Simple robot. Encyclopedia of radio electronics and electrical engineering

Encyclopedia of radio electronics and electrical engineering / Radio control equipment

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This article presents a diagram of a simple "robot". He goes to the light, and if there is no light source, then the "Free search" mode is activated, i.e. the robot will drive, and in the event of a collision, drive off and turn around.

(click to enlarge)

The heart of the robot is an ATMEL microcontroller: AT90S2313, but you can use any other of this company, this microcontroller has 2kb of memory for the program, 15 input / output ports, available power - 4-6V. The engines will be controlled by an "engine driver" - an L293D microcircuit (the domestic analogue is KR1128KT4A). As a sensor, it was decided to take photoresistors SF3-1.

The robot consists of two motors. Here is how they will work for certain actions:

Used radio elements in the circuit:

Microcontroller AT90S2313

Microcircuit L293D (domestic analogue - KR1128KT4A)

2 photoresistor SF3-1

Quartz at 4MHz

Capacitors 22-24pF

Stabilizer 7805 (or KREN5A)

100 ohm resistor (Optional)

Two motors

Power Vbat - 4 AA batteries, or 1 crown (9V)

Power supply Vm - 1 crown (9V)

After assembling the circuit, you need to download the program to the microcontroller and the robot is ready:

/**************************************************** ***

Chip type: AT90S2313

Clock frequency : 4,000000 MHz

Memory model: Tiny

External SRAM size: 0

Data Stack size: 32

#include <90s2313.h>

#include

#include

// assignment of definitions for the convenience of working with peripherals

#define OUT PORTB

#define MOTOR_F 7

#define MOTOR_B 6

#define TURN_R 5

#define TURN_L 4

#define IN PIND

#define LIGHT_R 0

#define LIGHT_L 1

#define BUMPER_F 2

#define BUMPER_B 3

// Possible driving modes

enum {STOP, F, FR, FL, B, BR, BL};

//------------------------------------------------ ------------------------------

// Delay t x 10ms

//------------------------------------------------ ------------------------------

void Delay_10ms(unsigned char t)

{char i;

for(i=0;i

// probability table for choosing the direction of movement

// based on the current direction of movement

unsigned char p[7][7] =

{14, 43, 57, 71, 86, 93, 100,

7, 43, 71, 100, 100, 100, 100,

7, 50, 93, 100, 100, 100, 100,

7, 50, 57, 100, 100, 100, 100,

29, 29, 29, 29, 57, 79, 100,

36, 36, 36, 36, 71, 93, 100,

36, 36, 36, 36, 71, 79, 100};

// current direction of movement

unsigned char this_move;

//------------------------------------------------ ------------------------------

// Turn on the combination of motors to move in a given direction

//------------------------------------------------ ------------------------------

void go(unsigned char direction){

switch (direction) {

case STOP:

OUT.MOTOR_F=0;

OUT.MOTOR_B=0;

OUT.TURN_R=0;

OUT.TURN_L=0;

break;

case F:

OUT.MOTOR_F=1;

OUT.MOTOR_B=0;

OUT.TURN_R=0;

OUT.TURN_L=0;

break;

case FR:

OUT.MOTOR_F=1;

OUT.MOTOR_B=0;

OUT.TURN_R=1;

OUT.TURN_L=0;

break;

case FL:

OUT.MOTOR_F=1;

OUT.MOTOR_B=0;

OUT.TURN_R=0;

OUT.TURN_L=1;

break;

case B:

OUT.MOTOR_F=0;

OUT.MOTOR_B=1;

OUT.TURN_R=0;

OUT.TURN_L=0;

break;

case BR:

OUT.MOTOR_F=0;

OUT.MOTOR_B=1;

OUT.TURN_R=1;

OUT.TURN_L=0;

break;

case BL:

OUT.MOTOR_F=0;

OUT.MOTOR_B=1;

OUT.TURN_R=0;

OUT.TURN_L=1;

break;

}

}

//------------------------------------------------ ------------------------------

// Selecting the direction of movement in the next step according to the probability table

//------------------------------------------------ ------------------------------

unsigned char next_move(void){

unsigned charpp, i;

pp = rand()/327; // get a random number 0..99

for (i=0;i<7;i++){ // looking for a match in the probability table

if (p[this_move][i] > pp) break;

}

this_move = i; // write the new received direction as the current one

return(i);

}

//------------------------------------------------ ------------------------------

// Handling Front Bumper Interrupt (INT0 = PD2)

//------------------------------------------------ ------------------------------

interrupt [EXT_INT0] void ext_int0_isr(void)

{

if(this_move==FR) go(BL);

if(this_move==FL) go(BR);

else go(B);

Delay_10ms(250); // departure within 2.5 x 2 sec

Delay_10ms(250);

this_move=B;

}

//------------------------------------------------ ------------------------------

// Handling rear bumper interrupt (INT1 = PD3)

//------------------------------------------------ ------------------------------

interrupt [EXT_INT1] void ext_int1_isr(void)

{

if(this_move==BR) go(FL);

if(this_move==BL) go(FR);

else go(F);

Delay_10ms(250); // departure within 2.5 x 2 sec

Delay_10ms(250);

this_move=F;

}

//------------------------------------------------ ------------------------------

// "Random walk"

//------------------------------------------------ ------------------------------

unsigned char walk(void){

// this loop organizes "free roam" while

// no signal from any of the light sensors

while((IN.LIGHT_R) && (IN.LIGHT_L)){

go(next_move()); // get the next direction of movement and

Delay_10ms(250); // moving in this direction 2.5 sec

}

// this loop organizes the movement to the light while

// there is a signal from at least one of the light sensors

while((IN.LIGHT_R==0) || (IN.LIGHT_L==0)){

if((IN.LIGHT_R==0) && (IN.LIGHT_L==0)) go(F);

else if(IN.LIGHT_R==0) go(FR);

else if(IN.LIGHT_L==0) go(FL);

}

return (0);

}

//------------------------------------------------ ------------------------------

// Main program

//------------------------------------------------ ------------------------------

void main (void)

{

DDRB=0xff; // assign all lines of port B to output

PORTB = 0x00; // and set them low

DDRD=0x00; // assign all lines of port D to the input

PORTD=0xff; // connect internal load resistors

// External Interrupt(s) initialization

// INT0: On

// INT0 Mode: Falling Edge

// INT1: On

// INT1 Mode: Falling Edge

GIMSK=0xC0;

MCUCR=0x0A;

GIFR=0xC0;

// enable interrupts

#asm("sei")

// start the main loop

while(1) walk();

}

Download the program, firmware file and robot diagram in sPlan format

Publication: cxem.net

See other articles Section Radio control equipment.

Read and write useful comments on this article.

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