Author Topic: My Differential Line Follower (Read 7184 times)

tiktak · « **on:** July 19, 2009, 02:24:35 PM »

Schematic:

#include <pic.h>
#include <htc.h>	// Required to interface with delay routines

#ifndef _XTAL_FREQ
 // Unless already defined assume 4MHz system frequency
 // This definition is required to calibrate __delay_us() and __delay_ms()
 #define _XTAL_FREQ 4000000
#endif
__CONFIG(XT & WDTDIS & PWRTDIS & UNPROTECT);	

#define TURN_LEFT		0b00000010
#define TURN_RIGHT		0b00001000
#define	MOVE_FORWARD	0b00001010
#define	MOVE_BACKWARD	0b00000101

void init (void)
{
 TRISA = 0xF0;
 TRISB = 0xE7;
 PORTB = 0xE7;
}

void PWM1 (void)
{
 RB3 = 1;				
 RB4 = 1;
 __delay_ms(100);

 RB3 = 0;
 RB4 = 0;
 __delay_ms(150);
}


void main (void)
{
 unsigned char sensor;
 unsigned char prev_command = 0x01;
 init();

  while(1)
   { 
   	 PWM1();
      sensor = (PORTB & 0x07);
		switch(sensor)
		{
			case 0x00:					//000 - move forward
				PORTA = MOVE_BACKWARD;
				prev_command = MOVE_BACKWARD;
				break;	
			case 0x01:					 //001
				PORTA = TURN_RIGHT;
				prev_command = TURN_RIGHT;
				break;	
			case 0x02:					//010
				PORTA = MOVE_FORWARD;
 				prev_command = MOVE_FORWARD;
				break;
			case 0x03:					//011
				PORTA = TURN_RIGHT;		
				prev_command = TURN_RIGHT;
				break;
			case 0x04:					//100
				PORTA = TURN_LEFT;
				prev_command = TURN_LEFT;
				break;
			case 0x05:					//101			
				PORTA = prev_command;
				break;
			case 0x06:					//110
				PORTA = TURN_LEFT;
				prev_command = TURN_LEFT;
				break;
			case 0x07:					//111
				PORTA = MOVE_BACKWARD;
				break;				
			default:
				PORTA = prev_command;
				break;
		}
    }
}

actual:

sensor (galing sa mouse

)

Philippine Electronics Forum · « **on:** July 19, 2009, 02:24:35 PM »

tiktak · « **Reply #1 on:** July 19, 2009, 02:44:07 PM »

video :
Differential Line Follower

Philippine Electronics Forum · « **Reply #1 on:** July 19, 2009, 02:44:07 PM »

tiktak · « **Reply #2 on:** July 23, 2009, 07:49:48 PM »

pinned na pala ang thread na to

Philippine Electronics Forum · « **Reply #2 on:** July 23, 2009, 07:49:48 PM »

_Jiro · « **Reply #3 on:** July 28, 2009, 12:45:33 AM »

Ilang battery ginamit jan?

Philippine Electronics Forum · « **Reply #3 on:** July 28, 2009, 12:45:33 AM »

RaffT · « **Reply #4 on:** July 28, 2009, 07:27:08 AM »

nice one tiktak

school project or TRIP lang?

Philippine Electronics Forum · « **Reply #4 on:** July 28, 2009, 07:27:08 AM »

tiktak · « **Reply #5 on:** July 28, 2009, 09:11:01 AM »

Trip lang hehe, isang 9v para sa circuit, at 4 na AA para sa motor

_Jiro · « **Reply #6 on:** July 28, 2009, 12:49:26 PM »

Umm.. Ung 4xAA nkakonek sa pin4 ng l298? Sapat na b ung pra mapatakb0 ng mabilis ung m0t0r?

tiktak · « **Reply #7 on:** July 29, 2009, 11:19:51 PM »

yup yun ang connected sa pin4 ng L298, mabilis na yun patakbuhin ang motor, mahirap atang gumawa ng mabilis na mobot madalas mawala sa track

mabilis yan pag diretso, pero kung titignan mo sa program meron dun yung parte na nag ko control sa speed ng motor dinedelay ko para di sya gaanong mabilis

Woots29 · « **Reply #8 on:** September 06, 2009, 12:51:53 PM »

+1 ayus!

♪ ♫ ♫ ♪ ♪ ♪ ♫ ♫ ♫ · « **Reply #9 on:** September 06, 2009, 12:56:56 PM »

okay a kaya ang very tight na turns...

voltaman_krc · « **Reply #10 on:** December 18, 2009, 10:12:37 PM »

ung chassis ng car.. i saw it before, ung tinitinda ni manong. hehe! great post!!

amitie · « **Reply #11 on:** January 29, 2010, 01:26:11 PM »

ano po bang value ng transistor dyan po
tnx po.

tiktak · « **Reply #12 on:** January 29, 2010, 01:34:58 PM »

yung transistor ay photodiode yun

tinamad lang iedit sa tamang symbol

, yung galing sa mga lumang mouse ginamit ko dyan

Tarkov24 · « **Reply #13 on:** February 01, 2010, 11:07:23 PM »

ano ung mcu nito master?

tiktak · « **Reply #14 on:** February 02, 2010, 04:14:37 PM »

16F84A lang yan

Tarkov24 · « **Reply #15 on:** February 02, 2010, 07:31:13 PM »

Quote from: tiktakx on February 02, 2010, 04:14:37 PM

16F84A lang yan

wow! anong compiler ginamit mo sir master? btw.. what if ganito po ung gearbox na gamitin ko

pero ung codes nyo po gagamitin ko to program the mcu...will it work?

tiktak · « **Reply #16 on:** February 02, 2010, 07:36:52 PM »

Hi tech C po yan, yup that would work, kahit sensor at opamp nga lang eh wala ng MCU
also check master glutnix tank mobot here

Tarkov24 · « **Reply #17 on:** February 02, 2010, 07:47:12 PM »

hhhmmm... nakakainspire toh...hehehe. thanks sir... i might start working on it this friday evening.hehehe.

tiktak · « **Reply #18 on:** February 02, 2010, 08:07:37 PM »

hehe wala kasing ganyang chassis dito sa province kaya ginamit ko yan tumbling car na tinda sa bangketa

pictures ha post mo din

Tarkov24 · « **Reply #19 on:** February 02, 2010, 08:38:07 PM »

yes sir! once na matapos ko un post ko pics. salamat pala sa codes in advance.hehehe. OT: san pala province mo sir?

Philippine Electronics Forum · « **Reply #19 on:** February 02, 2010, 08:38:07 PM »

Author Topic: My Differential Line Follower (Read 7184 times)

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