Controlling Motors for Robot
Download as PPT, PDF0 likes80 views
The document discusses programming the motors of a bot to move it forward, backward, and make turns. It includes code snippets that set the data direction registers and port registers to control two motors to achieve different movements like forward, backward, slight right turn, and sharp left turn. The code uses delay functions to pause the motors between movements.
Controlling Motors for Robot
- 2. Moving the bot….. MOTOR 1 MOTOR 2 MOVEMENT 10 01 FORWARD 10 00 SLIGHT RIGHT 10 10 SHARP RIGHT 00 01 SLIGHT LEFT 01 01 SHARP LEFT 01 10 BACKWARD
- 3. BOT Wheels
- 4. Lets Program the Motors… #include<avr/io.h> #include<compat/deprecated.h> #include<util/delay.h> int main(void) { DDRD=0b11111111; //PORT D pins are output// sbi(PORTD,4); //Set bit 4 of port D// sbi(PORTD,5); //Set bit 5 of port D// DDRC=0b11110000; while(1) { PORTC=0b10010000; //Move Forward } }
- 5. #include<avr/io.h> #include<compat/deprecated.h> #include<util/delay.h> int main(void) { DDRD=0b11111111; //PORT D pins are output// sbi(PORTD,4); //Set bit 4 of port D// sbi(PORTD,5); //Set bit 5 of port D// DDRC=0b11110000; while(1) { PORTC=0b10010000; //Move Forward _delay_ms(1000); PORTC=0b01100000; //Move Backward _delay_ms(1000); }
- 6. Lets turn the bot…..#include<avr/io.h> #include<compat/deprecated.h> #include<util/delay.h> int main(void) { DDRD=0b11111111; //PORT D pins are output// sbi(PORTD,4); //Set bit 4 of port D// sbi(PORTD,5); //Set bit 5 of port D// DDRC=0b11110000; while(1) { PORTC=0b10000000; //Slight right turn _delay_ms(1000); PORTC=0b10100000; //Sharp right turn _delay_ms(1000); }}
- 7. Now take a left turn…. #include<avr/io.h> #include<util/delay.h> int main(void) { DDRD=0b11111111; //PORT D pins are output// sbi(PORTD,4); //Set bit 4 of port D// sbi(PORTD,5); //Set bit 5 of port D// DDRC=0b00001111; while(1) { PORTC=0b00010000; //Slight left turn _delay_ms(1000); PORTC=0b01010000//Sharp left turn _delay_ms(1000); }