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Security Robot

Security Robot

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An essay for the 2011 Undergraduate Awards (Lecturer Nomination) Competition by Krzysztof Grobelak. It is nominated by Lecturer Lejla Rovcanin of Dublin Institute of Technoloy in the category of Engineering & Mechanical Sciences
An essay for the 2011 Undergraduate Awards (Lecturer Nomination) Competition by Krzysztof Grobelak. It is nominated by Lecturer Lejla Rovcanin of Dublin Institute of Technoloy in the category of Engineering & Mechanical Sciences

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Published by: Undergraduate Awards on Sep 01, 2012
Copyright:Attribution Non-commercial

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02/27/2015

 
1
Security Robot
Final Project Report
 
2
1. Introduction:.......................................................................................................................................3
 
2. System elements description..............................................................................................................3
 
2.1 Renesas M16C microcontroller.....................................................................................................3
 
2.2 PIC 18F1330 microcontroller........................................................................................................5
 
2.3 Motor driver circuit 
.......................................................................................................................6
 
2.4 Battery and Current Consumption.................................................................................................8
 
2.5 Camera module..............................................................................................................................9
 
2.6 I
2
C Protocol.................................................................................................................................10
 
2.7 Wireless module..........................................................................................................................11
 
3. Software.............................................................................................................................................13
 
3.1 M16C firmware...........................................................................................................................13
 
3.2 PIC 18F1330................................................................................................................................15
 
3.3 Robot Control Java Application..................................................................................................16
 
3.4 BMP file format...........................................................................................................................19
 
4. Comments..........................................................................................................................................21
 
5. Summary...........................................................................................................................................22
 
5. References:........................................................................................................................................23
 
Appendices:...........................................................................................................................................24
 
 
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1. Introduction: 
The purpose of this report is to document the progress of work completed on the SpyRobot project.
Figure 1
illustrates main elements of the whole system. All elementsmentioned in this report are fully functional, except where stated otherwise.
M16CmicrocontrollerPIC18fmotor controllerwirelessmoduleCameramodulelaptopwirelessmodulemotor
 
Figure 1 Block Diagram
2. System elements description 
2.1 Renesas M16C microcontroller
Renesas
[1]
M16C M30626FJP
[2]
microcontroller is the brain of the system.It is a 16 bit microcontroller with 32KB of RAM and 512 KB of ROM, running at24MHz frequency with PLL. It is responsible for sending commands to the motorcontroller using UART2. Additionally M16C is also responsible for communicatingwith the camera module. It uses two types of communication with the camera: I2CProtocol and parallel port. Commands are sent to the camera via I2C. The picture data

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