IR OBSTACLE DETECTOR WITH VACCUM

CLEANER ROBOT

Project Report Submitted in Partial Fulfillment of the Requirement for

The Award of Degree of Bachelor of Engineering in

Electronics and Communication Engineering of

Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal (MP)

By

Harish Bhute (0178ec091030)

Mukesh Kumar Sharma (0178ec091048)

Nikita Kaushal (0178ec091055)

Department of Electronics and Communication

Engineering

Jai Narain College of Technology & Science,

Bhopal

June – 2012

i

DECLARATION

We, Harish Bhute , Mukesh Kumar Sharma, and Nikita Kaushal the

students of Bachelor of Engineering (Electronics and Communication

Engineering), Jai Narain College of Technology and Science, Bhopal hereby

declare that the work presented in this Minor Project is an authentic record of our

own and has been carried out taking care of Engineering Ethics under the

guidance of Prof. Amit Sawaskade.

Harish Bhute (0178ec091030) ………………………

Mukesh Kumar Sharma (0178ec091048) ………………………

Nikita Kaushal (0178ec091055) ………………………

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CERTIFICATE

This is to certify that the work embodied in this Minor Project entitled “IR

Obstacle Detector With Vacuum Cleaner” has been satisfactorily completed by

the students of final year, Mr. Harish Bhute, Mr. Mukesh Kumar Sharma, and

Miss. Nikita Kaushal. The work was carried out satisfactorily under the

supervision and guidance of the undersigned in the Department of Electronics and

Communication Engineering, Jai Narain College of Technology and Science,

Bhopal for the partial fulfillment of the requirement of degree of Bachelor of

Engineering during the Academic year 2011-2012.

Prof. Amit Sawaskade

Professor and Project Guide,

Electronics and Communication

Department

Approved

Prof. Ashok Agrawal Dr. B D Shukla

Head of Department Director

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ACKNOWLEDGEMENT

This gives us a great pleasure to express our deep sense of gratitude to our

project supervisor Prof. Amit Sawaskade, Associate Professor of Electronics and

Communication Engineering for guidance, suggestion, support, help and

constructive criticisms throughout the period of project work. Without his able

guidance it would not have been possible to complete the project in time.

We are greatly indebted to Prof. Ashok Agrawal, Head, Department of

Electronics and Communication Engineering for his keen interest in this work and

time to time guidance, encouragement and providing required facilities for

completing the project work. We are grateful to Dr. Meghna Dubey, Principal,

JNCTS for his guidance and critical comments which improved the quality of

this report. Thanks are due to Dr. B D Shukla, Director, JNCTS for providing

necessary help and time to time necessary guidance in completion of this task.

Then other faculty members, friends, etc, may be added accordingly in the

acknowledgement to which the students want to acknowledge for their help and

guidance in the project.

Harish Bhute (0178ec091030)

Mukesh Kumar Sharma (0178ec091048)

Nikita Kaushal (0178ec091055)

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CONTENTS

DECLARATION … ii

CERTIFICATE … iii

ACKNOWLWEDGEMENTS … iv

1. INTRODUCTION … 01

2. REWVIEW OF LITERATURE … 05

2.1 Construction … 07

2.1.1 Hardware Unit … 07

2.1.2 Software Unit … 13

2.2 Basic Parts Of Project …29

2.2.1 Sensors … 29

2.2.2 Microcontroller … 29

2.2.3 Driver … 30

2.2.4 Motors … 30

2.2.5 Blower … 31

2.3 Problem Faced In Making Project … 31

2.4 Testing … 32

2.5 Applications … 33

2.6 Future Scope By Improvement … 33

3. COMPONENTS … 34

3.1 Microcontroller ATMEGA8L … 35

3.2 IC L293D … 36

3.3 IC LM324N … 37

3.4 IC 7805 … 38

3.5 Resistor … 38

3.6 IR LED … 39

3.7 Photodiode … 40

4. RESULTS … 41

5. REFERENCES ... 42

6. APPENDICES … 43

6.1 Datasheet … 43

6.2 Program …48

LIST OF FIGURS

Figure 2.1 Block Diagram of Project ... 06

Figure 2.2 IR Sensor circuit ... 10

Figure 2.3 Controller Circuit ... 12

Figure 2.4 PCB layout of sensor …18

Figure 2.5 PCB of Controller Circuit ... 19

Figure 2.6 Final PCB Layout ... 20

Figure 3.1 Microcontroller ATMEGA8L ... 35

Figure 3.2 IC L293D ... 36

Figure 3.3 IC LM324N … 37

Figure 3.4 IC 7805 … 38

Figure 3.5 Resistor … 39

Figure 3.6 IR LED … 39

Figure 3.7 Photodiode … 40

Figure 6.1 ATMEGA8L Pin Diagram … 45

Figure 6.2 IC 7805 Pin Diagram … 46

Figure 6.3 IC LM324N Pin Diagram … 47

Figure 6.4 IC 293 Pin Diagram … 48

1. INTRODUCTION

Robotics is part of Today’s communication. In today’s world

ROBOTICS is fast growing and interesting field. It is simplest way for latest

technology modification. Now a day’s communication is part of advancement of

technology, so we decided to work on robotics field, and design something which

will make human life simpler in day today aspect. Thus we are supporting this

cause.

Robotics is the branch of technology that deals with the design,

construction, operation, structural disposition, manufacture and application of

robots and computer systems for their control, sensory feedback, and information

processing.

Obstacle detection and avoidance robots are intelligent robots which

can perform desired tasks in unstructured environments by finding and

overcoming obstacles in their way without continuous human guidance.

In robotics, obstacle avoidance is the task of satisfying some control

objective subject to non-intersection or non-collision position constraints.

Normally obstacle avoidance is considered to be distinct from path planning in

that one is usually implemented as a reactive control law while the other involves

the pre-computation of an obstacle-free path which a controller will then guide a

robot along. A practical real-time system for passive obstacle detection and

avoidance is presented.

Robot Sensors are essential components in creating autonomous robots

as they are the only means for a robot to detect information about itself and its

environment. As little as one sensor is needed by a robot, though increasing the

number and variety of sensors tends to increase the robot’s ability to get a more

thorough understanding of the world around it.

There are a wide variety of sensors available which are capable of

measuring almost anything, from environmental conditions (distance, light,

sound, temperature) to angular and linear acceleration, forces and distances. The

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first sensor often incorporated into a mobile robot is a distance sensor, which is

usually in the form of an infrared or ultrasonic sensor. In both cases, a pulse (of

light or sound) is sent and its reflection is timed to get a sense of distance. Usually

these values are sent to the controller many times each second.

Robot Shop offers a wide variety of sensors applicable to almost any

robotics project. If you are looking for a distance sensor, we offer them in a

variety of configurations and optimal distances to suit almost any budget. If you

are looking for a more professional solution for measuring distances, take a look

at our selection of scanning laser rangefinders, which are able to scan over >180

degrees (and less than 1 degree of accuracy) in well under 1 second.IR Pair is

used as sensor to detect the presence of objects. IR LED is used for detecting

objects.

In this project mainly when ever robot senses any obstacle

automatically diverts its position to left or right and follows the path. Robot

consists of two motors, which control the side pair wheels of each and help in

moving forward and backward direction. Robot senses the object with help of

obstacle sensor. IR pair is used for detecting the obstacle. The two basic parts for

working with IR are the emitter and the detector. The emitter is typically an LED

that emits near-infrared light.

Infrared (IR) light is electromagnetic radiation with a wavelength

longer than that of visible light, measured from the nominal edge of visible red

light at 0.74 micrometers (µm), and extending conventionally to 300 µm. These

wavelengths correspond to a frequency range of approximately 1 to 400 THz, and

include most of the thermal radiation emitted by objects near room temperature.

Microscopically, IR light is typically emitted or absorbed by molecules when they

change their rotational-vibration movements.

Infrared light is used in industrial, scientific, and medical applications.

Night-vision devices using infrared illumination allow people or animals to be

observed without the observer being detected. In astronomy, imaging at infrared

wavelengths allows observation of objects obscured by interstellar dust. Infrared

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Imaging cameras are used to detect heat loss in insulated systems, observe

changing blood flow in the skin, and overheating of electrical apparatus.

IR LED IR detectors are specially filtered for Infrared lighted are not

good at detecting visible light. On the other hand, photocells are good at detecting

yellow/green visible light, not well at IR light.

IR detectors have a demodulator inside that looks for modulated IR at

38 KHz. Just shining an IR LED won’t be detected, it has to be PWM blinking at

38KHz. Photocells do not have any sort of demodulator and can detect any

frequency (including DC) within the response speed of the photocell (which is

about 1KHz). IR detectors are digital out - either they detect 38KHz IR signal

and output low (0V) or they do not detect any and output high (5V). Photocells

act like resistors, the resistance changes depending on how much light they are

exposed to.

A photodiode is a type of photo detector capable of converting light

into either current or voltage, depending upon the mode of operation. The

common, traditional solar cell used to generate electric solar power is a large area

photodiode.

Photodiodes are similar to regular semiconductor diodes except that

they may be either exposed (to detect vacuum UV or X-rays) or packaged with a

window or optical fiber connection to allow light to reach the sensitive part of the

device. Many diodes designed for use specifically as a photodiode use a PIN

junction rather than a p-n junction, to increase the speed of response. A

photodiode is designed to operate in reverse bias. In this project we develop a

robot such that it will be moving according to path assigned to it if at all there is

any obstacle in between then the robot stops and change its direction. This sort of

project is very much useful in the industries where the automated supervision is

required.

This project is basic stage of any automatic robot. This robot has

sufficient intelligence to cover the maximum area of provided space. It has a

infrared sensor which are used to sense the obstacles coming in between the path

of robot. It will move in a particular direction and avoid the obstacle which is

coming in its path.

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A robot obstacle detection system comprising: a robot housing which

navigates with respect to a surface; a sensor subsystem having a defined

relationship with respect to the housing and aimed at the surface for detecting the

surface, the sensor subsystem including: an optical emitter which emits a directed

beam having a defined field of emission, and a photon detector having a defined

field of view which intersects the field of emission of the emitter at a finite

region; and a circuit in communication with the detector for redirecting the robot

when the surface does not occupy the region to avoid obstacles.

Obstacle sensors are nothing but the IR pair. As the transmitter part

travel IR rays from to receiver here also transmitter send the data receiver but

these IR pair are places beside each other. So whenever an obstacle senor got a

obstacle in between its way the IR rays reflects in a certain angle. As they are

placed side by each.

We have used two D.C motors to give motion to the robot. The

construction of the robot circuit is easy and small .The electronics parts used in

the robot circuits are easily available and cheap too.

Here we are also adding an application of cleaning to this obstacle

detecting robot that is by adding a electrical device known as blower. This blower

have a fan with attach motor which work as vacuum cleaner and this robot

because of this application can be sent to any where to clean a particular place or

area the motor used here is D.C motor.

Blowers for ventilation and for industrial processes that need an air

flow. Fan systems are essential to keep manufacturing processes working and

consist of a fan, an electric motor, a drive system, ducts or piping, flow control

devices, and air conditioning equipment (filters, cooling coils, heat exchangers,

etc.).

Fans, blowers and compressors are differentiated by the method used

to move the air, and by the system pressure they must operate against. Blowers

can achieve much higher pressures than fans, as high as 1.20 kg/cm2. They are

also used to produce negative pressures for industrial vacuum systems.

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2. REVIEW OF LITERATURES

This robot has sufficient intelligence to cover the maximum area of

provided space. It has an infrared sensor which is used to sense the obstacles

coming in between the path of robot. It will move in a particular direction and

avoid the obstacle which is coming in its path.

It uses IR (Infra Red) sensors and two IR transmitting circuitry. When

the obstacle comes in path of robot IR beam is reflected from the obstacle then

sensor gives zero voltage to µc. This zero voltage is detected then µc decides to

avoid the obstacle by taking left or right turn. If the sensor gives +5v to µc that

means there is no obstacle present in its path so it goes straight until any obstacle

is detected.

The two IR transmitter circuits are fitted on front and left side of

robot. The two IR sensors are placed near to transmitters’ IR LEDs. The

connections can be given from main circuit to sensors using simple twisted pair

cables. Two motors namely right motor and left motor are connected to driver IC

(L293D). L293D is interface with µc. Micro-controller sends logic 0 & logic 1 as

per the programming to driver IC which moves motors forward or reverse

direction.

Now let us see all the things in our project.

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Figure 2.1: Block Diagram of Project

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2.1 Construction

The project is combination of different units as follows:

1. Hardware

2. Software

2.1.1 Hardware Unit

The hardware part includes the structure of robot that is Electronics and

Communication structure, PCB (printed circuit board), blower, and battery. In this

unit all the connections are being made along with the PCB now let us see in brief

how it can be done.

2.1.1.1 Electronics and Communication Connection

In Electronics and Communication connection wheel is connected to base very

tightly to avoid errors in the system. Connection of blower is made with lower

part of base and battery is connected in upper portion of base for power supply to

the system which is very important battery used here is of 6v battery, blower of

+5V to +9V. And along with wheel electrical motors are connected with base

having r.p.m of 100 rpm.

2.1.1.2 PCB Connection

A printed circuit board, or PCB, is used to Electronics and Communicationly

support and electrically connect electronic components using conductive

pathways, tracks or signal traces etched from copper sheets laminated onto a non-

conductive substrate.

The PCB is printed circuit board having circuit made with cooper

layer on the plate there are various steps to design a PCB for that the basic thing

required is circuit. So, the circuits required for the system are:

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2.1.1.2.1 IR Sensor Circuit

An infrared sensor is an electronic device that emits and/or detects infrared

radiation in order to sense some aspect of its surroundings. Infrared sensors can

measure the heat of an object, as well as detect motion. Many of these types of

sensors only measure infrared radiation, rather than emitting it, and thus are

known as passive infrared (PIR) sensors.

All objects emit some form of thermal radiation, usually in the infrared

spectrum. This radiation is invisible to our eyes, but can be detected by an

infrared sensor that accepts and interprets it. In a typical infrared sensor like a

motion detector, radiation enters the front and reaches the sensor itself at the

center of the device. This part may be composed of more than one individual

sensor, each of them being made from piezoelectric materials, whether natural or

artificial.

IR Sensor includes photodiode and IR LED which play the role of

receiver and transmitter respectively.

2.1.1.2.1.1 IR LED

An IR LED, also known as IR transmitter, is a special purpose LED that transmits

infrared rays in the range of 760 nm wavelength. Such LEDs are usually made of

gallium arsenide or aluminum gallium arsenide. They, along with IR receivers,

are commonly used as sensors.

The appearance is same as a common LED. Since the human eye

cannot see the infrared radiations, it is not possible for a person to identify

whether the IR LED is working or not, unlike a common LED. To overcome this

problem, the camera on a cell phone can be used. The camera can show us the IR

rays being emanated from the IR LED in a circuit.

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2.1.1.2.1.2 Photodiode

A photodiode is a type of photo detector capable of converting light into either

current or voltage, depending upon the mode of operation. The common,

traditional solar cell used to generate electric solar power is a large area

photodiode. It is use to sense the reflected IR rays which reflect due to presence of

obstacle and due to it robot change its path.

This sensor uses IR (Infra Red) sensors and two IR transmitting

circuitry. When the obstacle comes in path of robot IR beam is reflected from the

obstacle then sensor gives zero voltage to µc. This zero voltage is detected then

µc decides to avoid the obstacle by taking left or right turn. If the sensor gives

+5v to µc that means there is no obstacle present in its path so it goes straight

until any obstacle is detected. The sensor circuit is shown in figure 2.2. It uses IR (Infra Red) sensors and two IR transmitting circuitry.

When the obstacle comes in path of robot IR beam is reflected from the obstacle

then sensor gives zero voltage to µc. This zero voltage is detected then µc decides

to avoid the obstacle by taking left or right turn. If the sensor gives +5v to µc that

means there is no obstacle present in its path so it goes straight until any obstacle

is detected.

The two IR transmitter circuits are fitted on front and left side of

robot. The two IR sensors are placed near to transmitters’ IR LEDs. The

connections can be given from main circuit to sensors using simple twisted pair

cables.

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Figure 2.2: IR Sensor circuit

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After having the circuit it is easy to design PCB. Circuit is traced in PCB by using

different software here we have used PCB Express software to design layout then

it is etched and further the component are soled in it.

2.1.1.2.2 Controller Circuit

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer

on a single integrated circuit containing a processor core, memory, and

programmable input/output peripherals.

Microcontrollers are used in automatically controlled products and

devices, such as automobile engine control systems, implantable medical devices,

remote controls, office machines, appliances, power tools, toys and other

embedded systems. By reducing the size and cost compared to a design that uses a

separate microprocessor, memory, and input/output devices, microcontrollers

make it economical to digitally control even more devices and processes. Mixed

signal microcontrollers are common, integrating analog components needed to

control non-digital electronic systems.

Here we are giving code to Microcontroller according to those codes

our robot move; these codes are created by programming logic in Keil software

and latter burn in microcontroller by flash magic software. These codes control

the motor by the logic of 0 and by logic 1 and through this direction of robot is

control.

But for the purpose of providing this logic to motor we use an IC that

is L293D Having 16 pin it get input by output of microcontroller this make robot

an intelligent or autonomous robot this IC also amplifies the current and provide

to motor .

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Figure 2.3: Controller Circuit

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After having the circuit it is easy to design PCB. Circuit is traced in PCB by using

different software here we have used PCBExpress software to design layout then

it is etched and further the component are solded in it.

Now when all the PCBs are connected according to required condition

and the electro-Electronics and Communication structure is ready still the system

will not work without software unit.

Let us discuss the software unit.

2.1.2 Software Unit

Computer software or just software is a collection of computer programs and

related data that provides the instructions for telling a computer what to do and

how to do it. Software refers to one or more computer programs and data held in

the storage of the computer for some purposes. In other words, software is a set of

programs, procedures, algorithms and its documentation concerned with the

operation of a data processing system. Program software performs the function of

the program it implements, either by directly providing instructions to the

computer hardware or by serving as input to another piece of software.

The term was coined to contrast to the old term hardware (meaning

physical devices). In contrast to hardware, software "cannot be touched".

Software is also sometimes used in a more narrow sense, meaning application

software only. Sometimes the term includes data that has not traditionally been

associated with computers, such as film, tapes, and records.

Here we are using various software to design our project we required

software for designing PCB layout, microcontroller programming, burning of

microcontroller.

Let us see different software unit in our project:

Here first let us see how to design a PCB over which we are using

these software so following steps we are using to design a PCB:

1. Choose a method to use for creating the PCB. Your choice will usually be

based on the availability of materials needed by the method, the technical

13

Difficulty level of the method or the quality of PCB you desire to obtain. Here's a

brief summary of the diff- availability of many materials such as the etchant and

it is somewhat slow. The quality of PCB obtained varies according to the

materials you use but generally, it is a good method for simple to intermediate

levels of complexity circuits. Circuits involving more close wiring and tiny wires

usually use other methods.

3. UV etching method: this method requires more expensive materials that might

not be available everywhere. However, the steps are simple; it requires less safety

measures and can produce finer and more complicated circuit layouts.

4. Mechanical etching/routing method: this method requires special machines that

will mechanically etch away unnecessary copper from the board or route empty

separators between wires. It can be expensive if you intend to buy one of those

machines and usually leasing them requires the availability of a workshop nearby.

However, this method is good if you need to create many copies of the circuit and

also can produce fine PCBs.

5. Laser etching method: this is usually used by large production companies, but

can be found on some universities. The concept is similar to mechanical etching

but LASER beams are used to etch the board. It is usually hard to access such

machines, but if your local university is one of the lucky ones having such

machine, you can use their facilities if they allow it.

2.1.2.1. Create the PCB Layout of your circuit :

This is usually done by converting your circuit's schematic diagram

into a PCB layout using PCB layout software. There are many open source

software packages for PCB layout creation and design, some are listed here to

give you a head-start:

1. PCB

2. Liquid PCB

3. Shortcut

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2 . Make sure you gathered all the materials needed by the method of your

choosing.

3. Draw the circuit layout on the copper coated board. This is only applicable in

the first two methods. More details can be found on the detail section of your

method of choice.

4 . Etch the board. Look for the details sections for how to etch the board. This

process removes any unnecessary copper from the board leaving only wiring of

the final circuit.

5 . Drill mounts points. Drilling machines used for that are usually custom

machines designed specifically for this purpose. However, with some adjustments

a usual drilling machine will do the job at home.

6 . Mount and solder the electronic components on board.

2.1.2.2 Acid etching method specific steps

1 . Choose your etching acid. Ferric chloride is a common choice for an etchant.

However, you can use Ammonium Per sulfate crystals or other chemical

solutions. No matter what choice for the chemical etchant, it will always be a

dangerous material, so besides following the general safety precautions mentioned

in this article, you should also read and follow any additional safety instructions

that come with the etchant.

2 . Draw the PCB layout. For acid etching, you need to draw the circuitry using

an etchant resistant material. Special markers can be found easily for this specific

purpose if you intend to do the drawing by hand (not appropriate for medium to

large circuits). Laser printers' ink is the most commonly used material however.

The steps to use laser printers for drawing the circuit layout are as follows:  

1 . Print the PCB layout on a glossy paper. You should ensure the circuit is

mirrored before doing that (most PCB layout programs have this as an option

when printing). This only works using a laser printer.

2 . Put the glossy side, with the printing on it, facing the copper.

3 . Iron the paper using an ordinary clothes iron. The amount of time this will

take depends on the type of paper and ink used.

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4 . Immerse the board and paper in hot water for a few minutes (up to 10

minutes).

5 . Remove the paper. If certain areas seem particularly difficult to peel off, you

can try soaking a bit more. If everything went well, you will have a copper board

with your PCB pads and signal lines traced out in black toner.

6. Prepare the acid etchant. Depending on the acid etch that you choose, there

might be additional instructions. For example, some crystallized acids require

being dissolved in hot water, but other etchants are ready to use.

7 . Submerge the board in the acid.

8 . Make sure to stir every 3-5 minutes.

9. Take the board out and wash it when all unnecessary copper is etched away

from the board.

10. Remove the insulating drawing material used. There are special solvents

available for almost all types of insulating drawing material used in drawing PCB

layouts. However, if you don't have access to any of these materials, you can

always use a sand paper (a fine one).

2.1.2.3 Ultra-Violet etching method specific steps

1. Draw the PCB layout on the special copper coated board.

2. Cover the board with a transparent sheet (optional)

3. Put the board in the UV etching machine/chamber

4. Turn on the UV machine for the specified amount of time depending on the

specification of the board and machine.

2.1.2.3 PCB Express

For designing of PCB layout we are using this software with the help

of tools embedded in it designing of PCB became very easy. Firstly circuit is

drawn in PCB Express software and of it only upper layer that is copper layer is

chosen to provide proper connectivity in circuit. Hence we get two PCB layout of

sensor and controller both

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Figure 2.3 shows PCB layout of IR sensor, figure 2.4 shows PCB layout of

controller circuit.

Steps to design PCB are:

1. Fire up Express SCH.

2. You will see a ‘Welcome to Express PCB …..’ screen. You may go through

the quick start guide, but if you are reading this, that won’t be necessary Click

‘Ok’.

3. We’ll first need to place some components. Say we want to make a Voltage

Regulator circuit.

4. Click on the ‘component and symbol manager’ that is. the button to which I

have shown an arrow pointing

5. You’ll see the above window. Click    Find–>  Then key in ‘lm7805′. Once

you find it , select it and click —>Insert into schematic.

6. Now to connect the components together , click on  ‘Place a wire’ . Click once

on an end of one component, then another time on an end of another component

to connect the them together. Use ‘Insert corner in a wire’ option (directly below 

‘Place wire’ ) to bend the wire into a neater right angle. It doesn’t really matter

whether you do this or not.

7. Please note than ground , Vcc etc. will be found in list.

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Figure 2.4: PCB layout of sensor

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Figure 2.5: PCB of Controller Circuit

19

Figure 2.6: Final PCB Layout

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2.1.2.4 Keil Software

Keil was founded in 1982 by Günter und Reinhard Keil, initially as a

German GbR. In April 1985 the company was converted to Keil Elektronik GmbH to

market add-on products for the development tools provided by many of the silicon

vendors. Keil implemented the first C compiler designed from the ground-up specifically

for the 8051 microcontroller.

Keil provides a broad range of development tools like ANSI C

compiler, macro assemblers, debuggers and simulators, linkers, IDE, library

managers, real-time operating systems and evaluation boards for 8051. Keil

provides IDE for 8051 programming & is very easy to use. When starting a new

project, simply select the microcontroller you use from the Device Database and

the µVision IDE sets all Compiler, Assembler, Linker, and Memory options. It’s

device database is large which supports many ICs of the 8051 family. A HEX file

can be created with the help of Keil which is required for burning onto chip. It has

a powerful debugging tool which detects most of the errors in the program.

1. Here we are writing codes in Keil software creating .asm file that is assembly

file and then use these codes further in microcontroller.

1. Open the Project menu and choose New Project.

2. Enter the name of the project you are creating. Enter the name usb.prj and

pressOK. usb.prj will be entered under File name.

The window is used to add various files to your project. These include

ASCII files, C and assembly source, and macros. The list is quite extensive and is

found in the Translator window if any files are present in the project. Note this

window is blanked out at this time. This window is accessible at any, time by

selecting Project/Edit Project and you may easily edit your file list. Note that any

assembler files must be last in this list. If they are not, changes made to them may

not be reflected in the final object file. When creating a new project in this

manner no source files are yet available. Therefore, select save to close this

window. Your project usb.prj will be active. Click on Project and confirm usb.prj

is visible.

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2.1.2.5 CREATING A NEW SOURCE CODE FILE

The pathname for this file (example.c) is c:\c51eval\examples\tutorial\example.c.

Type this program in

if you do not have this directory: This tutorial needs example.c in c:\c51eval\bin.

1) Do this step if you do not have the source. Open the File menu and choose

New to go to the Vision integrated editor. Use the editor to type in example.c .

When you have entered the file, do a save as to the c:\c51eval\bin directory. The

filename should be example.c . This will keep things easy to follow.

2) If you have the source code as a file, choose Open and get example.c in the

usual fashion. Source code. This sample program uses a number of simple C

source lines to demonstrate the Keil tool set.

3) Open the File menu and choose Save as. Save this file in the indicated

directory. This tutorial uses the directory: c:\c51eval\bin and the filename

example.c. Normally your project and source code would be in a directory of your

choosing.

4) At this point you have created a project called usb.prj and a C source file

called example.c.

The next step is to build your project. This includes compiling,

assembling, linking and locating and creating the hex file. The hex file would be

programmed into an EPROM and is not used here.

2.1.2.6 BUILDING THE PROJECT

1) Open the Project menu and choose Edit Project. This is where you add various

files to your project. Note there are no files in the project yet.

2) Choose Add. This is where you add the files to your project.

3) Select the file: example.c and press Enter.

4) Choose Add then Close. Example.c will be listed in the Source Files window.

5) Make sure Include in Link/Lib is checked.

6) Choose Save.

22

With the tool configured, you are ready to run the compiler and linker using the

Make utility.

1. Click on the “Build All” icon (it has three arrows pointing downwards) or open

Options and select

Make.

If the program specified (example.c) has any errors; they will appear on the

screen. Use the editor to correct the error(s) in the source code and save the file.

You can double-click on the error of interest and Vision will take you to the

offending line in the source code. You can edit this line and rebuild the project by

repeating this section: beginning at step 1.

If there are no errors, the code is assembled and linked with the executable

code ready to be downloaded to the board. The Project Status window will state

“Make Successful - HEX File Created” if everything is working properly.

Continue to the next section.

The following files in the directory \bin are associated with this

project:

example.c original source file - needed for debugging purposes.

example.bak a backup file produced by Vision.

example.lst a listing file of the source example.

example.obj a relocatable object file. Needs to be linked.

usb.prj the Project File. Note that the output code assumes the name of the

project file.

usb.m51 map file.

usb.hex Intel Hex File Created by the Object to Hex Converter oh51.exe.

usb absolute object file with debugging information (if so set in the compiler

option)

This file is the input for the Keil simulator dScope and emulators. This

file is created by the linker.

23

2.1.2.7 Flash Magic Software

This software is use to burn microcontroller, through interfacing kit connecting

cables are connected to computer, it connect computer and the unit of

microcontroller and when we use this software it transfer the codes from keil

software to transfer to microcontroller and on bases of those codes our robot

works. Flash Magic is a PC tool for programming flash based

microcontrollers from NXP using a serial or Ethernet protocol while in the target

hardware.  It has some excellent features like changeable baud rate, erase all flash

before programming, setting security bits etc. The HEX file created with the help

of keil was selected through it for programming the microcontroller.

2.1.2.8 Code Vision Area

Compiler

Enhanced the code optimizer

Added support for the AVR Studio 5.1 and Atmel Studio 6 debuggers in

the Settings|Debugger menu. Details about using CodeVisionAVR with these

debuggers are available in the Help topics:

- CodeVisionAVR IDE|Tools|The AVR Studio Debugger

- CodeVisionAVR C Compiler Reference|Using the AVR Studio 4.19 Debugger

- CodeVisionAVR C Compiler Reference|Using the AVR Studio 5.1 and Atmel

Studio 6 Debuggers

and in the chapters: 2.4.1, 3.21 and 3.22 of the CodeVisionAVR User Manual.

Added support for the SSD1963 color TFT graphic controller (Advanced

license required)

Improved the speed of the SSD1289 graphic LCD library (Advanced

license required)

Added function's memory address and size list to the .map file

Renamed the adc member of GLCDINIT_t structure to reverse_x in the

header files for the SED1530, SPLC501C, ST7735 graphic LCD controllers.

24

Renamed the seg_rev member of GLCDINIT_t structure to reverse_x in

the header file glcd_uc1701.h for the UC1701 graphic LCD controller

Renamed the adc_rev132_x0 member of GLCDINIT_t structure to

rev132_x0 in the header files for the SED1530, SPLC501C, ST7735, UC1701

graphic LCD controllers

Added the reverse_y member to the GLCDINIT_t structure in the header

files for the SED1530, SPLC501C, ST7735, UC1701 graphic LCD controllers

Added the reverse_x member to the GLCDINIT_t structure for the

SSD1289 TFT controller. Replaced the gate_scan member with reverse_y.

Added transparency support for color images in graphics.h (documented in

the Help and User Manual)

Improved the delay_us function (delay.h) so that short delays can be

obtained even for low clock frequencies. Added a warning if the clock frequency

is too low and the desired delay can't be obtained.

Added the SCAN (XMEGA ADC channel scan register) member to the

ADC_CH_t structure in the xmstruct.h header file

Fixed: the strlcpy and strlcpyf functions (string.h) should copy maximum

n-1 characters.

CodeWizardAVR

Fixed: the CodeWizardAVR for XMEGA devices signaled that not

enabled EBI /CS0../CS3 signals should be configured as outputs

LCD Vision

Added support for the SDD1963 color TFT graphic controller

Added scrollbars to LCD preview if the image doesn't fit in the docking

panel

Added the possibility to select opaque or transparent background when

pasting during image editing

Fixed: Image inverting was functional only for text inserting mode

Fixed: Large font characters didn't fit in the preview window

25

Chip Programmer

Added programming support for Atmel JTAGICE 3 (requires AVR Studio

5.1 or Atmel Studio 6 to be installed).

Fixed: incorrect FLASH page size for ATmega16U4 and ATmega32U4

chips, which lead to programming failure when using parallel port, STK500 and

AVR910 programmers.

V2.05.6 Commercial Release

Compiler

Enhanced the expression optimizer for cases when ANSI char to int

promotion is enabled in the project configuration

Improved generated code when passing a struct/union with size 1, 2 or 4

as function argument

Added support for ATxmega64A3U, ATxmega128A3U,

ATxmega192A3U, ATxmega256A3U, ATxmega256A3BU, ATxmega16A4U,

ATxmega32A4U, ATxmega64A4U, ATxmega128A4U chips

Added support for the UltraChip UC1701 graphic LCD controller

Added in glcd_st7565.h, glcd_sed1530.h and glcd_spl501.h the

adc_rev132_x0 member to the GLCDINIT_t structure, for displays that use

reversed RAM column address driver (ADC=1) and the pixel with x=0 is

connected to column driver #132

Added 102x64 display support for the ST7565 graphic LCD controller

Modified ff.lib so that LFN support can be enabled from ff.h

Modified sdcard.lib and the Project|Configure|C Compiler|Libraries|

MMC/SD/SD HC Card

menu to allow SD card sockets without a /CD signal to be used

Added the sdcard_present function in sdcard.h to check if a card is

inserted, when the /CD card socket signal is not used

26

Changed the declaration of the twi_init function from twix.h to

void twi_init(TWI_t *module,bool ext_driver_intf,unsigned char sda_hold) in

order to be compatible with the ATxmega64A3U, ATxmega128A3U,

ATxmega192A3U, ATxmega256A3U, ATxmega256A3BU, ATxmega16A4U,

ATxmega32A4U, ATxmega64A4U, ATxmega128A4U chips

Improved the twi_init function (twi.h) for better handling recovery after a

bus conflict

Modified the snprintf, vsnprintf functions (stdio.h) so that they will return

the number of characters that would have been output, had the buffer been big

enough (as required by C99). Previous versions returned the number of characters

effectivelly written in the buffer (limited by the buffersize)

Fixed: RAM access code was generated when passing a struct/union

located in FLASH or EEPROM as function argument

Fixed: bug in glcd_sed1520.lib that produced a compilation error for

Xmega chips

Added missing TWI registers bit definitions in the mega32u4_bit.h header

file

CodeWizardAVR

Modified to generate the functions for external memory access, for

graphic LCDs, only if the Use Image Storage in External Memory option is

enabled

Removed the TWIE peripheral for the

ATxmega256D3/192D3/128D3/64D3 chips, according to the errata from the

latest Atmel datasheet

Fixed: for XMega chips the peripheral clock frequency (not the system

clock frequency as is incorrectly specified in the current Atmel XMEGA A

Manual Rev. 8077H-AVR-12/09) will be used for setting the value of the TWI

baud rate register

27

Fixed: for XMega chips, in certain situations when using the differential

input mode, the ADC positive and negative input selections were reset to 0, when

switching the settings display between ADCA and ADCB

Fixed: for the ATtiny2313/4313 chips, when the Timer 0 OC0B output

was used, no checks were performed if PORTD bit 5 was configured as output

LCD Vision

Added support for creating, editing and converting graphic images

Chip Programmer

Fixed: chip signature for ATmega328

Fixed: the WDP and WDWP Xmega fuse bits state was not correctly

saved in the project file, when the option to program the chip after build was

enabled

Fixed: improper BODACT fuse programming for Xmega A chips, because

of a mistake in Atmel XMEGA A Manual

Fixed: the Xmega D chips don't have the JTAGEN fuse. The JTAGUID

fuse bits were replaced with USERID fuse bits.

2.1.2.9 Algorithm

The algorithms used in this robot are as follows:

1) Start

2) Initialize the input port & output port. Set the bit of port pin 1.0

3) Read data from port 1.

4) Check the bit on pin P1.0.

5) If bit is present move motors in forward direction. Else go to step 6.

6) If bit is not present on pin P1.0, then stop right motor & move left motor in

forward direction until we get bit on pin p1.0.

7) Again go to step 3.

8) Stop.

28

2.2 Basic Parts Of Project

So, now we may say that there are following main parts are there used

in our projects those are:

2.2.1 Sensors

A sensor (also called detector) is a converter that measures a physical

quantity and converts it into a signal which can be read by an observer or by an

(today mostly electronic) instrument.

Sensors are used in everyday objects such as touch-sensitive elevator

buttons (tactile sensor) and lamps which dim or brighten by touching the base.

There are also innumerable applications for sensors of which most people are

never aware. Applications include cars, machines, aerospace, medicine ,

manufacturing and robotics.

The IR Transmitter block mainly used to generate IR signal. It uses

timer IC555 in astable multivibrator mode to generate square wave which have

continuous pulses of 50% duty cycle of frequency 38 KHz. This transmitter is so

arranged that the IR rays are focused on the sensor.

2.2.2 Microcontroller

This is the most important block of the system. Microcontroller is the

decision making logical device which has its own memory, I/O ports, CPU and

Clock circuit embedded on a single chip.

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small

computer on a single integrated circuit containing a processor core, memory, and

programmable input/output peripherals. Program memory in the form of NOR flash or

OTP ROM is also often included on chip, as well as a typically small amount of RAM.

Microcontrollers are designed for embedded applications, in contrast to the

microprocessors used in personal computers or other general purpose applications.

29

Microcontrollers are used in automatically controlled products and

devices, such as automobile engine control systems, implantable medical devices,

remote controls, office machines, appliances, power tools, toys and other

embedded systems.

By reducing the size and cost compared to a design that uses a separate

microprocessor, memory, and input/output devices, microcontrollers make it

economical to digitally control even more devices and processes. Mixed signal

microcontrollers are common, integrating analog components needed to control

non-digital electronic systems

2.2.3 Driver

L293D is used as driver IC. Motors are connected to this IC. According to

program in µc it drives the left and right motor. L293D is a dual H-bridge motor

driver integrated circuit (IC). Motor drivers act as current amplifiers since they

take a low-current control signal and provide a higher-current signal. This higher

current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common

mode of operation, two DC motors can be driven simultaneously, both in forward

and reverse direction. The motor operations of two motors can be controlled by

input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the

corresponding motor. Logic 01 and 10 will rotate it in clockwise and

anticlockwise directions, respectively.

Enable pins 1 and 9 (corresponding to the two motors) must be high

for motors to start operating. When an enable input is high, the associated driver

gets enabled. As a result, the outputs become active and work in phase with their

inputs. Similarly, when the enable input is low, that driver is disabled, and their

outputs are off and in the high-impedance state.

2.2.4 Motors

An electric motor is an electromechanical device that converts electrical energy

into mechanical energy.

30

Most electric motors operate through the interaction of magnetic fields

and current-carrying conductors to generate force.

The reverse process, producing electrical energy from mechanical

energy, is done by generators such as an alternator or a dynamo; some electric

motors can also be used as generators, for example, a traction motor on a vehicle

may perform both tasks. Electric motors and generators are commonly referred to

as electric machines.

2.2.5 Blower

Blowers for ventilation and for industrial processes that need an air flow. Fan

systems are essential to keep manufacturing processes working and consist of a

fan, an electric motor, a drive system, ducts or piping, flow control devices, and

air conditioning equipment (filters, cooling coils, heat exchangers, etc.).

Fans, blowers and compressors are differentiated by the method used

to move the air, and by the system pressure they must operate against. Blowers

can achieve much higher pressures than fans, as high as 1.20 kg/cm2. They are

also used to produce negative pressures for industrial vacuum systems.

2.3 Problem Faced In Making Project

Although the concept & design of the project seemed perfect, there were

some problems faced while actual implementation:

2.3.1 Proving Proper Power to different circuit

Solution: taking high precaution in designing of circuit.

2.3.2 Availability of Burner

Solution: as burner kit is not easily available, so we have design & implement hardware

for burn the IC.

31

2.4 Testing

There is always necessary to check the work for that here we have

implemented various test for following:

2.4.1 Continuity test

First of all we checked the PCB that all the tracks are as per the design

of PCB and showing continuity with the help of multimeter and PCB layout.

2.4.2 Short circuit test

Then we checked the PCB for any unwanted short circuits with the

help of multimeter and PCB layout.

2.4.3 Soldering

In the next step, we soldered the required components. And then

checked that there are no any unwanted shorts occurred due to soldering without

putting IC's and keeping power supply off.

2.4.4 Power supply test

In the next step, we put power supply on and checked whether

required voltage is appearing at the required voltage is appearing at the required

points i.e.+Vcc and GND at the respective points. We took care of not connecting

IC's in the circuit while performing this test.

2.4.5 Microcontroller test

For testing the microcontroller, we wrote the square wave generation

program for generating square wave on each port pin. Then we fed the program in

microcontroller and checked the output with the help of CRO by connecting the

microcontroller in the circuit. We took care of not connecting any other IC in the

circuit.

32

2.5 Applications

There are following application of IR obstacle detecting robot

1) This logic has been specially designed for vacuum cleaner. By using heavy

rating motors, strong mechanical structure and using highly sensitive obstacle

sensors, it efficiently works as vacuum cleaner.

2) Just by making small changes in software this system can be used for avoiding

concealed paths. This robot can effectively sense the obstacles and find out

correct path.

3) With proper programming we can use it as a weight lifter.

4) In Mines.

2.6 Future Scope By Improvement

The future uses of IR obstacle detector are as follows:

2.6.1 Adding a Camera:

If the current project is interfaced with a camera (e.g. a Webcam) robot

can be driven beyond line-of-sight & range becomes practically unlimited as

networks have a very large range.

2.6.2 Use as a fire fighting robot:

By adding temperature sensor, water tank and making some changes in

programming we can use this robot as fire fighting robot.

33

3. COMPONENTS

An electronic component is a basic electronic element that is available in a

discrete form (a discrete device or discrete component) that has two or more

electrical terminals (or leads). These leads connect, usually soldered to a printed

circuit board, to create an electronic circuit (a discrete circuit) with a particular

function (for example an amplifier, radio receiver, or oscillator). Basic electronic

components may be packaged discretely, as arrays or networks of like

components, or integrated inside of packages such as semiconductor integrated

circuits, hybrid integrated circuits, or thick film devices. The following list of

electronic components focuses on the discrete version of these components,

treating such packages as components in their own right.

So the components used in our project are:

1. Microcontroller ATMEGA8L

2. IC 293D

3. IC LM324N

4. IC 7805

5. Potentiometer 20k

6. Resistor 1k ohm

7. IR LED

8. Photo diode

9. Battery

10. Soldering wire

Let us discuss all components in brief

34

3.1. Microcontroller ATMEGA8L

The ATmega8 is a low-power CMOS 8-bit microcontroller based on the AVR

RISC architecture. By executing powerful instructions in a single clock cycle, the

ATmega8 achieves throughputs approaching 1 MIPS per MHz, allowing the

system designer to optimize power consumption versus processing speed.

Fig 3.1 Microcontroller ATMEGA8L

ATMEGA8L Features:

High-performance, Low-power AVR® 8-bit Microcontroller Advanced RISC

Architecture

– 130 Powerful Instructions – Most Single-clock Cycle Execution

    – 32 x 8 General Purpose Working Registers

    – Fully Static Operation

Nonvolatile Program and Data Memories

    – 8K Bytes of In-System Self-Programmable Flash

In-System Programming by On-chip Boot Program

Special Microcontroller Features

    – Power-on Reset and Programmable Brown-out Detection

    – Internal Calibrated RC Oscillator

    – External and Internal Interrupt Sources

35

I/O and Packages

    – 23 Programmable I/O Lines

    – 28-lead PDIP, 32-lead TQFP, and 32-pad MLF

Operating Voltages 2.7 - 5.5V (ATmega8L)

3.2 IC L293D

L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act

as current amplifiers since they take a low-current control signal and provide a

higher-current signal. This higher current signal is used to drive the motors.

Fig 3.2 IC L293D

L293D contains two inbuilt H-bridge driver circuits. In its common mode of

operation, two DC motors can be driven simultaneously, both in forward and

reverse direction. The motor operations of two motors can be controlled by

input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the

corresponding motor. Logic 01 and 10 will rotate it in clockwise and

anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to

36

the two motors) must be high for motors to start operating. When an enable

input is high, the associated driver gets enabled.

As a result, the outputs become active and work in phase with

their inputs. Similarly, when the enable input is low, that driver is disabled, and

their outputs are off and in the high-impedance state.

3.3 IC LM324N

LM324 is a 14pin IC consisting of four independent operational amplifiers (op-

amps) compensated in a single package. Op-amps are high gain electronic voltage

amplifier with differential input and, usually, a single-ended output. The output

voltage is many times higher than the voltage difference between input terminals

of an op-amp.

Fig 3.3 IC LM324N

These op-amps are operated by a single power supply LM324 and need

for a dual supply is eliminated. They can be used as amplifiers, comparators,

oscillators, rectifiers etc. The conventional op-amp applications can be more

easily implemented with LM324.

37

3.4 IC 7805

Fixed voltage Positive and Negative regulator ICs are used in circuits to give

precise regulated voltage.78 XX series regulator IC can handle maximum 1

ampere current. The Regulator ICs require minimum 1.5 higher input voltage than

their voltage rating. For example 7805 IC requires minimum 6.5 volts to give 5

volt output. Here are some circuit designs of IC 7805 to monitor the output

voltage.

Fig 3.4 IC 7805

3.5 Resistor

A resistor is a passive two-terminal electrical component that implements

electrical resistance as a circuit element. The current through a resistor is in direct

proportion to the voltage across the resistor's terminals. Thus, the ratio of the

voltage applied across a resistor's terminals to the intensity of current through the

circuit is called resistance.

V= IR

where I is the current through the conductor in units of amperes, V is

the potential difference measured across the conductor in units of volts, and R is

the resistance of the conductor in units of ohms. More specifically, Ohm's law

states that the R in this relation is constant, independent of the current.

38

Resistors are common elements of electrical networks and electronic

circuits and are ubiquitous in electronic equipment. Practical resistors can be

made of various compounds and films, as well as resistance wire (wire made of a

high-resistivity alloy, such as nickel-chrome). Resistors are also implemented

within integrated circuits, particularly analog devices, and can also be integrated

into hybrid and printed circuits.

Fig 3.5 RESISTOR

3.6 IR LED

An IR LED, also known as IR transmitter, is a special purpose LED that transmits

infrared rays in the range of 760 nm wavelength. Such LEDs are usually made of

gallium arsenide or aluminum gallium arsenide. They, along with IR receivers,

are commonly used as sensors.

Fig 3.6 IR LED

39

The appearance is same as a common LED. Since the human eye

cannot see the infrared radiations, it is not possible for a person to identify

whether the IR LED is working or not, unlike a common LED. To overcome this

problem, the camera on a cell phone can be used. The camera can show us the IR

rays being emanated from the IR LED in a circuit.

3.7 Photodiode

A photodiode is a type of photo detector capable of converting light

into either current or voltage, depending upon the mode of operation. The

common, traditional solar cell used to generate electric solar power is a large area

photodiode.

Fig 3.7 Photodiode

Photodiodes are similar to regular semiconductor diodes except that they may be

either exposed (to detect vacuum UV or X-rays) or packaged with a window or

optical fiber connection to allow light to reach the sensitive part of the device.

Many diodes designed for use specifically as a photodiode use a PIN junction

rather than a p-n junction, to increase the speed of response. A photodiode is

designed to operate it.

40

4. RESULTS

Thus, we believe that our project will be beneficial for various purposes & hence

our efforts will be fruitful. So, we made a successfully obstacle detector robot

having application of vacuum cleaner which have ability to move freely anywhere

and along with it, it have ability to create its own path and it avoid obstacle by

artificial intelligence provided by programming in microcontroller to perform

action and IR sensor to sense the obstacle, it also clean the area where it move

with vacuum cleaner which is its application.

41

5. REFERENCES

1. "Atmel’s Self-Programming Flash Microcontrollers" by Odd Jostein

Svendsli 2003

2. http://www.semico.com

3. Heath, Steve (2003). Embedded systems design. EDN series for design

engineers (2 ed.). Newnes. pp. 11–12. ISBN 9780750655460.

4. Easy Way to build a microcontroller project

5. Robert Edwards (1987). "Optimizing the Zilog Z8 Forth Microcontroller

for Rapid Prototyping". p. 3.

6. www.infineon.com/mcu

42

6. APPENDICES

6.1 Datasheet

6.1.1 ATMEGA8L

6.1.2 IC 7805

6.1.3 IC LM324N

6.1.4 IC 293D

6.1.1 ATMEGA8L

1. Introduction

• High-performance, Low-power Atmel®AVR® 8-bit Microcontroller

• Advanced RISC Architecture

– 130 Powerful Instructions – Most Single-clock Cycle Execution

– 32 × 8 General Purpose Working Registers

– Fully Static Operation

– Up to 16MIPS Throughput at 16MHz

– On-chip 2-cycle Multiplier

• High Endurance Non-volatile Memory segments

– 8Kbytes of In-System Self-programmable Flash program memory

– 512Bytes EEPROM

– 1Kbyte Internal SRAM

– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

– Data retention: 20 years at 85°C/100 years at 25°C

– Optional Boot Code Section with Independent Lock Bits

2. In-System Programming by On-chip Boot Program

3. True Read-While-Write Operation

– Programming Lock for Software Security

• Peripheral Features

– Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode

– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and

Capture

43

2. Mode

– Real Time Counter with Separate Oscillator

– Three PWM Channels

– 8-channel ADC in TQFP and QFN/MLF package

3. Eight Channels 10-bit Accuracy

– 6-channel ADC in PDIP package

4. Six Channels 10-bit Accuracy

– Byte-oriented Two-wire Serial Interface

– Programmable Serial USART

– Master/Slave SPI Serial Interface

– Programmable Watchdog Timer with Separate On-chip Oscillator

– On-chip Analog Comparator

• Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection

– Internal Calibrated RC Oscillator

– External and Internal Interrupt Sources

– Five Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down,

and

5. Standby

• I/O and Packages

– 23 Programmable I/O Lines

– 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF

• Operating Voltages

– 2.7V - 5.5V (ATmega8L)

– 4.5V - 5.5V (ATmega8)

• Speed Grades

– 0 - 8MHz (ATmega8L)

– 0 - 16MHz (ATmega8)

• Power Consumption at 4Mhz, 3V, 25°C

– Active: 3.6mA

– Idle Mode: 1.0mA

44

6. 8-bit

7. with 8KBytes

8. In-System

9. Programmable

10. Flash

Fig 6.1 ATMEGA8L PIN DIAGRAM

6.1.2 IC 7805

1. Internal Thermal Overload Protection.

2. Internal Short Circuit Current Limiting.

3. Output Current up to 1.5A.

4. Satisfies IEC-65 Specification. (International Electronical Commission).

5. Package is TO

45

Fig 6.2 IC 7805 PIN DIAGRAM

6.1.3 IC LM324N

• Internally frequency-compensated for unity gain

• Large DC voltage gain: 100dB

• Wide bandwidth (unity gain): 1MHz (temperature-compensated)

• Wide power supply range Single supply: 3VDC to 30VDC or dual

Supplies: ±1.5VDC to ±15VDC

• Very low supply current drain: essentially independent of supply

Voltage (1mW/op amp at +5VDC)

• Low input biasing current: 45nADC (temperature-compensated)

• Low input offset voltage: 2mVDC and offset current: 5nADC

• Differential input voltage range equal to the power supply voltage

• Large output voltage: 0VDC to VCC-1.5VDC swing

46

Fig 6.3 LM324N PIN DIAGRAM

6.1.4 IC 293D

• Terminations: 100 % matte tin, standard, tin/lead available

• Compliant terminations

• Molded case available in six case codes

• Compatible with “High Volume” automatic pick and place equipment

• Optical character recognition qualified

• Meets IEC specification QC300801/US0001 and

EIA535BAAC mechanical and performance requirements

• Compliant to RoHS Directive 2002/95/EC

• Moisture sensitivity level 1

47

Fig 6.4 IC 293 PIN DIAGRAM

6.2 Program

#include <mega8.h>#include <delay.h>// Declare your global variables here

void main(void){// Declare your local variables here// Input/Output Ports initialization// Port B initialization// Func7=In Func6=In Func5=In Func4=Out Func3=Out Func2=Out Func1=Out Func0=In // State7=T State6=T State5=T State4=0 State3=0 State2=0 State1=0 State0=P PORTB=0x01;DDRB=0x1E;// Port C initialization// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00;DDRC=0x00;

48

// Port D initialization// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=P State0=P PORTD=0x03;DDRD=0x00;// Timer/Counter 0 initialization// Clock source: System Clock// Clock value: Timer 0 StoppedTCCR0=0x00;TCNT0=0x00;// Timer/Counter 1 initialization// Clock source: System Clock// Clock value: Timer 1 Stopped// Mode: Normal top=FFFFh// OC1A output: Discon.// OC1B output: Discon.// Noise Canceler: Off// Input Capture on Falling Edge// Timer 1 Overflow Interrupt: Off// Input Capture Interrupt: Off// Compare A Match Interrupt: Off// Compare B Match Interrupt: OffTCCR1A=0x00;TCCR1B=0x00;TCNT1H=0x00;TCNT1L=0x00;ICR1H=0x00;ICR1L=0x00;OCR1AH=0x00;OCR1AL=0x00;OCR1BH=0x00;OCR1BL=0x00;// Timer/Counter 2 initialization// Clock source: System Clock// Clock value: Timer 2 Stopped// Mode: Normal top=FFh// OC2 output: DisconnectedASSR=0x00;TCCR2=0x00;TCNT2=0x00;OCR2=0x00;// External Interrupt(s) initialization// INT0: Off

49// INT1: OffMCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initializationTIMSK=0x00;

// Analog Comparator initialization// Analog Comparator: Off// Analog Comparator Input Capture by Timer/Counter 1: OffACSR=0x80;SFIOR=0x00;

while (1){if(PIND.0==1){PORTB.1=1,PORTB.2=0,PORTB.3=1,PORTB.4=0;delay_ms(100);} else{PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0;delay_ms(400);PORTB.1=0,PORTB.2=1,PORTB.3=0,PORTB.4=1;delay_ms(300);PORTB.1=0,PORTB.2=1,PORTB.3=1,PORTB.4=0;delay_ms(400);}

}}

Chip type : ATmega8LProgram type : ApplicationClock frequency : 1.000000 MHzMemory model : SmallExternal SRAM size : 0Data Stack size : 256

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