00111111;

_delay_ms(1000);

PORTD=0b00000110;

_delay_ms(1000);

PORTD=0b01011011;

_delay_ms(1000);

PORTD=0b01001111;

_delay_ms(1000);

PORTD=0b01100110;

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_delay_ms(1000);

PORTD=0b01101101;

_delay_ms(1000);

PORTD=0b01111101;

_delay_ms(1000);

PORTD=0b00000111;

_delay_ms(1000);

PORTD=0b01111111;

_delay_ms(1000);

PORTD=0b01101111;

_delay_ms(1000);

}

}

7 Segment Display-2:


#include <avr/io.h>


int main()

{

DDRD=0b11111111;

while(1)

{

PORTD=0b01111110;

_delay_ms(100);

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PORTD=0b00110000;

_delay_ms(100);

PORTD=0b01101101;

_delay_ms(100);

PORTD=0b01111001;

_delay_ms(100);

PORTD=0b00110011;

_delay_ms(100);

PORTD=0b01011011;

_delay_ms(100);

PORTD=0b01011111;

_delay_ms(100);

PORTD=0b01110000;

_delay_ms(100);

PORTD=0b01111111;

_delay_ms(100);

PORTD=0b01111011;

_delay_ms(100);

}

}

7 Segment De-Mux:


#include <avr/io.h>

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int main()

{

DDRB=0b00001111;

DDRD=0b11111111;

while(1)

{

PORTB=0b00001000;

PORTD=0b01101101;

_delay_ms(20);

PORTB=0b00000100;

PORTD=0b01111101;

_delay_ms(20);

PORTB=0b00000010;

PORTD=0b00000111;

_delay_ms(20);

PORTB=0b00000001;

PORTD=0b01111111;

_delay_ms(20);

}

}

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DTMF:

#include <avr/io.h>


int main()

{

int d=0;

DDRB=0b11111111;

DDRD=0b00000000;

while(1)

{

d=PIND&0b00001111;

if (d==0b00000010)

{

PORTB=0b00001001;

}

if (d==0b00000100)

{

PORTB=0b00001000;

}

if (d==0b00000110)

{

PORTB=0b00000001;

}

if (d==0b00001000)

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{

PORTB=0b00000110;

}

if (d==0b00000101)

{

PORTB=0b00000000;

}

}

}

Model

Report on Advanced Robotics & Programming

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