Report on Advanced Robotics & Programming

1
Report
(Advanced Robotics)
Submitted By
ASEEM ANAND
(Electronics & Communication Engineering)

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Declaration
I, Aseem Anand hereby declare that the work which is being presented in this project report titled
“Advanced Robotics” by me, in partial fulfillment of the requirements for the award of B.Tech Degree
in “Electronics & Communication Engineering”, is an authentic record of my own work carried out.
To the best of my knowledge, the matter embodied in this report has not been submitted to any other
University/ Institute for the award of any degree or diploma.
Aseem Anand

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Acknowledgement
It is a pleasure to acknowledge many people who knowingly and unwittingly helped us, to complete this
report.
I express my gratitude to TIMTS (Times Institute of Management and Technical Studies) for
providing lots of material and knowledge.
I would like to expresses my gratitude towards All India Council of Robotics & Automation (AICRA) to
give us complete practical platform for learning, implementing and completing this report.
Aseem Anand

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List of Figures
AVR DEVELOPMENT BOARD
MICROCONTROLLER ATmega16

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MICROCONTROLLER HOLDER
DC GEARED MOTOR

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7 SEGMENT DISPLAY
LCD DISPLAY

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Table of Contents
 Declaration
 Acknowledgement
 List of Figures
 List of Tables
 Chapter 1: Introduction
1.1) About Company
1.2) About Company’s Mission & Vision
1.3) Various Areas of work
1.4) Introduction about the Project
 Chapter 2: System Specification
2.1) Software Requirements
2.2) Hardware Requirements
 Chapter 3: Software Description
3.1) Description about the software used
3.2) Describe Process about installation & uses
 Chapter 4: Hardware Description
4.1) Descriptions about the hardware in project
4.2) Describe interfacing
 Chapter 5: Coding

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Chapter 1: Introduction
1.1 Times Global.com (P) Ltd.
 It is an ISO 9001:2008 certified company.
 This company works vividly into various domains, education being 1 of them. The brand name
is stated as ‘TIMTS’.
 This brand is a leading international brand in Online Education and holds its specialization in
Management & Information Technology.
 It partners with leading institutes has provided the edge in different domains like management,
organized retail, Bio-Tech & pharmaceutical, capital market, etc.
 Help to prepare educational professionals recognized for the quality and significance of their
teaching, research, scholarship, service, outreach, and leadership.
 Enhance the commitment of faculty, staff, and students to the centrality of diversity. Sustain a
caring, supportive climate throughout the event.
About TIMTS (Times Institute of Management and Technical Studies)
 TIMTS is a leading international brand in Online Education and specialized in Management,
Information Technology, e-Security training and consulting.
 TIMTS is ISO 9001:2008 compliant.
 India’s 1st Online Institute adopted virtual live class’s methodology.
 Approved by International Association of Distance Learning (IADL), UK.
 Member of International Association of Automation & Robotics Construction (IAARC).
 Member of USDLA (United States Distance Learning association).
 TIMTS serves more than 12% of India’s top 100 companies.

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1.2 About Company’s Mission & Vision
Mission:
The mission of the College of Education is to help prepare outstanding educators, scholars, and
researchers, and to advance the profession of education, as broadly defined, through research on the
science and art of teaching and learning, the application of clinical processes, the effective uses of
technology, and the analysis and development of leadership and educational policy.
Vision:
 The College of Education will be a world leader in the integration of
(a) teaching and learning,
(b) advancement of the knowledge base through research and scholarship, and
(c) leadership in service and outreach.
 Further, the College will be a world leader in preparing professionals who provide leadership and
exemplary educational and related services to improve the lives of individuals in a changing and
complex global society.
1.3 Various Services provided by the Company:
 Robotics Lab
 Research Work
 Online Electronics Store – Robohaat.com
 Workshops, Summer Training, Winter Training
 Industrial Solution
 Engineering Solution
 Training and Certification
 Job Oriented Program

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Chapter 2: System Specification
2.1 Software Requirements
 Atmel Studio 6.0
 Win AVR
 USBASP Driver
 AVR Burn-O-Mat
2.2 Hardware Requirements
 AVR Development Board
 Microcontroller (ATMEGA16A)
 Motors
 IR Sensors
 Sound Sensors
 7 Segment Display
 LCD
 Wheels
 Connecting Wires
 Data Cable
 AUX Cable

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Chapter 3: Software Description
3.1 Description about the software used
 Atmel Studio 6.0:
Atmel®
Studio 6 is the integrated development platform (IDP) for developing and debugging Atmel
ARM®
Cortex®
-M and Atmel AVR®
microcontroller (MCU) based applications. The Atmel Studio 6
IDP gives you a seamless and easy-to-use environment to write, build and debug your applications
written in C/C++ or assembly code.
Gain insight into the run-time of embedded software with trace visualization. Percepio Trace for Atmel
Studio features:
 Control-flow trace (tasks and interrupts)
 Custom data plots
 Application debug output
 Statistical code profiling
 Support for viewing MCU event counters
 Real-time operating system (RTOS) awareness
 WinAVR:
WinAVRTM
is a suite of executable, open source software development tools for the Atmel AVR series
of RISC microprocessors hosted on the Windows platform. It includes the GNU GCC compiler for C
and C++.
WinAVRTM
contains all the tools for developing on the AVR. This includes avr-gcc (compiler), avrdude
(programmer), avr-gdb (debugger), and more! WinAVR is used all over the world from hobbyists sitting
in their damp basements, to schools, to commercial projects.
WinAVRTM
is comprised of many open source projects. If you feel adventurous, volunteers are always
welcome to help with fixing bugs, adding features, porting, writing documentation and many other tasks
on a variety of projects.
 USBASP Driver:
USBasp is a USB in-circuit programmer for Atmel AVR controllers. It simply consists of an ATMega88
or an ATMega8 and a couple of passive components. The programmer uses a firmware-only USB
driver, no special USB controller is needed.

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Features
 Works under multiple platforms. Linux, Mac OS X and Windows are tested.
 No special controllers or smd components are needed.
 Programming speed is up to 5kBytes/sec.
 SCK option to support targets with low clock speed (< 1,5MHz).
 Planned: serial interface to target (e.g. for debugging).
 AVR Burn-O-Mat:
AVR Burn-O-Mat is a cross-platform GUI for avrdude written in JAVA. It simplifies programing and
configuration of AVR microcontrollers with easy to use dialogs. The program offers support for several
microcontrollers, such as ATmega8, ATmega16, ATmega32, ATmega64, ATmega128, ATmega48,
ATmega88, ATmega168, ATmega162, ATmega8515, ATmega8335, ATmega164, ATmega324, and
others.
3.2 Describe Process about installation & uses
 Click on install button

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 Extract the file
 Click on next after clicking on the license terms

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 Select full and then click on install button
 Click on finish button and then click on next button to install Atmel USB

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 Click On License Then Next And Then Click On Install Button

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 Click on next button
 Click on Finish button

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 Click on Atmel Studio 6.1 Click on New Project

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Chapter 4: Hardware Description
4.1 Descriptions about the hardware in project
 AVR Development Board
The AVR ATMega16 Development Board can be used to evaluate
and demonstrate the capabilities of AVR ATMega16 microcontroller. The MCU socket on board
provides support for 40 pin DIP package of AVR ATMega16 controller. The board is designed
for general purpose applications and includes a variety of hardware to exercise microcontroller
peripherals. It is a fantastic tool for code debugging, development and prototyping.
Features
 Compact and Ready to use design
 Professional EMI/RFI Complaint PCB Layout Design for Noise Reduction
 High Quality Two layer PTH PCB
 Includes AT MEGA16 Microcontroller
 Board Supports AVR AT MEGA32AT MEGA8535 Microcontrollers
 No separate programmer required (Built in Boot loader)
 No Separate power adapter required (USB power source)
 Screw terminal for External power Supply (with Jumper Select Option)
 External Power Supply range of 7V to 20V
 Adaptor (any standard 9-12V power supply) option
 RS-232 Interface (For direct connection to PC’s serial port)
 On board Two Line LCD Display (2x16)
 On board I2C EEPROM (4K-AT24C04)
 On board I2C RTC (DS 1307) with Crystal and Battery
 Four multiplexed 7-Segment LED Display
 Built in Matrix keyboard (12 keys)
 Built in Pull-Up (4 Keys) Keyboard
 Built in IR Sensor Interface – TSOP 1738
 Built in 8 LED Interface to test I/O
 On Board External Interrupt and Reset buttons
 Built in Potentiometer interface to ADC
 On Board Temperature Sensor Interface (LM35)
 On Board Buzzer Interface
 On Board PWM Output pin
 On Board JTAG Connector for Debugging/Programming
 On Board ISP Connector

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 On Board 16 MHz Crystal Oscillator
 On Board Power LED Indicator
 On Board DB9 Connector
 On Board USB Connector
 All Port Pins available at IDC (2x5) Connector
 Can be used as main board for developing applications
 Power Supply Reverse Polarity Protection
 On Board 1 Amp Voltage Regulator
 Demo HEX codes included for testing of board features
 Example codes included
 Microcontroller ATMega16A
 Atmel AVR AT Mega16 with 16 MHz Crystal Oscillator (With Boot loader Software)
 16 K bytes programmable flash
 1 K bytes SRAM
 512 bytes EEPROM
 16 MHz operation (Up to 16 MIPS)
 32 I/O pins
 8 channel 10 bit ADC
 4 PWM Channels
 Two 8-Bit Timer/Counter
 One 16-Bit Timer/Counter
 One Serial USART
 1 Two Wire Serial Interface TWI
 SPI Master/ Slave
 Power Consumption
 14 mA
 Operating voltage -2.7-5.5V for ATmega16L
-4.5-5.5V for ATmega16
 Motors
It is an arrangement of coils and magnets that converts electric current (ac or dc) into
mechanical rotation. In a motor, practically all of the electromechanical energy conversion takes
place in the air gap, using magnetic fields as the energy link between the electrical input and the
mechanical output. The air-gap magnetic field is set up by current-carrying windings located on
the stator. The magnetic field exerts force on the rotor to produce the mechanical torque, on the
shaft connected to the rotor.

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Types
 AC motors
 DC motors
 DC geared motors
 Stepper motors
 Servo motors
 IR Sensors
An IR sensor is used to detect obstacles in front of the robot or to differentiate
between colour depending on the configuration of the sensor.
 Sound Sensors
The Sound Sensor is a device witch sense the sound. Sound sensor having a
microphone with an internal amplifier. The sensor measure the variations in pressure (of the air).
555 Timer plays a vital role in its working. The 555 Timer IC is an integrated circuit
implementing a variety of timer and multivibrator applications.
Operating Modes:
 Monostable Mode
 Bistable Mode
 Astable Mode
 7 Segment Display
Seven segment LED Display is display device which can display one digit at a time. One digit
is represented by arrangement of Seven LEDs in a small cubical box. For representing 3 digit
number we need three Seven segment LED Displays.

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Types
 Common Cathode
 Common Anode
 Common Cathode
We need to provide +5 V to other open ends to turn ON that particular
segments. We need to provide 0 V to other open ends to turn OFF that particular segments.
 Common Anode
We need to provide +5 V to other open ends to turn OFF that particular
segments. We need to provide 0 V to other open ends to turn ON that particular segments.
 LCD Display
It is a display device used in Embedded system to display information. It
contains 32 character space on screen arranged in 16 columns and 2 rows.
 lcd_16.c file contains LCD related functions to manipulate data on LCD.
 lcd_16.h contains LCD related macros, function signatures and settings for LCD Display.
 #include"lcd_16.h" //include lcd_16.h
 #include"lcd_16.c" //include lcd_16.c
 Include both files in your project and paste both “lcd_16.c” and “lcd_16.h” in the same
folder where your .c file resides.
lcd_init(LCD_DISP_ON)
 This function is used to initialize LCD Module with some default setting.
 This function with above argument will Start the display, clear it and put cursor on (0,0)
location.
 See lcd_16.h file for more macro.
lcd_puts(“Hello")
 This function will print Hello on the screen of LCD at current cursor location.
 After clearing the screen, current cursor location would be (0,0).
lcd_gotoxy(column, row)
 This function is used to set the current cursor location on the LCD.
 Display will always print the text/data at current cursor location.
 You can set the current cursor location any time in programming.
lcd_clrscr()
 This function will clear the Display and position the cursor on (0,0) location.
lcd_command(Macro_for_Command)
 Using this function you can execute commands of LCD module.
LCD_MOVE_DISP_LEFT
 This is the command for shifting the display to left hand side.
LCD_MOVE_DISP_RIGHT
 This is the command for shifting the display to right hand side.
 You need to execute this command 16 times to shift all current text on the screen.

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4.2 Interfacing
 AVR Development Board
 Microcontroller

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 Sound Sensor
 7 Segment Display

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Chapter 5: Coding
 LED Blinking:
#include<avr/io.h>
#include<util/delay.h>
int main()
{
while(1)
DDRB=0b11111111;
{
PORTB=0b11111111;
_delay_ms(1000);
PORTB=0b00000000;
_delay_ms(1000);
}
}
 LED Blinking using For Loop:
#include<avr/io.h>
int main()
{
DDRB=0b11111111;
int i;

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while(1)
{
for(i=1;i<=8;i=2*i)
{
PORTB=i;
_delay_ms(1000);
}
}
}
 LED Blinking (Increment & Decrement):
#define F_CPU 8000000UL
#include<avr/io.h>
int main()
{
DDRB=0b11111111;
int i;
while(1)
{
for(i=1;i<=15;i=2*i+1)
{
PORTB=i;
_delay_ms(1000);

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}
for(i=15;i>=1;i=(i-1)/2)
{
PORTB=i;
_delay_ms(1000);
}
}
}
 Line Follower:
#include <avr/io.h>
int main()
{
DDRD=0b11111111;
DDRC=0b00000000;
int ls=0, rs=0;
while(1)
{
ls=(PINC&0b00000001);
rs=(PINC&0b00000010);
{
if((ls==0b00000000)&&(rs==0b00000000))

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{
PORTD=0b00000000;
}
if((ls==0b00000000)&&(rs==0b00000010))
{
PORTD=0b00000001;
}
if((ls==0b00000001)&&(rs==0b00000000))
{
PORTD=0b00001000;
}
if((ls==0b00000001)&&(rs==0b00000010))
{
PORTD=0b00001001;
}
}
}
}
 Obstacle Avoider:
#include <avr/io.h>
#include <util/delay.h>
int main()

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{
DDRD=0b11111111;
DDRC=0b00000000;
int ls=0, rs=0;
while(1)
{
ls=(PINC&0b00000001);
rs=(PINC&0b00000010);
if((ls==0b00000000)&&(rs==0b00000000))
{
PORTD=0b00001001;
}
if((ls==0b00000010)&&(rs==0b00000000))
{
PORTD=0b00001000;
}
if((ls==0b00000000)&&(rs==0b00000001))
{
PORTD=0b00000001;
}
if((ls==0b00000010)&&(rs==0b00000001))
{
PORTD=0b00000110;
_delay_ms(500);
PORTD=0b00001000;

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_delay_ms(500);
}
}
}
 7 Segment Display-1:
#include <avr/io.h>
int main()
{
DDRD=0b11111111;
while(1)
{
PORTD=0b00111111;
_delay_ms(1000);
PORTD=0b00000110;
_delay_ms(1000);
PORTD=0b01011011;
_delay_ms(1000);
PORTD=0b01001111;
_delay_ms(1000);
PORTD=0b01100110;

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_delay_ms(1000);
PORTD=0b01101101;
_delay_ms(1000);
PORTD=0b01111101;
_delay_ms(1000);
PORTD=0b00000111;
_delay_ms(1000);
PORTD=0b01111111;
_delay_ms(1000);
PORTD=0b01101111;
_delay_ms(1000);
}
}
 7 Segment Display-2:
#include <avr/io.h>
int main()
{
DDRD=0b11111111;
while(1)
{
PORTD=0b01111110;
_delay_ms(100);

35
PORTD=0b00110000;
_delay_ms(100);
PORTD=0b01101101;
_delay_ms(100);
PORTD=0b01111001;
_delay_ms(100);
PORTD=0b00110011;
_delay_ms(100);
PORTD=0b01011011;
_delay_ms(100);
PORTD=0b01011111;
_delay_ms(100);
PORTD=0b01110000;
_delay_ms(100);
PORTD=0b01111111;
_delay_ms(100);
PORTD=0b01111011;
_delay_ms(100);
}
}
 7 Segment De-Mux:
#include <avr/io.h>

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int main()
{
DDRB=0b00001111;
DDRD=0b11111111;
while(1)
{
PORTB=0b00001000;
PORTD=0b01101101;
_delay_ms(20);
PORTB=0b00000100;
PORTD=0b01111101;
_delay_ms(20);
PORTB=0b00000010;
PORTD=0b00000111;
_delay_ms(20);
PORTB=0b00000001;
PORTD=0b01111111;
_delay_ms(20);
}
}

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 DTMF:
#include <avr/io.h>
int main()
{
int d=0;
DDRB=0b11111111;
DDRD=0b00000000;
while(1)
{
d=PIND&0b00001111;
if (d==0b00000010)
{
PORTB=0b00001001;
}
if (d==0b00000100)
{
PORTB=0b00001000;
}
if (d==0b00000110)
{
PORTB=0b00000001;
}
if (d==0b00001000)

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{
PORTB=0b00000110;
}
if (d==0b00000101)
{
PORTB=0b00000000;
}
}
}
Model

Report on Advanced Robotics & Programming

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