Hoya Robot

7/26/2019 Hoya Robot

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http://www.hoyarobot.com

505-7 1201

TEL)053-628-5441 FAX)053-628-5440


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1. Robot : 1EA

2. (Li-Polymer) : 1EA

3. USBISP : 1EA

4. : 1EA

5. CD : 1EA >

> USBISP> >

1.

3


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http://www.hoyarobot.com1. -1

Laser

IR

IR

4


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http://www.hoyarobot.com1. -2

LCD

On/Off

ATmega128

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http://www.hoyarobot.com2.

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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)

: LED, Start , On/OFF

2.

LCD : Character-LCD 162 (1EA)

: Li-Po (1EA)

7


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, , , , ,

, LCD , , LCD

.

, , ,

, , ,

BLDC

BLDC

, LCD

LCD Display

, LCD

LCD Display

& &

8


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, , , IR

1)

IR :

IR :

:

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2) IR

IR : , 5

: ,

.

< IR (:, :)>

10

< IR >


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2 BLDC motor

, , .

1) Wheel motor BLDC motor

: BLDC ,

direction CW/CCW , PWM

.

1 GND

2 12v

3 1 6, 1 360 ( 1:60)4 PWM(Pulse Width Modulation)

5 - 0 : CW() 1 : CCW( )

11

[Wheel motor I/O ]


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2) Servo m otor

: PWM RC .

PWM 20ms , 0.9ms~2.1ms ,

1.5ms . Laser .

1 GND

2 5v

3 PWM 0.9ms~2.1ms, 1.5ms as center

12

[Servo motor I/O ]

LDC


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13

,

.

1) ATmega128

: ATmega128 MCU , AVRISP

downloader AVR Studio .

ADC, Timer/Counter, Interrupt, GPIO, UART .

ATmega128

Reset


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MCU CU

14

GPIO Signal Name Description Direction Note

PA0 Sensor0 IR Sensor 0 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


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15


PC0 LCD_DB0 Character LCD DATA 0 OUT

LCD data line








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 OUTH : Data RegisterL : Instruction Register

PD6 LCD_RW C-LCD Read & Write OUTH : ReadL : Write

PD7 LCD_E C-LCD Enable OUT LOW to HIGH : enablePE0 Reserved GPIO I/O Reserved

PE1 Reserved GPIO I/O Reserved



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PE4 L_Encoder IN External INT4

PE5 R_Encoder IN External INT5



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






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C-LCD, LED, DEBUG UART , .

1) C-LCD

: MCU C-LCD ASCII .

.

2) DEBUG UART

: COM PORT .

DEBUG UART

C-LCD


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(Line : ) + (Tracer : )

,


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1

2

- 0x01h (0000 0001b)

3

,

1

- 0x03h (0000 0011b)

2, 3

,

3 , , HIGH , LOW .


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20

3

4

- 0x04h (0000 0100b)

1

,

3

- 0x06h (0000 0110b)

1, 2

,

3 , , HIGH , LOW .


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21

5

6

2

- 0x05h (0000 0101b)

1, 3

,

- 0x07h (0000 0111b)

1, 2, 3

.

3 , , HIGH , LOW .


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Windows PC Atmel AVR Studio 4 , , AVRISP

downloader .

1)

ATmega128

AVR gcc compiler WinAVR

2)

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 .

.

AVR Studio 4

AVRISP Downloader


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3) (competitional_purpose_robot_av4) .

.

4) .

5) void application_main(void) .

- .


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AVR Studio VR Studio

hex

Program !!


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25

AVR Studio VR 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 .


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Header file

Source file

applications.h applications.c

common.h

EXT_components.h ,

mcu.h MCU ,

port_io.h Port register

applications.c application

EXT_components.c

HOYAROBOT.c main

isr.c Interrupt service routines

mcu.c MCU


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void application_main(void)

main

-

return Reset (soft reset)

void timer_100msec_callback( void) 100msec

- ex> 1 LED

.

- static . . ( )

- ex> LCD , DEBUG UART .


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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 ,

, .

.


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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


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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 :


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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

6


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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 .

6


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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

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DEBUG UART

char mcu_getchar1(void)

UART

- return : ASCII

char mcu_putchar1(char c)

UART

- c : ASCII

char mcu_putstring1(char *s)

UART

- s :

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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)

... ...

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1. .

2. LCD .

3. PUSH Button .

4. IR

(LCD IR )

5. PUSH Button .

6. .

( )

7. IR .


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1. . (OFF)

2. .

3.

.

(

!!)

AVR Studio Program

MCU .


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505-7 1201

TEL)053-628-5441 FAX)053-628-5440


Hoya Robot

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