Outline

Basic Movements of Robot

Motor Interfacing on Firebird

Motion Control Of Firebird-V Robot

e-Yantra Team
Embedded Real-Time Systems Lab
Indian Institute of Technology-Bombay

IIT Bombay
January 12, 2016

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 1/14

 Outline
Basic Movements of Robot
Motor Interfacing on Firebird

Agenda for Discussion

1 Basic Movements of Robot

Motion of Robot
Understanding L293D IC

2 Motor Interfacing on Firebird

Pin connections
Logic Table
Writing C-Code

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward

Backward

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward

Backward
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward

Backward
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward Left

Backward

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward Left

Backward
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward Left

Backward

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward Left

Backward Right

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions

Forward Left

Backward Right

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right

Soft-Left
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right

Soft-Left
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right

Soft-Left
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right Backward Left

Soft-Left

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right Backward Left

Soft-Left
 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right Backward Left

Soft-Left

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right Backward Left

Soft-Left Backward Right

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Various Motions (Contd..)

Soft-Right Backward Left

Soft-Left Backward Right

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Direction Control of DC Motor

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/14

 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Direction Control of DC Motor

Anti-Clockwise Motion

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Direction Control of DC Motor

Anti-Clockwise Motion

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

Direction Control of DC Motor

Anti-Clockwise Motion
Clockwise Motion

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

L293D IC

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

L293D IC

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

L293D IC (Contd..)

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 Outline
Motion of Robot
Basic Movements of Robot
Understanding L293D IC
Motor Interfacing on Firebird

L293D IC (Contd..)

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

2 Two Pins for Enabling Motor Driver IC is connected at PORT L

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/14

 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

2 Two Pins for Enabling Motor Driver IC is connected at PORT L

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/14

 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

2 Two Pins for Enabling Motor Driver IC is connected at PORT L

a. PL3 - Left Channel Enable

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

2 Two Pins for Enabling Motor Driver IC is connected at PORT L

a. PL3 - Left Channel Enable

b. PL4 - Right Channel Enable

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Motor Pin Connection

1 Four Pins for Direction control is connected at PORT A

a. PA0 - Left Motor Control

b. PA1 - Left Motor Control

c. PA2 - Right Motor Control

d. PA3 - Right Motor Control

2 Two Pins for Enabling Motor Driver IC is connected at PORT L

a. PL3 - Left Channel Enable

b. PL4 - Right Channel Enable

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left 0 1 0 1 0x05
Right

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left 0 1 0 1 0x05
Right 1 0 1 0 0x0A
Soft Left

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left 0 1 0 1 0x05
Right 1 0 1 0 0x0A
Soft Left 0 1 0 0 0x04
Soft Right

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left 0 1 0 1 0x05
Right 1 0 1 0 0x0A
Soft Left 0 1 0 0 0x04
Soft Right 0 0 1 0 0x02
Stop

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Logic Table

Direction PA(3) PA(2) PA(1) PA(0) HEX Value

RB RF LF LB
Forward 0 1 1 0 0x06
Backward 1 0 0 1 0x09
Left 0 1 0 1 0x05
Right 1 0 1 0 0x0A
Soft Left 0 1 0 0 0x04
Soft Right 0 0 1 0 0x02
Stop 0 0 0 0 0x00

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program

#include

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program

#include
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program

#include
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>

Main-Program

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program

#include
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>

Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms();
stop();
_delay_ms();
}
}
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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/14

 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Pin Configuration

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initially motor stop
DDRL = // Enable Pin
PORTL = // Initially low
}

Functions

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initially motor stop
DDRL = // Enable Pin
PORTL = // Initially low
}

Functions
void forward (void)
{
PORTA = 0x06;
}

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initially motor stop
DDRL = // Enable Pin
PORTL = // Initially low
}

Functions
void forward (void)
{
PORTA = 0x06;
}

void stop (void)

{
PORTA = 0x00;
}

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/14

 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/14

 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

1 Backward();

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

1 Backward();

2 Right();

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

1 Backward();

2 Right();

3 Left();

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

1 Backward();

2 Right();

3 Left();

4 Soft Right();

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Syntax for C-Program (Contd..)

Define All related motion functions and include in main function

1 Backward();

2 Right();

3 Left();

4 Soft Right();

5 Soft Left();

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 Outline Pin connections
Basic Movements of Robot Logic Table
Motor Interfacing on Firebird Writing C-Code

Thank You!

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