1MPk41uk MONl1OklN6

kO8O1
8? Anu kuMA8(08k01A0403)
k vAMSPl k8lSPnA
CPAuuPA8?(08k01A0447)
CSuMLL1(08k01A0434)
4851k4c1
lN1kOuuc1lON
A roboL ls a mechanlcal or vlrLual arLlflclal agenL ln pracLlce lL
ls usually an elecLromechanlcal sysLem whlch by lLs
appearance or movemenLs conveys a sense LhaL lL
has lnLenL or agency of lLs own
MlcroconLroller conLrols Lhe roboL ln Lhls pro[ecL 1hls
roboL can measure Lhe LemperaLure aL varlous locaLlons
l8 sensors are placed aL Lhe fronL for Lhe obsLacle
deLecLlon
LCu ls used for dlsplay
L293u ls used as a drlver lC for conLrolllng Lhe uC MoLors
Ock ulACkAM
8aLLery
Av8
MlcroConLroller
1emperaLure
Sensor
A Lo u
ConverLer(AuC)
LCu
L239u
MoLor1
MoLor2 l8 palrs (8x 1x)
compooeots useJ
8aLLery (12volLs)
CrysLal CsclllaLor
CapaclLors(1000F and 10F)
Resistors(10K C)
DC Motors
R Pairs
LCD Display
LED
C-L293D(Motor Driving Controller)
C-LM35(Temperature Sensor)
MlcroconLroller 8031
C8(rlnLed ClrculL 8oard)
volLage 8egulaLor7803
SwlLch
5chemotic uioqrom
PB0/CP1
14
PB1/OC1A
15
PB2/SS/OC1B
16
PB3/MOS/OC2
17
PB4/MSO
18
PB5/SCK
19
PB6/TOSC1/XTAL1
9
PB7/TOSC2/XTAL2
10
PC6/RESET
1
PD0/RXD
2
PD1/TXD
3
PD2/NT0
4
PD3/NT1
5
PD4/T0/XCK
6
PD5/T1
11
PD6/AN0
12
PD7/AN1
13
PC0/ADC0
23
PC1/ADC1
24
PC2/ADC2
25
PC3/ADC3
26
PC4/ADC4/SDA
27
PC5/ADC5/SCL
28
AREF
21
AVCC
20
U1
ATMEGA8
D
7
1
4
D
6
1
3
D
5
1
2
D
4
1
1
D
3
1
0
D
2
9
D
1
8
D
0
7
E
6
R
W
5
R
S
4
V
S
S
1
V
D
D
2
V
E
E
3
LCD1
LM016L
27.0
3
1
VOUT
2
U2
LM35
N1
2
OUT1
3
OUT2
6
OUT3
11
OUT4
14
N2
7
N3
10
N4
15
EN1
1
EN2
9
VS
8
VSS
16
GND GND
U3
L293D
+
8
8
.
8
+
8
8
.
8
## #%
Power 5upp/y
8aLLery
(12v)
ure ConsLanL uC
volLage
1he lnpuL Lo Lhe clrculL ls applled from Lhe regulaLed power supply(le 12v 8aLLery)
1he ouLpuL of Lhe baLLery ls glven Lo Lhe 7803 oslLlve eak volLage regulaLor
1he pulsaLlng ouLpuL from Lhe baLLery ls Lransferred Lo Lhe volLage regulaLor so LhaL lL
can sLablllze Lhe pulsaLlng volLage lnLo a consLanL uC volLage
Ioltoqe keqolotot(7805)
A volLage regulaLor ls an elecLrlcal
regulaLor deslgned Lo
auLomaLlcally malnLaln a consLanL
volLage level
1he volLages requlred ln Lhe
pro[ecL ls 3v and 12v so ln order
Lo obLaln Lhese volLages 7803
volLage regulaLor ls used
1he flrsL number 78 represenLs
poslLlve supply and Lhe numbers
03 represenL Lhe requlred ouLpuL
volLage levels
CuLpuL
ln
lnpuL
Cround
Printed circuit 8oord{Pc8)
A pr|nted c|rcu|t board or C8 ls used
Lo mechanlcally supporL and elecLrlcally
connecL elecLronlc
componenLs uslng conducLlve paLhways
Lracks or slgnal Lraces eLched from
copper sheeLs lamlnaLed onLo a non
conducLlve sobsttote
A C8 populaLed wlLh elecLronlc
componenLs ls a pr|nted c|rcu|t
assemb|y (CA) also known as a pr|nted
c|rcu|t board assemb|y (C8A) rlnLed
clrculL boards are used ln vlrLually all buL
Lhe slmplesL commerclallyproduced
elecLronlc devlces
lL ls also referred Lo as pr|nted w|r|ng
board (W8) or etched w|r|ng board
1emperoture sensor{lcLMl5)
1he LM33 ls an lnLegraLed clrculL sensor
LhaL can be used Lo measure
LemperaLure wlLh an elecLrlcal ouLpuL
proporLlonal Lo Lhe LemperaLure (ln
SC)
1he scale facLor ls 01v/SC
1he LM33 does noL requlre any exLernal
callbraLlon or Lrlmmlng and malnLalns
an accuracy of +/04SC aL room
LemperaLure and +/ 08SC over a range
of 0SC Lo +100SC
1he sensor selfheaLlng causes less Lhan
01SC LemperaLure rlse ln sLlll alr Pence
LM33 malnLalns accuracy ln calculaLlng
Lhe LemperaLure
1he LM33 calculaLes Lhe LemperaLure ln
analog form and LransmlL Lhe value Lo
Lhe AuC converLer
MlcroConLroller A1MLCA8
8aslcally A1MLCA8 ls used as an
AuC ln Lhe clrculL
5pecificotions of 41M648
1he lowpower ALmel 8blL Av8
8lSCbased mlcroconLroller
comblnes 8k8 of programmable
flash memory 1k8 of S8AM
312k LL8CM
A 6 or 8 channel 10blL A/u
converLer
1he devlce supporLs LhroughpuL
of 16 MlS aL 16 MPz and
operaLes beLween 2733 volLs
ConverLs Lhe analog LemperaLure
value lnLo dlglLal form and
forwards lL Lo Lhe LCu for dlsplay
Lcu{Liquid crysto/ uisp/oy)
A ||qu|d crysta| d|sp|ay (LCD) ls a
Lhln flaL elecLronlc vlsual
dlsplay LhaL uses Lhe llghL
modulaLlng properLles of llquld
crysLals (LCs)
1he LCu ls connecLed Lo Lhe
A1MLCA8 mlcroconLroller whlch
LransmlLs Lhe dlglLal form of
LemperaLure
1he LCu dlsplays Lhe LemperaLure
value ln dlglLal form
lcL29lu{Motor uriver)
A 8 Descr|pt|on
0 0 MoLor sLops
0 1 MoLor runs anLlclockwlse
1 0 MoLor runs Clockwlse
1 1 MoLor sLops
L293D ls a dual P8rldge moLor drlver So wlLh
one lC we can lnLerface Lwo uC moLors whlch
can be conLrolled ln boLh clockwlse and
counLer clockwlse dlrecLlon and lf you have
moLor wlLh flx dlrecLlon of moLlon Lhen you
can make use of all Lhe four l/Cs Lo connecL up
Lo four uC moLors L293D has ouLpuL currenL
of 600mA and peak ouLpuL currenL of 12A per
channel Moreover for proLecLlon of clrculL
from back LMl ouLpuL dlodes are lncluded
wlLhln Lhe lC
uc Motors
1ruth 1able
High Left High Right Low Left Low Right Description
On OII OII On
Motor runs
clockwise
OII On On OII
Motor runs
anti-clockwise
On On OII OII Motor stops
OII OII On On Motor stops
A dlrecL currenL (uC) moLor ls a falrly slmple elecLrlc
moLor LhaL uses elecLrlclLy and a magneLlc fleld Lo
produce Lorque whlch Lurns Lhe moLor
1he uC moLor ls conLrolled by L293u whlch uses P
brldge Lechnlque for conLrolllng Lhe moLors
1he pro[ecLs lnvolves 1sec delay ln presence of any
obsLacles and changes lLs dlrecLlon of moLlon Lowards
rlghL dlrecLlon
crysto/ Osci//otor