Swarm intelligence control system (98020) User’s Manual

User’s Manual

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About the User Guide

AVR Development Board 89030 is especially designed for the students having

interest in electronics, embedded system, robotics and industrial-automation. This board is

made in such a way that it becomes easier for any body to learn about AVR micro controllers.

This board can also be used in various applications and hobby projects.

PROPRIETARY NOTICE

This document contains proprietary information furnished for evaluation purposes only; except with the express written

permission of Technophilia, such information may not be published, disclosed, or used for any other purpose. You

acknowledge and agree that this document and all portions thereof, including, but not limited to, any copyright, trade secret

and other intellectual property rights relating thereto, are and at all times shall remain the sole property Technophilia and that

title and full ownership rights in the information contained herein and all portions thereof are reserved to and at all times

shall remain with Technophilia. You acknowledge and agree that the information contained herein constitutes a valuable

trade secret of Technophilia. You agree to use utmost care in protecting the proprietary and confidential nature of the

information contained herein.

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Table of Contents

1. Package Content: ...................................................................... 4

2. Product Description: ................................................................. 5

2.1. S.W.A.R.M. intelligence development Board 98020...................... 5

2.2. 48x84 Graphics LCD .................................................................. 5

2.3. USB programmer ........................................................................ 5

2.4. Analog optical sensors ............................................................... 6

2.5. Multipurpose optical sensors ...................................................... 6

2.6. CC2500 RF transceiver module ................................................... 7

2.7 Battery for power supply ............................................................. 7

2.8. Robotic Structure........................................................................ 7

2.9. DC geared motors ...................................................................... 7

2.10. Wheels ..................................................................................... 7

2.11. Caster wheels ........................................................................... 7

2.12. A set of connecting wires ......................................................... 7

2.13. CD containing user manual and sample code ........................... 7

3. Parts Identification .................................................................... 8

3.1. Parts description and connection details: .................................... 8

4. The AVR Microcontrollers: ......................................................... 11

4.1. Description................................................................................. 11

4.2. Programming ............................................................................. 11

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1. Package Content:

Sr. No Product Quantity

1. Swarm intelligence development Board 98020 1

2. 48x84 graphics LCD display 1

3. USB programmer 1

4. Analog optical sensors 2

5. Multi purpose optical sensor 1

6. CC2500 RF transceiver module 1

7. Battery for power supply 1

8. Robotic Structure 1

9. DC geared motors 2

10. wheels 2

11. Caster wheel 1

12. A set of connecting wires -

13. CD containing User manual software and sample

code 1

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2. Product Description:

2.1. S.W.A.R.M. intelligence development Board 98020

Includes Atmel’s ATmega8 Microcontroller

On board Graphics LCD interface

On board dual channel Motor Driver

Exposed UART, I2C and SPI interface

Exposed 5ADC lines, one I/O line for sensor interface and general purpose I/O

Exposed 6 data lines for interfacing CC2500 module and general purpose I/O

Onboard analog key pad with 4 keys

Four test LEDs for status and debugging purpose

Exposed ISP pins compatible with ISP/USB programmer

On board regulated power supply for 3.3v 1 Amp+1Amp

Low operating voltage 4.5 v minimum

Low current consumption 30mA at 4.5V and 100 mA at 12V with graphics LCD

and CC2500 RF trans receiver

Regulated power supply for RF interface

2.2. 48x84 Graphics LCD

This device can be use to display text, graphics, symbols, icons and animations on a panel. It

is basically used to make your embedded application or robot interactive with human beings.

It is also used for testing and debugging process.

2.3. USB programmer

This is basically used to download programs into micro controllers from a computer.

Features

Supports 62 AVR microcontrollers

Compatible with Win AVR IDE

Can also be use with AVR dude directly

Programmer powered by USB bus

Conforms to USB power requirements, including sleep

Supports USB v1.1 protocol and USB v2.0 compatible

Direct USB drivers -- not virtual serial port

Microsoft approved drivers for real plug and play

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Supports Win 98SE/2000/XP/ME/VISTA ** Win 95 and early Win98 require Microsoft

USB update

Programs target devices from 1.8V to 5V

Multiple programmers from one PC

Automatic program start on insertion

2.4. Analog optical sensors

This sensor can be used as a line sensor, proximity sensor or as an obstacle sensor. It gives output in the form of analog voltage. The output of this sensor is given to the ADC. This sensor basically consists of a high glow red LED as a transmitter and a photo diode as receiver. GND V+ DATA

High glow photodiode Red LED 100E 10K Photodiode (Receiver) is used as a potential divider in reverse bias mode. So when Light

transmitted from the transmitter is reflected back from a reflective surface, say white, the

resistance of the photodiode decreases and this in turn exceeds the voltage at output terminal

(voltage across resistor). For non-reflective surfaces, exactly reverse process is observed.

2.5. Multipurpose optical sensors

This sensor is a high quality optical sensor which uses the high intensity red LED and special

purpose metal case photo transistor having the capability to distinguish between dark and white

line or color from a distance of 10cm. These sensors are less affected by ambient light due to use

of high intensity red LED. The ambient light effect can be reduced by keeping it more closure to

surface of line and by providing a metal covering. It can be used for various purposes; they are

basically used to count the number of lines due to their high accuracy.

Features:

Low cost

Highly reliable

Less affected by ambient light

Range up to 10 cm

Range can be easily adjusted

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Applications:

Fire sensor

Light sensor

Obstacle sensor

Line counter

Line follower robot

Two wheel self balancing robot

2.6. CC2500 RF transceiver module

This is a Small range low power RF transceiver module used to communicate between swarm

robots.

Applications:

2400-2483.5 MHz ISM/SRD band systems

Consumer Electronics

Wireless game controllers

Wireless audio

Wireless keyboard and mouse

2.7 Battery for power supply

The battery used for power supply is a 12V, 1.2Ah lead acid battery.

2.8. Robotic Structure

The robotic structure basically decides the physical structure of the robot. It holds all the hardware, circuit boards and power supply of the robot

2.9. DC geared motors

DC geared motors are used to drive the wheels. The speed of the DC geared motor used here is 30 R.P.M.

2.10. Wheels

Two wheels are used to supporting robotic structure.

2.11. Caster wheels

It is freewheeling while use to maneuver according to wheels connected to geared motors.

2.12. A set of connecting wires

This can be used to connect different devices to the micro controller board or can be use for

any configuration purpose in side the board.

2.13. CD containing user manual and sample code

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3. Parts Identification

3.1. Parts description and connection details:

AMS117

It is a three terminal 3.3V voltage regulator IC use to provide a constant voltage of

3.3V to the micro controller and other peripherals attached in the main board.

L293DD

This is basically a motor driver IC which takes input from the micro controller and

provides driving power to actuators such as different type of motors, relay, solenoids

etc.

ATmega8

This IC is a microcontroller chip and is the major processing chip of the board. It

stores and executes the necessary programs and data needed for controlling the robot.

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LCD Interface

It can be used to interface PCD8544 (48x84) graphics LCD or it can also be used as a general

purpose input output port. The pin connections for interfacing a LCD are given below.

PB0-SCK

PB1-SDIN

PB2-D/C

PB6-CS

PB7-RESET

CC2500 Interface

PB3-MOSI

PB4-MISO

PB5-SCK

PD1-SS’

PD2-GD0

PD3-GD2

Switches

PC5-Switches S1 to S4 are connected to this port pin. A switch is read by the analog

value it provides when it is pressed.

RST-Reset

ON-Power ON

It is basically a push to on push to off type switch used to toggle power supply

to the main board.

LED

Active high

PB0- RED L1

PB1- RED L2

PB2- RED L3

PB3- RED L4

Power on indicator- GREEN L5

BERG STRIP

Six different sensors can be interfaced to the board through the berg strip. Starting

from the corner, the berg strip is connected to PC0, PC1, PC2, PC3, PC4 and PD0

accordingly.

ISP

It is the In System Programming interface of the main board which can be used to

connect any ISP programmer to download program in the microcontroller. It can also

be used in a SPI (Serial Peripheral Interface) communication.

MOSI-Master out Slave in

MISO-Master in Slave out

SCK-Serial clock

RST-Reset

GND-Ground

DC JACK

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Main power supply (minimum 7VDC maximum 16VDC)

MOTOR DRIVERS

The motor connectors are interfaced with the higher nibble of Port D, i.e., the

connector at the corner is connected to D7 and D6, D5, D4 follow accordingly.

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4. The AVR Microcontrollers:

4.1. Description

The AVR is a Modified Harvard architecture 8-bit RISC single chip microcontroller which

was developed by Atmel in 1996. The AVR was one of the first microcontroller families to

use on-chip flash memory for program storage, as opposed to One-Time Programmable

ROM, EPROM, or EEPROM used by other microcontrollers at the time.

Atmel's low power, high performance AVR microcontrollers handle demanding 8 and 16-bit

applications. With a single cycle instruction RISC CPU, innovative Pico Power® technology,

and a rich feature set, the AVR architecture ensures fast code execution combined with the

lowest possible power consumption.

Whether you program in C or assembly, the tuned AVR instructions decrease program size

and development time. The well-defined I/O structure limits the need for external

components and reduces development cost. A variety of internal oscillators, timers, UARTs,

SPIs, Pulse Width Modulation, pull-up resistors, ADCs, Analog Comparators and Watch-Dog

Timers are some of the features available for creative engineers.

The AVR microcontrollers are divided into 4 families tiny AVR, mega AVR, XMEGA and

Application specific AVR. Among these 4 families of AVR here we are going to use a

microcontroller of mega AVR family “ATmega8”

4.2. Programming

WinAVR is a suite of executable, open source software development tools for the Atmel’s

AVR series of RISC microcontrollers hosted on the Windows platform. It includes the GNU

GCC compiler for C and C++.

Steps for writing a code using WinAVR

1. Open the programmers notepad and write your code

2. Create a new folder and save your code in that folder with extension name “.c”

3. Now open the make file and edit it as mentioned bellow

a. Make file→ main filename (give your file name here without extension)

b. Make file→ MCU type→ atmega→ (chose your UC)

c. Make file→ Debug format→ AVR-ext-COFF

d. Make file→ Programmer→ select your programmer (if your programmer is

not in the list then follow the step3.d)

e. Make file→ port→ (select the port where you have connected your

programmer)

f. Make file→ enable editing make file→ then in your make file edit the

following things

F_CPU = 8000000 (change it as for your crystal frequency)

AVRDUDE_PROGRAMMER = stk500 (here write down you programmers

name)

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g. Save the make file in your folder without changing its name

4. Now open the programmers notepad

5. To compile your code and to generate hex file (Tools→ make all)

6. To upload your code into your UC (Tools → program)