Autonomous docking (2017)

 

Very first testing of the Autonomous docking algorithm

International Robotics Challenge 2014

IIT Bombay

Sri Lankan Competition - SLRC 2013

• our two little brothers  

Manual Bot

Autonomous Bot

International Robotics Challenge 1st round.

Ball Shooter: Testing

Block Grabber of Manual Bot

Starting Atmel-Avr Programming

ratmcu,5/10/2014 11:42:05 AM

You might already have experiences of microcontroller programming with Microchip PIC. But as a more convenient industrial approach you may look forward to Atmel microcontrollers. So this article will guide you through the process of starting to programming Atmel AVRs with a self-made ISCP programmer. This programmer is made up with a Atmel uC itself so prior to everything we should flash our programmer uC with the firmware.

STEP 1: Building a Serial programmer to flash the firmware.

·         SI-prog: http://www.lancos.com/siprogsch.html

Fig 1: SI programmer.

STEP 2: flash the firmware and fuses to the Attiny uC using avrdude.

·         Install Avrdude on your PC.

Ø  Using the “WinAVR-20100110-install.exe-WinAVR”.

·         Open cmd and type avrdude.

·         You should see

Fig 2: avrdude console.

·         Type “avrdude –c ? “  this will give you the available list of programmers somewhere you’ll see si-prog mentioned.

·         Change thedirectory to the folder containing vusbtiny.hex file and execute following 2 commands

1.      avrdude -c usbtiny -p t45 -U flash:w:usbtiny.hex

2.      avrdude -c usbtiny -p t45 -V -U lfuse:w:0xe1:m -U hfuse:w:0x5d:m -U efuse:w:0xff:m

·         If your setup is good and you’re lucky enough you’ll see something like below.

STEP 3: building the usb programmer.

Fig 3: schematic.

Fig4: PCB layout_positions.

Fig5: PCB layout.

FilesYouNeed

Remote motor speed control using PIC microcontrollers and RF modules

1.things needed 

- 2 microcontrollers(better if both have ADC and PWM so we can have more fun).

- 2 RF modules

- MPLAB v8.xx (any version would work).

- Motor controller IC L298.

2.Procedure 

- connect 2 RF modules(receiver and transmitter) and 2 mcus on a protoboard 

- and make sure everything works fine with modules and our basic assembly code.

- have some fun with the RF modules and establishing a simple communication.

- Soldering 2 simple boards to control the speed of a motor Remotely.

3.Overview of things we are working with

1. RF modules

     

Fig1: RF transmitter and Receiver 

These were the exact modules that I used in my project anything shape is not much impotent.They work fine for the purpose and gave me a good range(~70m) even without a long antenna( 6 cm antennas were  used).

all you need to know about your module is what are the DATA,VCC(+) and GND(ground) pins and what are the idle states of their output and input.

supply power to both modules.Be careful to use 2 separate sources because sharing the same ground cause various anomalies. Then connect a LED to the out put of the Receiver and ground and try shorting DATA pin of Transmitter to the GND and VCC. If you can see LED going off corresponding to the the your pulse then Module is active LOW means it gives output by pulling it low.Make sure to record the Transmitter input(+ or -) which triggers the Receiver output too.

Fig2: I/O state detection.

4. Microcontroller coding

    

   coding is simple all you need is some proficiency in ASM. Our coding has Definitions of I/O pins to modules,I/O states of modules , a user  I/O Handling loop and RF loops.

Codes that are written for PIC16F628 could be found here.

lil' works

From Drop Box

MY 1st PCB

MY 1st Bot

 Here's My 1st Bot