Wireless Robo

8/13/2019 Wireless Robo

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ABSTRACT

The word robot comes from the Czech word ROBOT, meaning, Forced

labor. According to the robot Institte of America a robot is re!rogrammable, mlti

fnctional mani!lator designed to mo"e materials, !arts, tools or s!ecialized de"ices

throgh "arios !rogrammed motion for the !erformance of a "ariet# of tas$s.

%e are constrcting a micro controlled based remote controlled robot

sing AT &'C() IC.A remote controller being o!erated in radio fre*enc#+RF.%e are

designing a transmitter circit and recei"er circit in order to control the mo"ement of

robot .The RF +Radio fre*enc# is sed for wide range of a!!lications. In the RF

sections we are sing -/01 in order to transmit and recei"e the signals and therefore

to control the mo"ements of the robot. And here we are also se a 2C camera to identif#

the ob3ects and we see the ob3ects in the com!ter.

Robot is constrcted b# sing for 4C motors and the !rogram for the

mo"ement of these motors is brned in to the IC AT&'C(). The main a!!lication of or

!ro3ect is to "iew the ob3ects which are at a distance of )$m where man !ower is not

s!!osed to do +mines, high tem!eratre, s!ace. 0ere the "ehicle consists of a rotating

camera which is sed to transmit both Adio and 5ideo signals sing F/. The camera

sed here is small in size with lens and in bild mic which transmits both Adio and

5ideo signals on a !ortable tele"ision with the hel! of wireless Technolog#.

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CHAPTER 1

1.1. Introduction:

The word 6robotwas introdced to the !blic at large b# Czech writer 7arel

Ca!e$ in his !la# R.8.R +Rossm9s 8ni"ersal Robot, which !remiered in )':;. The

word 6robot9 came from the word 6robota meaning literall# 6Self Labor9.%ith the

robotic technologies de"elo!ment with each !assing da#, robot s#stems ha"e been widel#

em!lo#ed in man# a!!lications. !loration, farmland, militar#, secrit# s#stem, and so on. Recentl#, more and more

research ta$es interest in the robot which can hel! !eo!le in or dail# life, sch as ser"icerobot, office robot, solar robot and so on.

%e belie"e that robot will !la# an im!ortant role in or dail# life in the ftre,

es!eciall# solar robot. %hen !eo!le become more and more attach im!ortance to the

*alit# of life, the secrit# and ser"ice of or home is im!ortant. ?s!eciall# when it

comes to a robot tilizing the sn9s energ#, ths sa"ing the electrical consm!tion. The

mlti=featred solar robot s#stem can identif# !otential hazards to !rotect hman. A

t#!ical intelligent mlti=featred solar robot s#stem consists of smo$e, fire, en"ironment

sensors and more "ariet# sensors to be installed, sch as intelligent bilding or intelligent

robot. Relati"e to the intelligent bilding is fi>ed and !assi"e s#stem@ the mlti=featred

solar robot is an acti"e s#stem and is more fle>ible than intelligent bilding.

In the fndamentals, the de"elo!ed mlti=featred solar robot has the following

fnctions to !erform sch a secrit# ser"ice atonomos na"igation, master=sla"e

o!erated s#stem, s!er"ises throgh !ersonal com!ter, a remotel# o!erated camera

"ision s#stem and danger detection and diagnosis s#stem. The cost of the solar robot is

"er# e>!ensi"e, and the weight is "er# hge. %e want to de"elo! a low cost and small

weight mlti=featred solar robot a!!l#ing in the famil#.

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1.2. What is Robotics?

Robotics is the science and technolog# of robots, their design, manfactre, anda!!lication. Robotics re*ires a wor$ing $nowledge of electronics, mechanics and

software, and is sall# accom!anied b# a large wor$ing $nowledge of man# sb3ects. A

!erson wor$ing in the field is a roboticist.

Althogh the a!!earance and ca!abilities of robots "ar# "astl#, all robots share

the featres of a mechanical, mo"able strctre nder some form of atonomos control.

The strctre of a robot is sall# mostl# mechanical and can be called a $inematic chain.

The chain is formed of lin$s, actators and 3oints which can allow one or more degrees of

freedom. /ost contem!orar# robots se o!en serial chains in which each lin$ connects

the one before to the one after it. These robots are called serial robots and often resemble

the hman arm. ome robots, sch as the tewart !latform, se closed !arallel $inematic

chains. Other strctres, sch as those that mimic the mechanical strctre of hmans,

"arios animals and insects, are com!arati"el# rare. 0owe"er, the de"elo!ment and se

of sch strctres in robots is an acti"e area of research.

1.3 What is a Robot?

A robot is a mechanical or "irtal, artificial agent. It is sall# an

electromechanical s#stem, which, b# its a!!earance or mo"ements, con"e#s a sense that

it has intent or agenc# of its own. The word robotcan refer to both !h#sical robots and

"irtal software agents, bt the latter are sall# referred to as bots to differentiate.

Robots are able to !erform re!etiti"e tas$s more *ic$l#, chea!l#, and accratel# than

hmans.

%hile there is still discssion abot which machines *alif# as robots, a t#!ical

robot will ha"e se"eral, thogh not necessaril# all of the following !ro!erties

It is not natral i.e. artificiall# created

It can sense its en"ironment, and mani!late or interact with things in it.


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It has some degree of intelligence or abilit# to ma$e choices based on the

en"ironment, often sing atomatic control or a !re!rogrammed se*ence.

It is !rogrammable.

It mo"es with one or more a>es of rotation or translation.

It ma$es de>teros coordinated mo"ements.

1.4. What is an Eb!dd!d s"st!D

A combination of com!ter hardware and software, and !erha!s additional

mechanical or other !arts, designed to !erform a dedicated fnction. /ost of the

controlling s#stems, toda#, are embedded s#stems. The com!le>it# of the s#stems ma#

differ from to the other.

Bri!# Histor":

The first recognizabl# modern embedded s#stem was the A!ollo Eidance

Com!ter, de"elo!ed b# Charles tar$ 4ra!er at the /IT instrmentation aborator#.

The first mass=!rodced embedded s#stem was the atonetics 4=)G gidance Com!ter

for the /ineteman +missile, released in )'H). It was bilt from transistor logic and had

a hard dis$ for main memor#.

ince these earl# a!!lications in the )'H;s, embedded s#stems ha"e come down

in !rice. There has also bee an enormos rise in !rocessing !ower and fnctionalit#. For

e>am!le the first micro!rocessor was the Intel -;;-, which fond its wa# into calclators

and other small s#stems, bt re*ired e>ternal memor# and s!!ort chi!s.

In )'G& ternal s#stem com!onents had been integrated into the same chi! as the

!rocessor, reslting in integrated circits called microcontrollers, and wide s!read se of

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embedded s#stems became feasible. 2resentl#, a lot of "arieties of embedded s#stems are

a"ailable at "er# low costs.

Charact!ristics:

?mbedded s#stems are designed to do some s!ecific tas$. ome also ha"e real

time !erformance constraints that mst be met, for reason sch as safet# and sabilit#@

others ma# ha"e low or no !erformance re*irements, allowing the s#stem hardware to

be sim!lified to redce cost.

An embedded s#stem is not alwa#s a se!arate bloc$="er# often it is !h#sicall#

bilt=in to the de"ice it is controlling.

The software written for embedded s#stems is often called #ir$ar!% and is

stored in read=onl# memor# or flash memor# chi!s rather than a dis$ dri"e. It often rns

with limited com!ter hardware resorces small or no $e#board, screen, and little

memor#.

CP& P'at#or:

?mbedded !rocessors can be bro$en into two distinct categories micro!rocessors

+.2 and microcontrollers +.C. /icrocontrollers ha"e bilt=in !eri!herals on the chi!,

redcing size of the s#stem. There are man# different C28 architectres sed in

embedded designs sch as AR/, /I2, ColdfireJH&$, 2ower 2C, K&H, 2IC, &;(), Atmel

A5R, Renesas 0&, 0, 5&(;, FR=5, /:R, 1&;, 1&, etc. This contrast to the d!s(to)

co)ut!rmar$et, which is crrentl# limited to 3st a few com!eting architectres.A

common configration for "er#=high="olme embedded s#stems is the s"st! on a chi)

+soc, ana))'ication*s)!ci#ic int!+rat!d circuit ,ASIC-% for which the C28 core was

!rchased and added as a !art of the chi! design. A related scheme to se a #i!'d

)ro+raab'! +at! arra" ,P/A-% and !rogram it with all the logic, inclding the

C28.

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?mbedded s#stem consists of two !arts

0AR4%AR?OFT%AR?

).2eri!herals ). A2

:. 2rocessors :. C. /emor# . 5B, etc...

So#t$ar!:

5arios software can be for "arios !r!oses. A2 i.e. Assembl# angage

2rogram can be sed as the bac$end and other software li$e C, 5B, etc. can be sed in

front end.

Eb!dd!d So#t$ar! Archit!ctur!s:

There are se"eral different t#!es of software architectre in common se.

a. Si)'! Contro' 0oo):

In this design, the software has a loo!. The loo! calls the sbrotines, each of

which manages a !art of the hardware or software.

b. Int!rru)t Contro''!d S"st!:

ome embedded s#stems are !redominantl# interr!t controlled. This means

that tas$s !erformed b# the s#stem are triggered b# different $inds of e"ents. An

interr!t cold be generated for e>am!le b# a timer in a !re=defined fre*enc#, or b#

a serial !ort controller recei"ing a b#te.

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These $inds of s#stems rn a sim!le tas$ in a main loo! also, bt this tas$ is

not sensiti"e to e>!ected dela#s. The tas$s !erformed in the interr!t handlers shold be

$e!t short the interr!t latenc# to a minimm. ome times longer tas$s are added to a

*ee strctre in the interr!t handlers to be !rocessed in the main loo! later. This

method brings the s#stem close to a mltitas$ing $ernel with discrete !rocessed in the

main loo! later. This brings the s#stem close to a mltitas$ing $ernel with discrete

!rocessors.

icro*(!rn!' and Eo*(!rn!':

A micro$ernel is a logical ste! ! from a real=time O. The sal arrangement is

that the o!erating s#stem $ernel allocates memor# and switches the C28 to different

threads of e>ection. 8ser mode !rocesses im!lement ma3or fnctions sch as file

s#stems, networ$ interfaces, etc. In general, micro$ernel scceed when the tas$ switching

and inter tas$ commnication is fast, and fail when the# are slow.

?>o$ernels commnicate efficientl# b# normal sbrotine calls. The hardware

and all the software in the s#stem are a"ailable to, and e>tensible b# a!!lication

!rogrammers.

P!ri)h!ra's:

2eri!herals are the "arios de"ices that are connected to the C28, for !erforming

"arios fnctions. ?mbedded s#stems tal$ with the otside world "ia !eri!herals, sch as

erial commnication interfaces +CI R=::, R=-::, R=-(& etc.

#nchronos erial commnication interfaces +CI I:C, LTAE, 2I, C and

?I

8ni"ersal erial Bs +8B


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Proc!ssors:

2rocessors are the $e# elements in an# embedded s#stem. The# interact with the

memor#, where the "arios instrctions of sefl fnctions into a single IC !ac$age.

These fnctions are

The abilit# to e>ecte a stored set of instrctions to carr# ot ser defined tas$s.

The abilit# to be able to access e>ternal memor# chi!s to both read and writes

data from and to the memor#.

icrocontro''!r:

Basicall#, a microcontroller is a de"ice which integrates a nmber of the

com!onents of a micro!rocessor s#stem on to a single chi!.

o a microcontroller combines onto the same microchi!

The C28 core

/emor#+both RO/ and RA/

/ost microcontrollers will also combine other de"ices sch as

A Timer modle to allow the microcontroller to !erform tas$s for certain !eriods.

A serial IJO !ort to allow data to flow between the microcontroller and other

de"ices sch as a 2C or another microcontroller.

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An A4C to allow the microcontroller to acce!t analoge in!t data for !rocessing.

SP:

It is the std# of signals in digital re!resentation and !rocessing methods of these

signals. It is sed where large mathematical and scientific calclations are re*ired.

ASIC:

It is an IC designed for a s!ecific a!!lication. This IC designed for s!ecific

a!!lication can9t be sed for other a!!lication.

!atur!s:

The main featres of an embedded s#stem are its reliabilit# and the sco!e for

debgging.

!bu++in+:

4ebgging ma# be !erformed at different le"els, de!ending on the facilities

a"ailable, ranging from assembl# or sorce=le"el 4ebgging with an in=circit emlator

or in circit 4ebgger, to ot!ts from serial debg !orts to an emlated en"ironment

rnning on a 2C. As the com!le>it# of embedded s#stems grows, higher le"el tools and

O!erating s#stems or migrating into machiner# where it ma$es sense.

R!'iabi'it":

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?mbedded s#stems often reside in machines that are e>!ected to rn continosl#

for #ears withot errors and in some cases reco"er b# themsel"es if an# error occrs.

Therefore the software is sall# de"elo!ed and tested more carefll# than that for 2C,

and nreliable mechanical mo"ing !arts sch as 4is$ dri"es, switches or bttons are

a"oided.

!ecific reliabilit# isses ma# inclde

The s#stem cannot safel# be shtdown for re!air, or it is too inaccessible to

re!air. oltions ma# in"ol"e sbs#stems with redndant s!ares that can be switched

o"er to, or software lim! modes that !ro"ide !artial fnction. ?>am!les inclde s!ace

s#stems, nder sea cables, na"igational beacons, bore=hole s#stems and atomobiles.

The s#stem mst be $e!t rnning for safet# reasons. im! modes are less

tolerable. Often bac$!s are selected b# an o!erator. ?>am!les inclde Aircraft,

it# embedded s#stems can range from "er# sim!le with a single

microcontroller chi! to "er# com!le> with mlti!le nits, !eri!herals and networ$s

monted inside a large chassis or enclosre.

1.. B'oc( ia+ra:

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a- TRA5SITTER SECTI65

b RECEI7ER SECTI65

Keypad

TransistorLogic

Encoder

RFAmplifier Antenna

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1.8. B'oc( ia+ra !scri)tion:

1. /icrocontroller AT&'C()

/icrocontroller here we sed is AT&'C() a clone to Intel &;()microcontroller as

it has the highest set of instrctions a"ailable +arond (: instrctions. It has on chi! -7b

RO/ in the form flash memor#. This is ideal for fast de"elo!ment since flash memor#

can be erased in seconds. In the !ro3ect microcontroller is sed to control the o!eration of

ser"o motors.

2. R odu'!s:

RF means radio fre*enc# and the range of radio fre*enc# is ; to ;;/hz.In or

!ro3ect we are sing : RF I49s one is :G/01 and another one with a fre*enc# -'/01

for the mo"ement of robot .In the radio fre*enc# we are sing two logics, the# are logic

; and ).These two logics mainl# de!ends on !lse width. the logic zero means !lses are

Decoder

Transistorlogic Microcontroller

Relays Relays Relays

MotorsMotors

Motors

AntennaRFAmplifier

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less and logic one means !lses are more in this wa# we can identif# the logics ; and

).the mo"ements of the robot are sent in the form of !lses from the transmitter .the

recei"er recei"es the !lses which are generated in the transmitting circit are gi"en to

the microcontroller to rn the de"ice. The desired fre*enc# is generated from the

indction coil !resent in the transmitter circit

. S!r9o otor:

A ser"omotor +ser"o is an electromechanical de"ice in which an electrical in!t

determines the !osition of the armatre of a motor. The motors themsel"es are blac$

bo>es which contain a motor, gearbo> and decoder electronics. Three wires go into the

bo> (5, grond and signal. A short shaft comes ot of the motor which sall# has a

circlar interface !late attached to it ./ost ser"os will rotate throgh abot );; degrees

in less than a second according to the signal in!t. This nit will control ! to - ser"o

motors simltaneosl#. All the wor$ controlling the ser"os is done in the !re!rogrammed

micro=controller +Mc.

-. R!'a" 0o+ic

A rela# is an electricall# o!erated switch. Crrent flowing throgh the coil of the

rela# creates a magnetic field which attracts a le"er and changes the switch contacts. The

coil crrent can be on or off so rela#s ha"e two switch !ositions and the# are doble

throw +changeo"er switches. The ob3ecti"e of the rela# is to !ro"ide com!lete electrical

isolation between the controlling circit and controlled circit +i.e. it disconnects the

circit from the main s!!l#.

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AT;C1 ICR6C65TR600ER

CHAPTER :

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2.1 ATE0 ;C1:

The AT&'C() is a low=!ower, high=!erformance C/O &=bit microcom!ter

with -7 b#tes of Flash !rogrammable and erasable read onl# memor# +2?RO/. The

de"ice is manfactred sing Atmel9s high=densit# non"olatile memor# technolog# and

is com!atible with the indstr#=standard /C=() instrction set and !inot. The on=chi!

Flash allows the !rogram memor# to be re!rogrammed in=s#stem or b# a con"entional

non"olatile memor# !rogrammer. B# combining a "ersatile &=bit C28 with Flash on a

monolithic chi!, the Atmel AT&'C() is a !owerfl microcom!ter which !ro"ides a

highl#=fle>ible and cost=effecti"e soltion to man# embedded control a!!lications.

!scri)tion:

The AT&'C() !ro"ides the following standard featres -7 b#tes of Flash, ):&

b#tes of RA/, : IJO lines, two )H=bit timerJconters, fi"e "ector two=le"el interr!t

architectre, a fll d!le> serial !ort, on=chi! oscillator and cloc$ circitr#. In addition,

the AT&'C() is designed with static logic for o!eration down to zero fre*enc# and

s!!orts two software selectable !ower sa"ing modes. The Idle /ode sto!s the C28

while allowing the RA/, timerJconters, serial !ort and interr!t s#stem to contine

fnctioning. The 2ower=down /ode sa"es the RA/ contents bt freezes the oscillator

disabling all other chi! fnctions ntil the ne>t hardware reset.

B'oc( ia+ra:

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1. Com!atible with /C=()N 2rodcts.

2. -7 B#tes of In=#stem Re!rogrammable Flash /emor#

?ndrance ),;;; %riteJ?rase C#cles

3. Fll# tatic O!eration ; 0z to :- /0z.

4. Three=le"el 2rogram /emor# oc$.

. ):& > &=bit Internal RA/.

8. : 2rogrammable IJO ines.

Interr!t orces with two !riorit# le"els

: general !r!ose interr!t +Iternal memor# with the hel! of 2C and 42TR.

11. 2rogrammable erial Channel.

12. ow=!ower Idle and 2ower=down /odes.

13. It can s!!ort ma>imm of (;;mA of crrent.

14. It has on chi! oscillator and cloc$.

2.3 Pin Con#i+uration:

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Fig 2in 4iagram of &'C()

2.4. Pin !scri)tion:

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To se the AT&'C() microcontroller we need a general idea of what does each

!in does. The following is a brief descri!tion of each !in.

1*: Port 1 ?achof these !ins can be sed as either in!t or ot!t. Also, !in)

and !in: +2).; and 2).) ha"e s!ecial fnctions associated with Timer :.

;: R!s!t Si+na':0igh logical state on this in!t halts the /C8 and clears all the

registers. Bringing this !in bac$ to logical state zero starts the !rogram a new as if the

!ower has 3st been trned on. In other words, !ositi"e "oltage im!lse on this !in resets

the /C8. 4e!ending on the de"ice9s !r!ose and en"irons, this !in is sall# connected

to the !sh btton, reset=!on=start circit or a brown ot reset circit. The image shows

one sim!le circit for safe reset !on starting the controller. It is tilized in sitations

when !ower fails to reach its o!timal "oltage.

Fig :.- R??T Circit

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Pin 1=: R>* erial in!t for as#nchronos commnication or serial

ot!t for s#nchronos commnication.

Pin 11: T>= erial ot!t for as#nchronos commnication or cloc$

ot!t for s#nchronos commnication

Pin 12: I5T= *In!t for interr!t ;.

Pin 13: I5T1 * In!t for interr!t ).

Pin 14: T== Cloc$ in!t of conter ;.

Pin 1: T1 *Cloc$ in!t of conter ).

Pin 18: WR *ignal for writing to e>ternal +add=on RA/ memor#.

Pin 1ternal RA/ memor#

1*1;: >2 and >1: In!t and ot!t of internal oscillator. artz cr#stal

controlling the fre*enc# commonl# connects to these !ins. Ca!acitances within the

oscillator mechanism +see the image are not critical and are normall# abot ;!F.

Instead of a *artz cr#stal, miniatre ceramic resonators can be sed for dictating the

!ace. In that case, manfactrers recommend sing somewhat higher ca!acitances +abot

-G !f. ternal memor# is not !resent, !ins of 2ort : act as

ni"ersal in!tJot!t. If e>ternal memor# is !resent, this is the location of the higher

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address b#te, i.e. addresses A& A)(. It is im!ortant to note that in cases when not all the

& bits are sed for addressing the memor# +i.e. memor# is smaller than H-$B, the rest of

the nsed bits are not a"ailable as in!tJot!t.

2;: PSE5: /C8 acti"ates this bit +brings to low state !on each reading of

b#te +instrction from !rogram memor#. If e>ternal RO/ is sed for storing the

!rogram, 2?< is directl# connected to its control !ins.

3=: A0E: Before each reading of the e>ternal memor#, /C8 sends the lower

b#te of the address register +addresses A; AG to !ort 2; and acti"ates the ot!t A?.

?>ternal register +G-0CTG or G-0CTG( circits are common, memorizes the state of

!ort 2; !on recei"ing a signal from A? !in, and ses it as !art of the address for

memor# chi!. 4ring the second !art of the mechanical /C8 c#cle, signal on A? is

off, and !ort 2; is sed as Data Bus. In this wa#, b# adding onl# one chea! integrated

circit, data from !ort can be mlti!le>ed and the !ort simltaneosl# sed for

transferring both addresses and data.

31: EA@ Bringing this !in to the logical state zero +mass designates the !orts 2:

and 2 for transferring addresses regardless of the !resence of the internal memor#. Thismeans that e"en if there is a !rogram loaded in the /C8 it will not be e>ected, bt the

one from the e>ternal RO/ will be sed instead. Con"ersel#, bringing the !in to the high

logical state cases the controller to se both memories, first the internal, and then the

e>ternal +if !resent.

32*3;: Port =@ imilar to 2ort :, !ins of 2ort ; can be sed as ni"ersal

in!tJot!t, if e>ternal memor# is not sed. If e>ternal memor# is sed, 2; beha"es as

address ot!t +A; AG when A? !in is at high logical le"el, or as data ot!t +4ata

Bs when A? !in is at low logical le"el.

4=: 7CC@ 2ower P(5

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In)ut 6ut)ut ,I@6- Ports:

?"er# /C8 from &;() famil# has - IJO !orts of & bits each. This !ro"ides the

ser with : IJO lines for connecting /C8 to the en"irons.

Port =:

2ort ; is an &=bit o!en=drain bi=directional IJO !ort. As an ot!t !ort, each !in

can sin$ eight TT in!ts. %hen )s are written to !ort ; !ins, the !ins can be sed as

high im!edance in!ts.

2ort ; has two fold role if e>ternal memor# is sed, it contains the lower address

b#te +addresses A;=AG, otherwise all bits of the !ort are either in!t or ot!t. Another

featre of this !ort comes to !la# when it has been designated as ot!t. 8nli$e other

!orts, 2ort ; lac$s the !ll ! resistor +resistor with P(5 on one end. This seemingl#

insignificant change has the following conse*ences

%hen designated as in!t, !in of 2ort ; acts as high im!edance offering the

infinite in!t resistance with no inner "oltage.

%hen designated as ot!t, !in acts as o!en drain. Clearing a !ort bit gronds

the a!!ro!riate !in on the case +;5. etting a !ort bit ma$es the !in act as high

im!edance.

Therefore, to get !ositi"e logic +(5 at ot!t, e>ternal !ll ! resistor needs to

be added for connecting the !in to the !ositi"e !ole. Therefore, to get one +(5 on the

ot!t, e>ternal !ll ! resistor needs to be added for connecting the !in to the !ositi"e

!ole.

2ort ; also recei"es the code b#tes dring Flash !rogramming, and ot!ts the

code b#tes dring !rogram "erification. ?>ternal !ll !s are re*ired dring !rogram

"erification.

::


23/75

Port 1:

2ort ) is an &=bit bi=directional IJO !ort with internal !ll!s.

The 2ort ) ot!t bffers can sin$Jsorce for TT in!ts. %hen )s are written to

2ort ) !ins the# are !lled high b# the internal !ll!s and can be sed as in!ts. As

in!ts, 2ort ) !ins that are e>ternall# being !lled low will sorce crrent +II becase

of the internal !ll!s.

In addition, 2).; and 2).) can be configred to be the timerJconter : e>ternal

cont in!t +2).;JT: and the timerJconter : trigger in!t +2).)JT:?K, res!ecti"el#

2ort ) also recei"es the low=order address b#tes dring Flash !rogramming and

"erification.

Port 2:

2ort : is an &=bit bi=directional IJO !ort with internal !ll!s. The 2ort : ot!t

bffers can sin$Jsorce for TT in!ts. %hen )s are written to 2ort : !ins the# are

!lled high b# the internal !ll!s and can be sed as in!ts.

2ort : !ins that are e>ternall# being !lled low will sorce crrent +II becase

of the internal !ll=!s. 2ort : emits the high=order address b#te dring fetches from

e>ternal !rogram memor# and dring accesses to e>ternal data memor# that ses )H=bit

addresses +/O5K Q42TR.

In this a!!lication, it ses strong internal !ll=!s when emitting )s. 4ring

accesses to e>ternal data memor# that ses &=bit addresses +/O5K Q RI, 2ort : emits

the contents of the 2: !ecial Fnction Register.

2ort : also recei"es the high=order address bits and some control signals dring

Flash !rogramming and "erification.

Port 3

:


24/75

2ort is an &=bit bi=directional IJO !ort with internal !ll=!s.

The 2ort ot!t bffers can sin$Jsorce for TT in!ts. %hen )s are written to

2ort !ins the# are !lled high b# the internal !ll=!s and can be sed as in!ts.

2ort !ins that are e>ternall# being !lled low will sorce crrent +II becase

of the !ll=!s.

2ort also ser"es the fnctions of "arios s!ecial featres of the AT&'C() as

listed below

2.. !or" in AT;C1 icrocontro''!r:

The AT&'C() microcontroller has three "er# general t#!es of memor#. These

memor# t#!es are illstrated in following figre on=chi! memor#, ?>ternal Code

/emor# and ?>ternal RA/.

:-


25/75

Fig :.H /emor# Bloc$ 4iagram

On=chi! /emor# refers to an# memor# +Code, RA/, or other that !h#sicall#

e>ist on the microcontroller itself. 4e!ending on the !r!ose this is again classified as

2rogram /emor# and 4ata /emor#. ?>ternal Code /emor# is code +or !rogram

memor# that resides off=chi!. This is often in the form of an e>ternal ?2RO/. ?>ternal

RA/ is the RA/ memor# that resides off=chi!. This is often of standard static RA/ or

flash RA/.

R6 !or":

2rogram /emor# +RO/ is sed for !ermanent sa"ing !rogram being e>ected.


26/75

RA !or":

4ata /emor# +RA/ is sed for tem!oraril# storing and $ee!ing intermediatereslts and "ariables that are generated dring rntime.A!art from that, RA/ com!rises

a nmber of registers hardware conters and timers, IJO !orts, bffer for serial

connection, etc. %ith older "ersions, RA/ s!anned :(H locations, while new models

featre additional ):& registers. First :(H memor# locations form the basis of RA/

+addresses ; FFh of e"er# &;() /C8. ocations that are a"ailable to the ser s!an

addresses from ; to GFh, i.e. first ):& registers, and this !art of RA/ is s!lit into se"eral

bloc$s as can be seen in the image below.

Fig :.G RA/ /emor#

First bloc$ com!rises - ban$s of & registers each, mar$ed as R; = RG. To address

these, the !arent ban$ has to be selected.

econd memor# bloc$ +range :;h :Fh is bit=addressable, meaning that e"er#

belonging bit has its own address +; toGFh. ince the bloc$ com!rises )H of these

registers, there is a total of ):& addressable bits. +Bit ; of b#te :;h has bit address ;,

while bit G of b#te :Fh has bit address GFh.

:H


27/75

Third is the gro! of a"ailable registers at addresses :Fh GFh +total of &; locations

withot s!ecial featres or a !reset !r!ose.

The main !r!ose of RA/ is to !ro"ide s#nchronization between RO/ and C28

so as to increase the s!eed of /icrocontroller.

Bit !or":

The &;(), being a commnication oriented microcontroller, gi"es the ser the

abilit# to access a nmber of bit "ariables. These "ariables ma# be either )or ;. There are

):& bit "ariables a"ailable to the ser, nmbered ;;h throgh GFh.

2.8. S)!cia' unction R!+ist!rs

!ecial Fnction registers +FRs are a $ind of control table sed for managing

and monitoring microcontroller9s o!erating. An# instrction with an address of &;h FFh

refers to an RF control register. ?ach of these registers, e"en each bit the# inclde, has

its name, address in the sco!e of RA/ and clearl# defined !r!ose + for e>am!le timer

control, interr!t, serial connection etc.. ?"en thogh there are ):& free memor#

locations intended for their storage, the basic core, shared b# all t#!es of &;()

controllers, has onl# :) sch registers.

:G


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Fig .H !ecial Fnction registers.

2.< Ti!rs:

The &;() microcontrollers is e*i!!ed with two timers +T; and T), both of them

ma# be controlled, set, read and configred indi"idall#. The main !r!ose of timer is

di"ided into three e"ents

To measre time i.e. calclating the time between the e"ents.

Conting e>ternal e"ents.

8sed for generating cloc$ !lses sed in serial commnication, i.e. Bad Rate.

/easre time between two e"ents it is nothing bt conting ! the !lses that are

generated from *artz cr#stal oscillator between the re*ired two e"ents.

Ti!r SRs:

The two timers share two registers T/O4 and TCO


29/75

FR has a nmeric address. It is often sefl to $now nmeric address that corres!onds to

an FR name. The FRs relating to timers are when #o enter the name of the FR into

assembler, it internall# con"erts it to a nmber.

Ti!r T=:

This timer consists of two registers T0; and T;. The nmbers that these

registers inclde re!resent a lower and a higher b#te of one )H=digit binar# nmber. ince

the timers are "irtall# )H=bit registers, the greatest "ale that cold be written to them is

H( ((. In case of e>ceeding this "ale, the timer will be atomaticall# reset and after

words that conting starts from ;. It is called o"erflow.

T6 R!+ist!r ,Ti!r od!-:

This register selects mode of the timers T; and T). The lower - bits +bit; = bit

refer to the timer ;, while the higher - bits +bit- = bitG refer to the timer ). There are in

total of - modes.

Bits of this register ha"e the following !r!ose

/ATE1starts and sto!s Timer ) b# means of a signal !ro"ided to the !in I


30/75

) ; :&=bit ato=

reload

) ) !lit mode

/ATE=starts and sto!s Timer ), sing a signal !ro"ided to the !in I


31/75

o 1= Timer ; is trned on

o == Timer ; is trned off

Ti!r 1

Referring to its characteristics, this timer is a twin brother to the Timer ;. This

means that the# ha"e the same !r!ose, their o!erating is controlled b# the same registers

T/O4 and TCO< and both of them can o!erate in one of - different modes.

)


32/75

0AR4%AR? ?CTIO when it comes to 4C motors. The general rle is,

motors rn the most efficient when rn at the highest !ossible s!eeds. Ob"iosl# howe"er

this is not !ossible. There are times we want or robot to rn slowl#. o first #o want

gearing= this wa# the motor can rn fast, #et #o can still get good tor*e ot of it.

8nfortnatel# gearing atomaticall# redces efficienc# no higher than abot ';S. o

inclde a ';S s!eed and tor*e redction for e"er# gear meshing when #o calclate

gearing. For e>am!le, if #o ha"e s!r gears, therefore meshing together twice, #o

will get a ';S > ';S W &)S efficienc#. The "oltage and a!!lied tor*e resistance

ob"iosl# also affects s!eed.

+- Contro':

The most im!ortant of 4C motor control techni*es is the 0=Bridge. After #o

ha"e #or 0=Bridge hoo$ed ! to #or motor, to determine #or wheel "elocit#J!osition

#o mst se an encoder. And lastl#, #o shold read ! on good 4C /otor Bra$ing

methods.

h- 6th!r In#oration:

2lace small microfarad ca!acitors across motor leads to e>tend motor life. This

wor$s reall# well with nois# and other el=chea!o motors, almost dobling motor life.

-;
http://www.societyofrobots.com/mechanics_dynamics.shtmlhttp://www.societyofrobots.com/mechanics_gears.shtmlhttp://www.societyofrobots.com/schematics_h-bridgedes.shtmlhttp://www.societyofrobots.com/sensors_encoder.shtmlhttp://www.societyofrobots.com/schematics_dcmotorbraking.shtmlhttp://www.societyofrobots.com/mechanics_dynamics.shtmlhttp://www.societyofrobots.com/mechanics_gears.shtmlhttp://www.societyofrobots.com/schematics_h-bridgedes.shtmlhttp://www.societyofrobots.com/sensors_encoder.shtmlhttp://www.societyofrobots.com/schematics_dcmotorbraking.shtml


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Fig .) 4C er"omotor

0owe"er there is mch less im!ro"ement sing this techni*e with the more e>!ensi"e

higher end motors. The IC sed for interfacing with microcontroller is :'4

02;3

H;;mA O8T28T C8RR?


42/75

$ee! the case tem!eratre down. 8nsre abot whether the :' will wor$ with #or

motorD 0oo$ ! the circit and rn #or motor while $ee!ing #or finger on the chi!. If

it gets too hot to toch, #o cant se it with #or motor. +


43/75

Z electrons and electron holes Z flow into the 3nction from electrodes with different

"oltages. %hen an electron meets a hole, it falls into a lower energ# le"el, and releases energ#

in the form of a!hoton.

Fig . #mbol of ?4

The wa"elengthof the light emitted, and therefore its color, de!ends on the band ga!

energ# of the materials forming the !=n 3nction. In siliconor germanimdiodes, the electrons

and holes recombine b# a non=radiati"e transition which !rodces no o!tical emission, becase

these are indirect bandga! materials. The materials sed for an ?4 ha"e a direct band

ga! with energies corres!onding to near=infrared, "isible or near=ltra"iolet light.

?49s are sall# constantl# illminated when a crrent !asses throgh them, bt

flashing ?49s are also a"ailable. Flashing ?49s resemble standard ?49s bt the# contain a

small chi! inside which cases the ?4 to flash with a t#!ical !eriod of one second. This t#!e

of ?4 comes most commonl# as red, #ellow, or green. /ost flashing ?49s emit light of a

single wa"elength, bt mlticolored flashing ?49s are a"ailable too.

?4 de"elo!ment began with infrared and red de"ices made with gallim

arsenide. Ad"ances in materials scienceha"e made !ossible the !rodction of de"ices

with e"er=shorter wa"elengths,!rodcing light in a "ariet# of colors.

-
http://en.wikipedia.org/wiki/Electronhttp://en.wikipedia.org/wiki/Electron_holehttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Energy_levelhttp://en.wikipedia.org/wiki/Energyhttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/Wavelengthhttp://en.wikipedia.org/wiki/Band_gaphttp://en.wikipedia.org/wiki/Siliconhttp://en.wikipedia.org/wiki/Germaniumhttp://en.wikipedia.org/wiki/Indirect_bandgaphttp://en.wikipedia.org/wiki/Direct_band_gaphttp://en.wikipedia.org/wiki/Direct_band_gaphttp://en.wikipedia.org/wiki/Gallium_arsenidehttp://en.wikipedia.org/wiki/Gallium_arsenidehttp://en.wikipedia.org/wiki/Materials_sciencehttp://en.wikipedia.org/wiki/Wavelengthhttp://en.wikipedia.org/wiki/Wavelengthhttp://en.wikipedia.org/wiki/Electronhttp://en.wikipedia.org/wiki/Electron_holehttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Energy_levelhttp://en.wikipedia.org/wiki/Energyhttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/Wavelengthhttp://en.wikipedia.org/wiki/Band_gaphttp://en.wikipedia.org/wiki/Siliconhttp://en.wikipedia.org/wiki/Germaniumhttp://en.wikipedia.org/wiki/Indirect_bandgaphttp://en.wikipedia.org/wiki/Direct_band_gaphttp://en.wikipedia.org/wiki/Direct_band_gaphttp://en.wikipedia.org/wiki/Gallium_arsenidehttp://en.wikipedia.org/wiki/Gallium_arsenidehttp://en.wikipedia.org/wiki/Materials_sciencehttp://en.wikipedia.org/wiki/Wavelength


44/75

?4s are sall# bilt on an n=t#!e sbstrate, with electrode attached to the !=

t#!e la#er de!osited on its srface. 2=t#!e sbstrates, while less common, occr as well.

/an# commercial ?4s, es!eciall# Ea


45/75

Ereen = :.H5

Ble = .; to .(5 +%hite same as ble

8ltra"iolet = .(5

3.3.1 Ad9anta+!s:

?4s !rodce more light !er %att than do incandescent blbs@ this is sefl

in batter# !owered de"ices.

?4s can emit light of an intended color withot the se of color filters that

traditional lighting methods re*ire. This is more efficient and can lower

initial costs.

The solid !ac$age of an ?4 can be designed to focs its light. Incandescent

and florescent sorces often re*ire an e>ternal reflector to collect light and

direct it in a sable manner.

%hen sed in a!!lications where dimming is re*ired, ?4s do not change

their color tint as the crrent !assing throgh them is lowered, nli$e

incandescent lam!s, which trns #ellow.

?4s are ideal for se with occ!anc# sensors, since the# are naffected b#

fre*ent on=off c#cling, nli$e florescent lam!s that brn ot more *ic$l#

when c#cled fre*entl#.

?4s are bilt inside solid cases that !rotect them, nli$e incandescent and

discharge sorces, ma$ing them e>tremel# drable.

?4s ha"e an e>tremel# long life s!an when conser"ati"el# rn !wards of

);;,;;; hors, twice as long as the best florescent blbs and twent# times

longer than the best incandescent blbs. +Incandescent blbs can also be made

to last an e>tremel# long time b# rnning at lower than normal "oltage, btonl# at a hge cost in efficienc#@ ?4s ha"e a long life when o!erated at their

rated !ower. ?4s rn at higher crrents ha"e mch redced lifes!an.

?4s light ! "er# *ic$l#. A t#!ical red indicator ?4 will achie"e fll

brightness in microseconds@ ?4s sed in commnications de"ices can ha"e

-(


46/75

e"en faster res!onse times. ?4s can be "er# small and are easil# !o!lated

onto !rinted circit boards.

3.3.2 isad9anta+!s o# usin+ 0Es:

?4s are crrentl# more e>!ensi"e, !rice !er lmen, than more con"entional

lighting technologies. The additional e>!ense !artiall# stems from the

relati"el# low lmen ot!t and the dri"e circitr# and !ower s!!lies needed.

?4 !erformance largel# de!ends on the ambient tem!eratre of the

o!erating en"ironment. Y4ri"ingY an ?4 YhardY in high ambient

tem!eratres ma# reslt in o"erheating of the ?4 !ac$age, e"entall#

leading to de"ice failre. Ade*ate heat=sin$ingis re*ired to maintain long

life. This is es!eciall# im!ortant when considering atomoti"e, medical, and

militar# a!!lications where the de"ice mst o!erate o"er a large range of

tem!eratres, and are re*ired to ha"e a low failre rate.

?4s re*ire com!le> !ower s!!l# set!s to be efficientl# dri"en. In

indicator a!!lications a sim!le series resistor can be sed@ howe"er, this

sacrifices a large amont of energ# efficienc#. Another method is sing

crrent limiting, which also cold waste as mch !ower.

?4s t#!icall# cast light in one direction at a narrow angle com!ared to an

incandescent or florescent lam! of the same lmen le"el.

?4s sall# emit s!ectrall# im!re light which means that a white ?4 sall#

does not ha"e the same s!ectral !ower distribtion as snlight or e"en moonlight

3.3.3 0ist o# so! or! 0E a))'ications:

ome of these a!!lications are frther elaborated !on in the following te>t.

Architectral lighting

tats indicators on all sorts of e*i!ment

Traffic lights and signals

-H
http://en.wikipedia.org/wiki/Heat_sinkhttp://en.wikipedia.org/wiki/Current_limitinghttp://en.wikipedia.org/wiki/Traffic_lighthttp://en.wikipedia.org/wiki/Heat_sinkhttp://en.wikipedia.org/wiki/Current_limitinghttp://en.wikipedia.org/wiki/Traffic_light


47/75

?>it signs

/otorc#cle and Bic#cle lights

To#s and recreational s!orting goods, sch as theFlash flight

Railroad crossing signals

Continit# indicators

Flashlights. ome models that do not e"en se batteries are of this t#!e.

ight bars on emergenc# "ehicles.

?le"ator 2sh Btton ighting

Thin, lightweight message dis!la#s at air!orts and railwa# stations and as

destination dis!la#s for trains, bses, trams and ferries.

Red or #ellow ?4s are sed in indicator and al!hanmeric dis!la#s inen"ironments where night "ision mst be retained aircraft coc$!its,

sbmarine and shi! bridges, astronom# obser"atories, and in the field, e.g.

night time animal watching and militar# field se.

Red, #ellow, green, and ble ?4s can be sed for model railroading

a!!lications

Remote controls, sch as for T5s and 5CRs, often se infrared?4s.

In o!tical fiber and Free !ace O!ticscommnications.

In dot matri> arrangements for dis!la#ing messages.

Elow lights, as a more e>!ensi"e bt longer lasting and resable alternati"e to

Elow stic$s.

Becase of their long life and fast switching times, ?4s ha"e been sed for

atomoti"e high=monted bra$e lightsand trc$ and bs bra$e lights and trn

signals for some time, bt man# high=end "ehicles are now starting to se

?4s for their entire rear light clsters. Besides the gain in reliabilit#,this has

st#ling ad"antages becase ?4s are ca!able of forming mch thinner lights

than incandescent lam!s with !arabolic reflectors. The significant

im!ro"ement in the time ta$en to light ! +!erha!s ;.(s faster than an

incandescent blb im!ro"es safet# b# gi"ing dri"ers more time to react.

-G
http://en.wikipedia.org/wiki/Exit_signhttp://en.wikipedia.org/wiki/Motorcyclehttp://en.wikipedia.org/wiki/Bicycle_lighting#LEDshttp://en.wikipedia.org/wiki/Flashflighthttp://en.wikipedia.org/wiki/Flashflighthttp://en.wikipedia.org/wiki/Railroad_crossinghttp://en.wikipedia.org/wiki/Flashlighthttp://en.wikipedia.org/wiki/Light_barhttp://en.wikipedia.org/wiki/Model_railroadinghttp://en.wikipedia.org/wiki/Remote_controlhttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Optical_fiberhttp://en.wikipedia.org/wiki/Free_Space_Opticshttp://en.wikipedia.org/wiki/Glowstickshttp://en.wikipedia.org/wiki/Glowstickshttp://en.wikipedia.org/wiki/Automotive_lighting#Center_High_Mount_Stop_Lamp_.28CHMSL.29http://en.wikipedia.org/wiki/Reliabilityhttp://en.wikipedia.org/wiki/Parabolic_reflectorhttp://en.wikipedia.org/wiki/Exit_signhttp://en.wikipedia.org/wiki/Motorcyclehttp://en.wikipedia.org/wiki/Bicycle_lighting#LEDshttp://en.wikipedia.org/wiki/Flashflighthttp://en.wikipedia.org/wiki/Railroad_crossinghttp://en.wikipedia.org/wiki/Flashlighthttp://en.wikipedia.org/wiki/Light_barhttp://en.wikipedia.org/wiki/Model_railroadinghttp://en.wikipedia.org/wiki/Remote_controlhttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Optical_fiberhttp://en.wikipedia.org/wiki/Free_Space_Opticshttp://en.wikipedia.org/wiki/Glowstickshttp://en.wikipedia.org/wiki/Glowstickshttp://en.wikipedia.org/wiki/Automotive_lighting#Center_High_Mount_Stop_Lamp_.28CHMSL.29http://en.wikipedia.org/wiki/Reliabilityhttp://en.wikipedia.org/wiki/Parabolic_reflector


48/75

Bac$lighting for C4tele"isions and dis!la#s. The a"ailabilit# of ?4s in

s!ecific colors +REB enables a fll=s!ectrmlight sorce which e>!ands the

color gamtb# as mch as -(S.

tile

?4=based Christmas lightsha"e been a"ailable since :;;:, bt are onl# now

beginning to gain in !o!larit# and acce!tance de to their higher initial

!rchase cost when com!ared to similar incandescent=based Christmas lights.

For e>am!le, as of :;;H, a set of (; incandescent lights might cost [:.;;

84, while a similar set of (; ?4 lights might cost [);.;; 84. The

!rchase cost can be e"en higher for single=color sets of ?4 lights with rare

or recentl#=introdced colors, sch as !r!le, !in$ or white. Regardless of the

higher initial !rchase !rice, the total cost of ownershi!for ?4 Christmas

lights wold e"entall# be lower than the TCO for similar incandescent

Christmas lights since an ?4 re*ires mch less !ower to ot!t the same

amont of light as a similar incandescent blb.

?4 !hotothera!# for acne sing ble or red ?4s has been !ro"en to

significantl# redce acne o"er a month !eriod.

As 5oltage Referencein electronic circits. The constant "oltage dro! +e.g.

).G 5 for a normal red ?4 can be sed instead of a 1ener diodein low=

"oltage reglators. 1ener diodes are not a"ailable below "oltages of abot 5

3.4. Ant!nna S!ction:

An ant!nnais a transdcer designed to transmit or recei"e

electromagnetic wa"es. In other words, antennas con"ert electromagnetic wa"es into

electrical crrents and "ice "ersa. Antennas are sed in s#stems sch as radio and

-&
http://en.wikipedia.org/wiki/LCDhttp://en.wikipedia.org/wiki/Spectrumhttp://en.wikipedia.org/wiki/Gamuthttp://en.wikipedia.org/wiki/Lumalivehttp://en.wikipedia.org/wiki/Textilehttp://en.wikipedia.org/wiki/Christmas_lightshttp://en.wikipedia.org/wiki/Total_cost_of_ownershiphttp://en.wikipedia.org/wiki/Light_therapyhttp://en.wikipedia.org/w/index.php?title=Voltage_Reference&action=edithttp://en.wikipedia.org/wiki/Zener_diodehttp://en.wikipedia.org/wiki/LCDhttp://en.wikipedia.org/wiki/Spectrumhttp://en.wikipedia.org/wiki/Gamuthttp://en.wikipedia.org/wiki/Lumalivehttp://en.wikipedia.org/wiki/Textilehttp://en.wikipedia.org/wiki/Christmas_lightshttp://en.wikipedia.org/wiki/Total_cost_of_ownershiphttp://en.wikipedia.org/wiki/Light_therapyhttp://en.wikipedia.org/w/index.php?title=Voltage_Reference&action=edithttp://en.wikipedia.org/wiki/Zener_diode


49/75

tele"ision broadcasting, !oint=to=!oint radio commnication, wireless A!loration. Antennas sall# wor$ in air or oter s!ace, bt can also be o!erated

nder water or e"en throgh soil and roc$ at certain fre*encies for short distances.

2h#sicall#, an antenna is an arrangement of condctors that generate a radiating

electromagnetic field in res!onse to an a!!lied alternating "oltage and the associated

alternating electric crrent, or can be !laced in an electromagnetic field so that the field

will indce an alternating crrent in the antenna and a "oltage between its terminals.

ome antenna de"ices +!arabolic antenna, 0orn Antenna 3st ada!t the free s!ace to

another t#!e of antenna

3.. Tun!r Card:

A T7 Tun!r cardis a com!ter com!onentthat allows tele"ision

signals to be recei"ed b# a com!ter. /ost T5 tners also fnction as "ideo ca!tre

cards,allowing them to record tele"ision !rograms onto a hard dis$.

T5 tners are a"ailable as 2CI=bs e>!ansion card, 2CIe +2CI ?>!ress bs or8B

de"ices. The trend is towards 8B de"ices. The card contains a recei"er, tner,

demodlator, and an analog=to=digital con"erterforanalog T5. /an# cards are limited to

the radio fre*encies and "ideo formatssed in the contr# of sale.. In addition to the

fre*enc# tner, man# inclde acom!osite "ideoin!t. /an# T5 tners can fnction as

F/ radios this is becase the F/ radio s!ectrm lies between


50/75

P6WER S&PP0

SECTI65

CHAPTER 4

4.1 Po$!r Su))'":

(;


51/75

A !ower s!!l# was designed to meet the re*irements of the circit. The !ower

s!!l# is basicall# a fll wa"e rectifier. A diode is sed as a switch. The ot!t of the

diode has onl# one !olarit#. A diode rectifier is to !ro"ide dc s!!l# "oltage from the

(;0z ac !ower line. In!t flctations in the dc ot!t can be com!letel# eliminated b#

the ca!acitor. The filter in a circit is alwa#s electrol#tic becase of high ca!acitance

re*ired. The filters are essentiall# shnted b# !ass fre*enc# of the ac ri!!le. arger

filter ca!acitors are needed with larger "ales of the load crrent. The fll wa"e rectifier

with two diodes is arranged in a fll wa"e rectifier circit. It !ro"ides dc ot!t for both

c#cles of the ac ot!t. The highest ri!!le fre*enc# is easier to filter for allowing

smaller "ales of C. a rectifier is an electronic circit, which con"erts ac to dc. This

!rocess is called rectification. %hen diode is forward biased the crrent allows throgh it

when it is re"erse biased it will act as an o!en circit. In or circit fll wa"e center

ta!!ed rectifier is sed. The ot!t of the rectifier is for com!lete H; degrees. This can

be achie"ed b# ta$ing : diodes and ma$e them to wor$ alternati"el# to the P"e and ="e

half c#cles of the a!!lied ac signals. %hen ) diode is in O< state the other will be

offstage. 4e to center ta!!ing we get );=!hase difference. Initiall# the ac in!t is gi"en

!rimaril# terminal of transformer the reslting ot!t crrent is nidirectional and flows

in the form of half sine wa"es. These signals are gi"en to !ower rectifiers to decrease the

!ower le"el of the a!!lied in!t signal. B# sing fll wa"e center ta!!ed rectifier the

ri!!le factor can be redced. In this the diodes sed has high !ea$ in"erse "oltage.

1 0 0 0 u f

7 8 0 5

5

B r i g d e R e c t i f i e r

1

B r i g d e R e c t i f i e r

2

1 2

3

1 0 0 u f- +

1

4

3

2

T 1

1 5

4

Fig -.) Circit 4iagram of 2ower !!l#

7o'ta+! R!+u'ators:

()


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A "oltage reglator is one, which is sed to control the "oltage. A reglator IC

mainl# consists of reference sorce, com!arator am!lifier and control "oltage and o"er

load !rotection all in a single IC. The !ower s!!l# can be bilt sing a transformer

connected to the ac s!!l# can be bilt sing a transformer connected to the ac s!!l# to

ste! the ac bilt sing a transformer connected to the ac s!!l# to ste! the ac "oltage to

desired am!litde then rectif#ing that ac "oltage filtering with a ca!acitor and RC filter.

The reglators can be selected for o!eration with load crrents from hndreds of mille

am!eres to tens of am!eres corres!onding to !ower ratings from mille watts to tens of

watts. The series G& reglators !ro"ides fi>ed reglated "oltages from ( to :- "olt. The

G&): are connected to !ro"ide "oltage reglation with ot!t from this nit of P):",

which is filtered b# ca!acitor C. The ot!t and minimm "oltages from G&;( and G&):is P(", G. and P):", )-.H". The ac line "oltage is ste!!ed down to )&" rms across each

half of the center=ta!!ed transformer. A fll wa"e rectifier and ca!acitor filter then

!ro"ides an nreglated dc "oltage with an ac ri!!le of a few "olts as in!t to the "oltage

reglator. The G&): IC then !ro"ides an ot!t that is reglated P):" dc.

!atur!s:

\ Ot!t Crrent ! to )A

\ Ot!t 5oltage of (5

\ Thermal O"erload 2rotection

\hort Circit 2rotection

\ Ot!t Transistor afe O!erating Area 2rotection

(:


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PR6DECT CIRC&ITR

CHAPTER

(


54/75

.1. Transitt!r S!ction

Fig (.) Bloc$ diagram of transmitter

!scri)tion:

.1.1 !")ad

It consists of si> !ress bttons.The for bttons are sed to control the o!eration

of motor which in trn controls the wheels mo"ements.And another two bttons are sed

to rotate the camera motor in cloc$wise and anticloc$wise direction. The one $e# acts as

a reset btton .The $e#!ad ot!ts & bit !arallel data.

.1.2. Para''!' to S!ria' Con9!rt!r:

The data ot!t coming from the $e#!ad is !arallel data .ince RF modle

transmission is single line i.e. ,serial data transmission, it is nable to transfer !arallel

data coming from the $e#!ad .0ence it is re*ired to con"ert the !arallel data into serial

data. This can be achie"ed b# sing a a !arallel to serial con"erter.0T=H-; is a !arallel

to serial con"erter IC sedin this casefor con"ersion.

(-


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i+: .2 Para''!' to S!ria' con9!rt!r

!atur!s:

O!erating "oltage :.-5X):5.

ow !ower and high noise immnit# C/O technolog#.

ow standb# crrent.

Bilt=in oscillator needs onl# (S resistor.

T? is the transmission enable !in of the 0TH-;

.1.3. unctiona' !scri)tion:

6)!ration: The encoders begins a three=word transmission c#cle !on recei!t of a

transmission enable +T? for the 0TH-; acti"e high.This c#cle will re!eat itself as long

as the transmission enable +T? or 4):X4)G is held high. Once the transmission enable

falls low, the encoder ot!t com!letes its final c#cle and then sto!s as shown below.

((


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R Transitt!r:

ince RF modle cannot transfer !arallel data that has to be con"erted into serial data.

This tas$ can be done b# sing !arallel to serial con"erter. Ths con"erted data is gi"en

to the RF modle is of serial data which is nothing bt a digital data. This data is !lse

am!litde modlated with a high fre*enc# sine wa"e carrier .The fre*enc# of the sine

wa"e is - /0z. This data is transmitted sing a telesco!ic antenna o!erated at a

fre*enc# of - /0z.

R Transitt!r S)!ci#ications:

%or$ing "oltage =): 5

4imensions :: mm ] : mm

%or$ing crrent ); )( mA

%or$ing mode A/

Trans!ort !eed - 7BJ

Transmit fre*enc# )( J - /0z

Transmit 2ower ); m%

?>ternal Antenna - /0z +telesco!ic antenna

.2. B'oc( ia+ra o# R!c!i9!r S!ction

i+ .3: B'oc( dia+ra o# r!c!i9!r

(H


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.2.1. R R!c!i9!r:

The recei"er section consists of RF antenna which recei"es signal

from the antenna and gi"es it to RF modle. The RF modle consists of a local oscillator

!rodcing a signal of same fre*enc# as the carrier signal transmitted i.e., with a

fre*enc# of -/0z.The signal recei"ed b# the antenna and the local oscillator signal

are a!!lied to a mi>er circit .The ot!t from the mi>er circit is a signal with zero

fre*enc# and the serial data. The data recei"ed from the transmitter is a!!lied to the

micro controller .0ence the serial data has to be con"erted into !arallel data. This can be

accom!lished b# sing a serial to !arallel con"erter. The IC sed for this !r!ose is

0T H-&.

R r!c!i9!r S)!ci#ications

Recei"er ensiti"it# ='(dBm

%or$ing "oltage ( 5

4imensions G mm ] )H mm

Transmit fre*enc# )( J - /0z

?>ternal Antenna )& :( cm

Trans!ort !eed - 7BJ

%arning Tem!eratre =); to PG;

%or$ing crrent ;.( ;.& mA

.2.2. S!ria' to Para''!' Con9!rt!r:

(G


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i+ .4: S!ria' to Para''!' con9!rt!r

!atur!s:

O!erating "oltage :.-5X):5.

ow !ower and high noise immnit# C/O technolog#.

ow standb# crrent.

Bilt=in oscillator needs onl# a (S resistor.

unctiona' !scri)tion:

6)!ration: The series of decoders !ro"ides "arios combinations of address and

data !ins in different !ac$ages. It is !aired with t series of encoders. The decoders recei"e

data transmitted b# the encoders and inter!ret the first < bits of the code !eriod as

(&


59/75

address and the last )&< bits as data +where < is the address code nmber. A signal on

the 4I< !in then acti"ates the oscillator which in trns decodes the incoming address and

data. The decoders will chec$ the recei"ed address twice continosl#. If all the recei"ed

address codes match the contents of the decoder9s local address, the )&< bits of data are

decoded to acti"ate the ot!t !ins, and the 5T !in is set high to indicate a "alid

transmission. That will last ntil the address code is incorrect or no signal has been

recei"ed. The ot!t of the 5T !in is high onl# when the transmission is "alid. Otherwise

it is low alwa#s.

6ut)ut t")!

There are : t#!es of ot!t to select from

/omentar# t#!e

The data ot!ts follow the encoder dring a "alid transmission and then reset.

atch t#!e

The data ot!ts follow the encoder dring a "alid transmission, and are then

latched in this state ntil the ne>t transmission occrs.

R odu'!s:

There are three %ireless RF /odles, Transmitter, Recei"er and a Transcei"er.Themodles can commnicate o"er distances ! to :(; feet.

T$o od!s o# 6)!ration:

Connecting Eam!le, !lacing ;5 on all !ins sets the

address to zero. 2lacing (5 on all !ins sets the address to )(. The transmitter, recei"er

('


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and transcei"er also ha"e switch data !ins +labeled I


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.3. 0i+ht !t!ction odu'!:

6)!ration:

The((( timer as a monostable mlti"ibrator. 0ere the ot!t at !in= of the timer

de!ends on the am!litde of the trigger !lse a!!lied to the !in=:.0ere we tne

the (;$^ !otentiometer either towards to grond or towards P5cc. As the intensit# of light increases the resistance decreases and the triggers at !in=:

and ot!t goes high bt the ?4 at ot!t does not glow indicating that the

srronding area is bright.

As the intensit# of light decreases the resistance increases and does not trigger at

!in=: and ot!t goes low and the ?4 at ot!t will glow indicating that the

srronding area is dar$.

H)


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.4. Wir!'!ss Audio and 7id!o transission:

Fig (.H Bloc$ 4iagram of wireless A5 Transmission

!atur!s:

%ireless transmission and rece!tion

mall size

ight weight

ow !ower consm!tion

0igh sensiti"it#

6)!ration Instructions:

Twist the recei"er antenna into the recei"er.

Connect the recei"er to the monitor with A5 cable

2lg the 4C '5 (;;mA ada!tor into the !ower 3ac$ of the recei"er.

H:


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Insert the 4C &5 :;;mA ada!tor into the !ower 3ac$ of the camera.

Ad3st the fre*enc# controller on the recei"er to the re*ired !osition.

Ad3st the lens of the camera to the best !osition, /ont the camera with the

screw.

unctions:

itable for facilities in the school, office and home, etc.,

S)!ci#ications:

Ot!t !ower (;m% to :;;m%

2ower s!!l# 4C PH5X):5

Ot!t Fre*enc#';;/01 to ):;;/01

/inimm Illmination 8K

H


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EI0 S6TWARE

H-


65/75

CHAPTER 8

EI0 S6TWARE :*

In or !ro3ect, 7eil oftware is sed to de"elo! the CA4A

circit. 7eil oftware !ro"ides the software de"elo!ment tools for the &'c(:

microcontroller deri"ati"es. 7eil com!iler is a cross com!iler which is sed to com!ile

that code designed for different chi!s on host machine and to get the he> code. Eeneral

!rocedre in wor$ing with 7eil com!iler as follows

). Create sorce file in C or assembl#.

:. Com!ile or assemble sorce files.

. Correct errors in sorce files.

-. oad the .0?K file into &'c(: Flash /emor# with the hel! of 2rogrammer.

8.1 Introduction to !i' C So#t$ar!:

The C>() Com!lier !ac$age ma# be sed on all &;() famil# !rocessors and is

e>ectable nder the windows :=bit command line !rom!t. The 6C9 !rogramming

langage is a general=!r!ose !rogramming langage that !ro"ides code efficienc#,

elements of strctred !rogramming and a rich set of o!erators. C is not a big langage

and is not designed for an !articlar area of a!!lication. Its generall# combined with its

absence of restrictions, ma$es C a con"enient and effecti"e !rogramming soltion for a

wide "ariet# of software tas$s. /an# a!!lications can be sol"ed more easil# and

efficientl# with C than with an# other s!ecialized langages.

The C>() o!timizing C com!lier is a com!lete im!lementation of the American


66/75

generating e>tremel# fast and com!act code for the &;() micro!rocessor. C>() !ro"ides

#o with the fle>ibilit# of !rogramming in C and the code efficienc# and s!eed of

assembl# langage.

The C langage on its own is not ca!able of !erforming o!erations +sch as

in!t and ot!t that wold normall# re*ire inter"ention from the o!erating s#stems.

Instated these ca!abilities are !ro"ided as a !art of standard librar#. Becase these

fnctions are se!arate from the langage itself, C is s!eciall# sited for !rodcing code

and !ortable across a wide nmber of !latforms. ince C>() is a cross com!lier, some

code of the C !rogramming langage and standard libraries are altered or enhanced as the

!ecliarities of an embedded !rocessor.

8.2. Co)i'in+ $ith th! c1 Co)i'!r:

These below directi"es allow #o in com!iling with the C>() com!iler

= 4irect the C>() com!iler to generate a listing file

= Control the amont of information inclded in the ob3ect file

= !ecif# o!timization le"el and memor# models

8.3. Runnin+ c1 #ro th! Coand Pro)t:

To in"o$e the C() or C>() com!iler, enter C() or C>() at the command

!rom!t. On the command line #o mst inclde the name of the C sorce file to be

com!iled as well as an other necessar# control directi"es re*ired to com!ile #or sorce

file. The format for the C>() command line is

C() sorcefile_directi"es..._

C>() sorcefile_directi"es...._

OR

C() Qcommandfile

C>() Qcommandfile

%here

HH


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orcefile = is the name of the sorce !rogram #o want to com!ile.

4irecti"es = are the directi"es #o want to se to control the fnction of Command.

Commandfile is the name of a command in!t file that ma# contain sorce file and

directi"es. A commandfile is sed, when the in"ocation line gets com!le> an e>ceeds the

limits of the windows command !rom!t.

8.4. C1 Sa)'! !bu+ Cod! Pr!)rint:

The C>() com!lier dis!la#s the following information !on sccessfl com!ilation.

C() CO/2I?R 5H.);

C() CO/2IATIO< CO/2?T? ; %AR


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8.. C1 6ut)ut i'!s:

The C>() com!lier generates a nmber of ot!t files dring com!ilation. B#

defalt each of these ot!t files shares the same filename as the sorce file. 0owe"er,

each has a different file e>tension. ome im!ortant ot!t files generated b# the C>()

com!lier as follows

= .ob3 file

= .list file

= .0?K file.

This .0?K file will load into &'c(: Flash /emor# with the hel! of

2rogrammer to wor$ with or circit.

8.8. ir!cti9! Cat!+ori!s:

Control directi"es can be di"ided into three gro!s

). orce controls

:. Ob3ect controls

. isting controls.

). orce controls orce controls define macros on the command line and determine the

name of the file to be com!lied.

:. Ob3ect controls Ob3ect controls affect the form and content of the generated ob3ect

modle +.ob3.These directi"es allow #o to s!ecif# the o!timizing le"el or inclde

debgging formation in the ob3ect file.

3. isting controls isting controls go"ern "arios as!ects of the listing file +.T, in

!articlar its format and s!ecific content.

H&


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S6TWARE SECTI65

H'


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CHAPTER 8

S6TWARE PR6/RA

(.). 2rogram For RF Transmission

`inclde reg>().h

"oid wait+"oid

@@

"oid main +"oid

int i@

while +)

if +2)_;WW;

2;_;W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

if +2)_)WW;

G;


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2;_)W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

if +2)_:WW;

2;_:W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

if +2)_WW;

2;_W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

if +2)_-WW;

G)


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2;_-W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

if +2)_(WW;

2;_(W)@

for + i W ;@ i );;;;@ iPP

wait+@

2:_;W)@

else if +2)_HWW;

2:_;W)@

else

2:_;W;@

2;W;@

G:


73/75

APP0ICATI65S:

Toda# Robots are wor$ing in almost all fields of ser"ice. Ranging from

hose$ee!ing till high technolog# s!ace e>!loration, robot technolog# has made asignificant im!act.

Robots in the homeAs their !rice falls, and their !erformance and com!tational

abilit# rises, ma$ing them both affordable and sfficientl# atonomos, robots are

increasingl# being seen in the home the# tend to be relati"el# atonomos,

sall# onl# re*iring a command to begin their 3ob. The# then !roceed to go

abot their bsiness in their own wa#. At sch, the# dis!la# a good deal of

agenc#, and are considered intelligent robots.

%hen a hman cannot be !resent on site to !erform a 3ob becase it is dangeros,

far awa#, or inaccessible, teleo!orted robots, or telerobots are sed. Telerobot is

controlled from a distance b# a hman o!erator. This sa"es the financial cost and

!h#sical incon"enience.

/ilitar# robotsTeleo!erated robot aircraft, li$e the 2redator 8nmanned Aerial

5ehicle, are increasingl# being sed b# the militar#. These robots can be

controlled from an#where in the world allowing an arm# to search terrain, and

e"en fire on targets, withot endangering those in control.

?lder Care The !o!lation is agingin man# contries, meaning that there are

increasing nmbers of elderl# !eo!le to care for bt relati"el# fewer #ong !eo!le

to care for them. 0mans ma$e the best careers, bt where the# are na"ailable,

robots are gradall# being introdced.

G
http://en.wikipedia.org/wiki/Domestic_robotshttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Unmanned_Aerial_Vehiclehttp://en.wikipedia.org/wiki/Unmanned_Aerial_Vehiclehttp://en.wikipedia.org/wiki/Home_automation_for_the_elderly_and_disabledhttp://en.wikipedia.org/wiki/Gerontotechnologyhttp://en.wikipedia.org/wiki/Domestic_robotshttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Unmanned_Aerial_Vehiclehttp://en.wikipedia.org/wiki/Unmanned_Aerial_Vehiclehttp://en.wikipedia.org/wiki/Home_automation_for_the_elderly_and_disabledhttp://en.wikipedia.org/wiki/Gerontotechnology


74/75

C65C0&SI65:

This wireless accessible robo are considered to be the ftre so!histicated

tools which wold be "er# sefl to man. If we loo$ at their !resent a!!lications ,

we ma# not find enogh of them , bt the# are sre to re"oltionalize the field of

robotics in the near ftre and wold ha"e an im!act on the societ#. The robot

which was constrcted b# s has limited sco!e bt if it is e>tended then it has a

wide range of a!!lications and can be integrated in se"eral intelligent s#stems in

order to ma$e them more efficient and more sefl. The research andde"elo!ment wor$ in the area of mobile robotics inclding the a!!lications in

forestr#, agricltre, mining, and trans!ortation in a factor# #ard which can reach the

goal of the ftre sco!e.

G-


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BIB0I6/RAPH

TIT0E: A&TH6RS

Th! =1 icrocontro''!r 7enneth L.A#ala

Th! =1 icrocontro''!r and Eb!dd!d S"st!s /hammad Ali /azidi,

Lanice Eillis!ie /azidi.

WEBSITES:

www.datasheets.com.www.robotics.orgwww.wi$i!edia.org.www.ieee.org.www.atmel =wm.com.www.fairchildsemi.com.www.datasheetcatalog.comJ nationalsemicondctor.

www."isha#.com.
http://www.datasheets.com/http://var/www/apps/conversion/tmp/scratch_4/www.robotics.orghttp://www.wikipedia.org/http://www.wikipedia.org/http://www.ieee.org/http://www.ieee.org/http://www.atmel-wm.com/http://www.atmel-wm.com/http://www.atmel-wm.com/http://www.fairchildsemi.com/http://www.datasheetcatalog.com/nationalsemiconductorhttp://www.vishay.com/http://www.datasheets.com/http://var/www/apps/conversion/tmp/scratch_4/www.robotics.orghttp://www.wikipedia.org/http://www.ieee.org/http://www.atmel-wm.com/http://www.fairchildsemi.com/http://www.datasheetcatalog.com/nationalsemiconductorhttp://www.vishay.com/

Documents

Wireless Robo