(-: Thanks To BMS. :-)
Report Project - I
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Keyboard controlled – Zigbee based robot |
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Design and implementation
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| · Deepthi Kamath · Priyanka Yadav · Abhinav Mathur · Amith MV |
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DAY ONE
The first day was spent in designing and assembling the kit. The PCB consisted of the microcontroller, the MAX232 driver and the regulated power supply unit.
The various components, costs and their specifications are as follows:
Sl No | Component and specification | Cost (In Rs.) |
1 | DC Socket | 3.00 |
2 | Bridge Rectifier(1 A) | 3.00 |
3 | Capacitor Electrolytic 25V/470µF 63V/10µF Ceramic .1µF .33ƿF |
2.50 1.50
1.00 1.00 |
4 | LED | 1.00 |
5 | Resistance(1 K ohm) | 0.15 |
6 | +5 Voltage Regulator (7805) | 7.00 |
7 | IC Base 40 Pins 16 Pins |
4.50 3.00 |
8 | Key | 2.00 |
9 | Berg Connector (40 leads) | 3.00 |
10 | DB9 Connector | 8.00 |
11 | Crystal Oscillator (11.0592 M Hz) | 4.00 |
12 | Microcontroller (Phillips P89V51RD2) | 105.00 |
13 | Max 232 IC (Voltage level converter ) | 16.00 |
14 | PCB | 20.00 |
15 | Resistor Pack(*4) | 2.00 |
16 | Geared DC Motors | 125.00 |
17 | Wheels | 30.00 |
18 | 16x2 LCD | 120.00 |
The other task of the day was the preparation of the base of the robot. The motors and the wheelswere mounted and the castor wheel was fixed.
DAY TWO
The following tasks were executed:
1) Programming the microcontroller
2) Testing the LCD and the module
3) Programming the Zigbee
COMPONENTS:
1) Microcontroller Phillips P89V51RD2:
P89V51RD2 is a very popular 8051 core microcontroller from NXP Semiconductors (formally Phillips). It can be programmed via serial port using NXP’s utility or Flash Magic.
P89V51RD2 Microcontroller Features
a. 8-bit microcontrollers with 80C51 core
b. 64 kB of on-chip Flash program memory with ISP (In-System Programming) and IAP (In-Application Programming)
c. Supports 12-clock (default) or 6-clock mode selection via software or ISP
d. SPI (Serial Peripheral Interface) and enhanced UART
e. PCA (Programmable Counter Array) with PWM and Capture/Compare functions
f. Four 8-bit I/O ports with three high-current Port 1 pins (16 mA each)
g. Three 16-bit timers/counters
h. Programmable Watchdog timer (WDT)
i. Eight interrupt sources with four priority levels
j. Second DPTR register
k. Low EMI mode (ALE inhibit)
l. TTL- and CMOS-compatible logic levels
m. Brown-out detection
n. Low power modes
o. Power-down mode with external interrupt wake-up
2) 7805 Voltage regulator:
7805 is a Positive voltage regulator capable of giving 1A current and a regulated voltage of 5V. It has internal thermal protection against overheating.
3) Motor driver circuit:
To drive the motors (100 rpm load capacity 1-2Kg), a driver IC L239D is used. It has two full H-bridges and is hence capable of driving two DC motors or 1 stepper motor. The pin configuration is as shown in the figure above. 1, 2 are the control pins which drive the motor in either the forward or backward direction.
4) LCD
A HD44780 compatible 16x2character alphanumeric LCD display with green backlight was used. It has 80 bytes of display device (DD) RAM and 256 bytes of CG ROM (character generate). The address of the first line first bit is 0x80 and the second line first bit is 0xC0. Each location is made up of dots i.e. 5x7 or 5x10.
PIN CONNECTIONS:
1: Gnd
2: +5V
3: Contrast
4: Register Select
5: R/W
6: Enable (H to L transition)
7-14: Data/command bus
15: LED+ 16: Gnd (LED-)
5) ZigBee:
ZigBee adaptor board is used for interfacing ZigBee wireless module on any prototyping board with ease. It has onboard 3.3V low drop voltage regulator and LED indicators for RSSI, Associate and Power. Connections to all pins of the ZigBee wireless module are available using 2x10 0.1inch (2.54mm) pitch berg connectors in the same order as of the ZigBee wireless module. It can be directly mounted on the general purpose PCB board.
Specifications
· Power: 5 to 12V DC
· LED indication: RSSI, Associate, Power
· Onboard 3.3V low drop voltage regulator for power to the ZigBee wireless module.
· Connections to all pins of the ZigBee wireless module are available using 2x10 0.1inch (2.54mm) pitch berg connectors.
6) Keil µC Software and Flash Magic:
The programming was done using Keil microcontroller software (in embedded C) and burnt onto the flash memory using Flash Magic. ASSEMBLING:
The microcontroller board is connected to the LCD and the Zigbee receiver. This was mounted onto the robot base. By giving various instructions to the robot using the keyboard and transmitting this using serial interface ZigBee receiver module, the robot motion was controlled. The commands used are:
W: forward
A: left
D: right
S: backward
Z: rotate left
X: rotate right
The robot has an LCD mounted to display any directions or in this case name.
