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MULTI-ROBOT WITH PIC16F84A
Tamer DEMİRKÖK – Ömer Çağlayan ÜLKER
Electronic and Communication Engineering Department, Çankaya University
Abstract
Our aim in this project is designing a Multi-Robot using
PIC16F84A. There are three different functions in this robot.
First and second option is line follower robot and the other
alternative is free lander.
Introduction
There are three different options in this Robot. First and
second option is line follower robot. At first alternative, robot
follows black line at white floor. At second alternative, robot
follows white line at black floor. Third alternative is free lander.
Robot drives freely at a room without touching any place in
this alternative.
Three CNY70 were used for line follower property. [1] These
sensors differentiate black or white. The CNY70 has a
compact construction where the emitting light source and the
detector are arranged in the same direction to sense the
presence of an object by using the reflective IR beam from the
object.
For Free Lander it uses two Sharp Distance Sensors. [2] This
sensor emitting light to source and the detector are arranged
in the same direction to sense the distance between object to
sensor by using the reflective IR beam from the object.
PIC16F84A was used in this project. PIC16F84A has 18-pin
and 8-Bit microcontroller. A program can be deleted from PIC
and new program can be loaded to PIC. This PIC is erasable.
Generally assembly programming language is used for
PIC16F84A. [3]
Figure 1.1 CNY70 sensor
CNY70 is a sensor which differentiates black or white. CNY70
has a compact construction where the emitting light source and
the detector are arranged in the same direction to sense the
presence of an object by using the reflective IR beam from the
object. (Figure 1.1)
c
Third Alternative
• Free Lander
Figure 1.2 Sharp distance sensor working
principle
d
Sharp distance sensor measures distance. It emits light to
source. The detectors are arranged in the same direction to
sense the distance between object. It senses by using the
reflective IR beam from the object. (Figure 1.2)
a) Selection part (choose one of these third alternative)
b) Algorithm for white line on black floor
c) Algorithm for black line on white floor
d) Algorithm for free lander
Figure 1.3 The ADC0803 is 8-bit analog to
digital converter. Our sharp sensor has
analog signal output but PIC16F84A needs
digital signal so we used this item to use
sharp sensors. [4]
Materials and methods
Figure 1.0 PIC16F84A
Pin Diagram
Free Lander Robot Working Principle
Circuit Design
2
3
4
Figure 1.4 L293D for motor control
L293D was used to control motor. This item gives positive
and negative voltages. It can control motors at opposite
directions. (Figure 1.4) Also it is called as push-pull four
channel drivers with diodes. [5] It was attached to the output
pin of PIC16F84A.
Literature cited
.
Algorithm
PIC16F84A (Figure 1.0) was used in this project. It has a flash
memory. So data in register do not lost if voltage is cut off. A
program can be deleted from PIC and new program can be
loaded to PIC. This PIC is erasable. It has eighteen pins.
Thirteen of these pins are I/O pins with individual direction
control. These I/O pins are RA0-RA4 and RB0-RB7. I/O pins
transmit and receive digital signals. Vss is the other pin of
PIC16F84A. This pin is ground reference. It is the fifth pin.
Fourteenth pin of PIC16F84A is VDD. This pin is positive supply.
Fourth pin is MCLR. Master clear (RESET) pin does not delete
program in PIC, it only restarts the program. The other pins are
OSC1 and OSC2. OSC1 and OSC2 are oscillator crystal.
OSC1 is the sixteenth pin and OSC2 is the fifteenth pin.
1
Results and Conclusions
Line Follower Robot Working Principle
a
b
First Alternative
Second Alternative
• White line on black floor
• Black line on white floor
[1] www.vishay.com
[2] www.acroname.com/robotics/parts/R146-GP2D120.html
[3] Orhan ALTINBAŞAK, Mikrodenetleyiciler ve PIC
Programlama, Haziran 2007, İstanbul
[4] www.mekatronikkulubu.org/forum/d_ceviriciler
[5]www.alltronics.com