Hoya Robot

http://www.hoyarobot.
com
505-7 1201
TEL)053-628-5441 FAX)053-628-5440
http://www.hoyarobot.com
1.
1. Robot : 1EA
2. (Li-Polymer) : 1EA
3. USBISP : 1EA
4. : 1EA
<>
<>
5. CD : 1EA
<USBISP>
< >
1. -1
IR

Laser
IR

< >
4
1. -2
LCD
ATmega128
On/Off

< >
5
2.
2.

Main Board MCU : ATmega128 8bit processor, /
Motor : BLDC , , MCU INT, PWM, GPIO (2EA)
Servo , MCU TIMER (1EA)
Sensor : IR / (6EA)
IR 3, 2 (5EA)
Laser , (1EA)
LCD : Character-LCD 162 (1EA)
: Li-Po (1EA)
: LED, Start , On/OFF
7
3.
, , , , ,
, LCD , , LCD
.

, , ,
BLDC

&
, LCD
LCD Display
3.
, , , IR
1)

IR :
IR :
< ( : , : ) >
3.
2)
IR
IR : , 5
: ,
.
< IR (:, :)>

< IR >
10
3.
2 BLDC motor
, , .
1)
Wheel motor BLDC motor

: BLDC ,
direction CW/CCW , PWM
.
GND
12v
1 6, 1 360 ( 1:60)
PWM(Pulse Width Modulation)
- 0 : CW() 1 : CCW( )
[Wheel motor I/O ]
11
3.
2)
Servo motor
: PWM RC .
PWM 20ms , 0.9ms~2.1ms ,
1.5ms . Laser .
GND
5v
PWM 0.9ms~2.1ms, 1.5ms as center
[Servo motor I/O ]
BLDC
12
3.
,
.
1)
ATmega128
: ATmega128 MCU , AVRISP
downloader AVR Studio .
ADC, Timer/Counter, Interrupt, GPIO, UART .
Reset

ATmega128
13
3.
MCU
GPIO
Signal Name
Description
Direction
Note
PA0
Sensor0
IR Sensor 0
IN
LOW :
PA1
Sensor1
IR Sensor 1
IN
LOW :
PA2
Sensor2
IR Sensor 2
IN
LOW :
PA3
Sensor3
IR Sensor 3
IN
LOW :
PA4
Sensor4
IR Sensor 4
IN
LOW :
PA5
Sensor5
IR Sensor 5
IN
LOW :
PA6
Reserved
GPIO
I/O
Reserved
PA7
CPU_STATUS
ATmega128
OUT
Low : D1(RED) ON
PB0
Start_SW
IN
LOW ACTIVE
PB1
Reserved
GPIO
I/O
Reserved
PB2
74HC574_CLK
D-F/F CLK
OUT
LOW to HIGH: active
PB3
Laser_Signal
OUT
HIGH : ON
PB4
EL-7L_PWM
OUT
HIGH : LED ON
PB5
L_PWM
OUT
PWM , OC1A
PB6
R_PWM
OUT
PWM , OC1B
PB7
Servo
OUT
PWM , OC2
14
3.
GPIO
Signal Name
Description
Direction
Note
PC0
LCD_DB0
Character LCD DATA 0
OUT
PC1
LCD_DB1
OUT
PC2
LCD_DB2
OUT
PC3
LCD_DB3
OUT
PC4
LCD_DB4
OUT
PC5
LCD_DB5
OUT
PC6
LCD_DB6
OUT
PC7
LCD_DB7
OUT
PD0
L_CW/CCW
OUT
0 : CW, 1 : CCW
PD1
R_CW/CCW
OUT
0 : CW, 1 : CCW
PD2
RXD1
USART1
IN
DEBUG, RX
PD3
TXD1
USART1
OUT
DEBUG, TX
PD4
Reserved
GPIO
I/O
Reserved
PD5
LCD_RS
C-LCD Register Select
OUT
PD6
LCD_RW
C-LCD Read & Write
OUT
PD7
LCD_E
C-LCD Enable
OUT
LOW to HIGH : enable
PE0
Reserved
GPIO
I/O
Reserved
PE1
Reserved
GPIO
I/O
Reserved
PE2
Reserved
GPIO
I/O
Reserved
LCD data line
H
L
H
L
: Data Register
: Instruction Register
: Read
: Write
15
3.
GPIO
Signal Name
Description
Direction
Note
PE3
Reserved
GPIO
I/O
Reserved
PE4
L_Encoder
IN
External INT4
PE5
R_Encoder
IN
External INT5
PE6
Reserved
GPIO
I/O
Reserved
PE7
Reserved
GPIO
I/O
Reserved
PF0
Front_IR
IR
IN
LOW
PF1
Rear-L_IR
IR
IN
LOW
PF2
Rear-R_IR
IR
IN
LOW
PF3
Left_IR
IR
IN
LOW
PF4
Right_IR
IR
IN
LOW
PF5
Tilt_X
ADC5
I/O
Not use
PF6
Tilt_Y
ADC6
I/O
Not use
PF7
SENSOR
ADC7
I/O
Not use
PG0
Reserved
GPIO
I/O
Reserved
PG1
Reserved
GPIO
I/O
Reserved
PG2
Reserved
GPIO
I/O
Reserved
PG3
Reserved
GPIO
I/O
Reserved
PG4
Reserved
GPIO
I/O
Reserved
16
3.
C-LCD, LED, DEBUG UART , .

1)
C-LCD
: MCU C-LCD ASCII .
.
2)
DEBUG UART
: COM PORT .
DEBUG UART
C-LCD
17
4.
(Line : ) + (Tracer :)
,

18
4.
3 , ,
HIGH ,
LOW .

- 0x01h (0000 0001b)
3
,

1
- 0x03h (0000 0011b)
2, 3
,

19
4.
3 , ,
HIGH ,
LOW .

- 0x04h (0000 0100b)
1
,

3
- 0x06h (0000 0110b)
1, 2
,

20
4.
3 , ,
HIGH ,
LOW .
2
- 0x05h (0000 0101b)
1, 3
,

- 0x07h (0000 0111b)
1, 2, 3

.
21
5.
Windows PC Atmel AVR Studio 4 , , AVRISP

downloader .
1)
2)
ATmega128
AVR Studio 4
AVR gcc compiler WinAVR
AVRISP Downloader
WinAVR - http://winavr.sourceforge.net/download.html
- .
AVR Studio - http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725

- AVR Studio 4 .
AVRISP driver - http://www.ftdichip.com/Drivers/VCP.htm

- AVRISP downloader .
22
5.
3)
(competitional_purpose_robot_av4) .
4)
5)
.
void application_main(void) .
- .
23
5.
AVR Studio
Program !!

hex
24
5.
AVR Studio
ATmega128
.
CKOPT .
BOOTSZ .
(Boot Flash size=4096 words start address=$F000)
BODLEVEL .
(Brown-out detection level at VCC=2.7V)
SUT_CKSEL .
(Ext. Crystal/resonator High Freg.; Start-up time:16K CK *64)
,

JTAGEN IR .
25
6.
Header file
applications.h
applications.c
common.h
EXT_components.h
mcu.h
MCU ,
port_io.h
Port register
Source file
applications.c
application
EXT_components.c
HOYAROBOT.c
main
isr.c
Interrupt service routines
mcu.c
MCU
26
6.

void application_main(void)
main
-
return Reset (soft reset)
void timer_100msec_callback(void)
100msec

- ex> 1 LED
.
- static .
. ( )
- ex> LCD , DEBUG UART .
27
6.
EXT Components
void EXT_component_init(void)

, , ,

BLDC motor :
void EXT_set_wheel_dir(INT8U direction)

- direction :
MOT_FORWARD, MOT_BACKWARD, MOT_LEFT_TURN, MOT_RIGHT_TURN define
LEFT, RIGHT TURN ,

, .
.
28
6.
BLDC motor :
void EXT_set_wheel_speed(INT8U lw_speed, INT8U rw_speed)
.
- lw_speed :
- rw_speed :
0~255 , 0 , 255
(, )
void EXT_wheel_smooth_stop(void)

-
- return
29
6.
Servo motor :
void EXT_set_tailmotor(INT8U value)

- value : 16 ~ 22 16 22
define TAIL_CENTER .
-
TAIL_CENTER 17 ,
EXT_components.h #define TAIL_CENTER 3 .
INT8U EXT_get_tailmotor(void)

- return :
30
6.
C-LCD
void EXT_lcd_str(char *str)
LCD
- str :
> EXT_lcd_str(TEST); - TEST
2> EXT_lcd_str(TEST\nTEST2); - TEST, TEST2
void EXT_lcd_data(char data)
LCD - data :
void EXT_lcd_clear(void)
LCD
void EXT_lcd_gotoxy(unsigned char x, unsigned char y)
LCD - x : x
- y : y
void EXT_lcd_right_shift(void)
LCD
void EXT_lcd_left_shift(void)
LCD
31
6.
IR sensor
float EXT_get_ir_distance(INT8U Index)
IR
- index : IR
IR_FRONT, IR_REAR_L, IR_REAR_R, IR_LEFT, IR_RIGHT define
- return : (80m )
Line tracer sensor

INT8 SENSOR_DATA(void)

- return : 0, 1
6 , 0011 1111
, 0001 1111 1 .
32
6.
Start button
void EXT_wait_key(INT8U display)

- display : TRUE LCD "PUSH THE BUTTON" . FALSE
- ( )
Laser pointer
void LASER_POINTER(INT8U stat)
on, off
- stat : define ON, OFF
void EXT_laser_delayed_off(INT16U msec)
on off
- msec : msec
33
6.
DEBUG UART
char mcu_getchar1(void)
UART
- return : ASCII

char mcu_putchar1(char c)
UART
- c : ASCII
char mcu_putstring1(char *s)
UART
- s :
34
6.
...

void EXT_set_wheel_dir(INT8U direction)

MOT_FORWARD, MOT_BACKWARD, MOT_LEFT_TURN, MOT_RIGHT_TURN
void EXT_set_wheel_speed(INT8U lw_speed, INT8U rw_speed)

0 : , 255 :
void EXT_wheel_smooth_stop(void)
void EXT_set_tailmotor(INT8U value)

16~22 , TAIL_CENTER : 17(3 )
LCD /
void EXT_lcd_str(char *str) / void EXT_lcd_clear(void)
IR
float EXT_get_ir_distance(INT8U Index)

IR_FRONT, IR_LEFT, IR_RIGHT, IR_REAR_L, IR_REAR_R
INT8 SENSOR_DATA(void)
void EXT_wait_key(INT8U display)

TURE : PUSH THE BUTTON FALSE : LCD
on off
void EXT_laser_delayed_off(INT16U msec)
35
6.

1. .
2. LCD .
3. PUSH Button .
4. IR
(LCD IR )
5. PUSH Button .
6. .
( )
7.
IR .
36
1. . (OFF)
2. .
3.
.
(
!!)
AVR Studio Program

MCU .
37
505-7 1201
TEL)053-628-5441 FAX)053-628-5440

Hoya Robot

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Hoya Robot

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http://www.hoyarobot.

< IR (:, :)>

Wheel motor BLDC motor

PWM(Pulse Width Modulation)

[Wheel motor I/O ]

PWM 0.9ms~2.1ms, 1.5ms as center

[Servo motor I/O ]

LOW to HIGH: active

Character LCD DATA 0

Character LCD DATA 1

Character LCD DATA 2

Character LCD DATA 3

Character LCD DATA 4

Character LCD DATA 5

Character LCD DATA 6

Character LCD DATA 7

C-LCD Register Select

C-LCD Read & Write

LOW to HIGH : enable

LCD data line

C-LCD, LED, DEBUG UART , .

Windows PC Atmel AVR Studio 4 , , AVRISP

AVR gcc compiler WinAVR

AVR Studio - http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725

AVRISP driver - http://www.ftdichip.com/Drivers/VCP.htm

Interrupt service routines

return Reset (soft reset)

LEFT, RIGHT TURN ,

Line tracer sensor

void EXT_set_wheel_dir(INT8U direction)

void EXT_set_wheel_speed(INT8U lw_speed, INT8U rw_speed)

void EXT_set_tailmotor(INT8U value)

void EXT_lcd_str(char *str) / void EXT_lcd_clear(void)

float EXT_get_ir_distance(INT8U Index)

void EXT_wait_key(INT8U display)

void EXT_laser_delayed_off(INT16U msec)

AVR Studio Program

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