linbot advanced line following robo1

Linbot advanced line following robot

by : activerobot

Linbot is an advanced line tracer robot. It has one pair of infrared emitters and sensors directed forward, as well as

three pairs of infrared emitters and sensors directed downward. Linbot can follow a black line placed on a white floor

as well as a white line on a black floor.

When it meets with an obstacle while following the line, it makes a U-turn and continues on. It comes in kit form,

allowing the user to acquire hands on experience in robotic principles.

Features

PIC16F876(Microchip).

Two modes: Simple line-tracer mode.

Line-tracer with obstacle avoidance.

Four speed settings.

Trace a black line or a white line.(Selectable)

Pulse Width Modulation(PWM) motor control.

Intelligent line tracing.

-Continual Adjustment.

-If goes off the line, can find way back.

-Can handle intersecting lines.

-In-System Programming(ISP) port.

-Source program is available on the web.

-Downloadable free development tools(MPLAB : Assembler, Linker, Debugger).

Specifications

Item Description

SIZE 125.5 x 87 x 41(H) mm

CPU PIC16C876

SENSOR Bottom: Infrared emitter x 3, Infrared sensor x 3

Front: Infrared emitter x 1, Infrared sensor x 1

MOTOR MRM-GM03 Gearbox(DC Motor x 2)

SPEED 4 speed modes : 20 - 60 cm/s

BUZZER Piezo Buzzer(ALP1205S)

LED Sensor data indicator LED x 4

KEY Jumper switch x1, Push switch x 1

PORT ISP port for MPLAB-ICD

BATTERY AA x 4(not included)

;==================================================

;

; This file is a basic code for Linbot.

; Linbot is a intelegent line tracer.

; Linbot's CPU is a PIC16F876.

;

;==================================================

;

; Filename: LINBOT.ASM

; Date: Sept,2001

; File Version: 1.0

;

; Author: James Jeong

; Company: Microrobot(www.microrobot.com)

;

;===============================================

LIST P=16F876

#INCLUDE <P16F876.INC>

;; Macros.

BANK0 MACRO

BCF STATUS,RP1

BCF STATUS,RP0

ENDM

BANK1 MACRO

BCF STATUS,RP1

BSF STATUS,RP0

ENDM

BANK2 MACRO

BSF STATUS,RP1

BCF STATUS,RP0

ENDM

BANK3 MACRO

BSF STATUS,RP1

BSF STATUS,RP0

ENDM

TURN_ON MACRO ARG1,ARG2

BCF ARG1,ARG2 ; Bit Clear.

ENDM

TURN_OFF MACRO ARG1,ARG2

BSF ARG1,ARG2 ; Bit Set.

ENDM

;;; Tempolary register defination.

START_GPR EQU 0x20 ; Start of the General Purpose Register.

DELAY_CNT1 EQU START_GPR+0

DELAY_CNT2 EQU START_GPR+1

DELAY_STACK1 EQU START_GPR+2

DELAY_STACK2 EQU START_GPR+3

TEMP_STACK1 EQU START_GPR+4



;;; Register defination.

L_AD_REG EQU START_GPR+8

C_AD_REG EQU START_GPR+9

R_AD_REG EQU START_GPR+10

F_AD_REG EQU START_GPR+11

VR_AD_REG EQU START_GPR+12

FRONT_REF_REG EQU START_GPR+13

SENSOR_REG EQU START_GPR+14

HISTORY_REG EQU START_GPR+15

;;; Each bit defination of the register.

#DEFINE PRE_OP_FLAG HISTORY_REG,0 ; Previous Operation.

#DEFINE LEFT_FLAG SENSOR_REG,0 ; AD

#DEFINE CENTER_FLAG SENSOR_REG,1 ; AD

#DEFINE RIGHT_FLAG SENSOR_REG,2 ; AD

#DEFINE FRONT_FLAG SENSOR_REG,3 ; AD

;;; Port pin defination.

#DEFINE LEFT_AD_IN PORTA,0 ; AN0

#DEFINE CENTER_AD_IN PORTA,1 ; AN1

#DEFINE RIGHT_AD_IN PORTA,2 ; AN2

#DEFINE FRONT_AD_IN PORTA,3 ; AN3

#DEFINE BUZZER_OUT PORTA,4 ; BUZZER

#DEFINE REF_AD_IN PORTA,5 ; REFRENCE VOLTAGE AN4

#DEFINE PUSH_SW_IN PORTB,0 ; PUSH SWITCH

#DEFINE JUMPER_SW_IN PORTB,1 ; JUMPER SWITCH

#DEFINE FRONT_IR_OUT PORTB,2 ; INFRARED LED

#DEFINE RIGHT_IR_OUT PORTB,3 ; INFRARED LED

#DEFINE CENTER_IR_OUT PORTB,4 ; INFRARED LED

#DEFINE LEFT_IR_OUT PORTB,5 ; INFRARED LED

#DEFINE RM_IN2_OUT PORTC,0 ; RIGHT MOTOR IN2 (RIGHT MOTOR CONTROLS LEFT WHEEL.)

#DEFINE RM_IN1_OUT PORTC,1 ; RIGHT MOTOR IN1

#DEFINE LM_IN1_OUT PORTC,2 ; LEFT MOTOR IN1 (LEFT MOTOR CONTROLS RIGHT WHEEL.)

#DEFINE LM_IN2_OUT PORTC,3 ; LEFT MOTOR IN2

#DEFINE FRONT_LED_OUT PORTC,4 ; LED

#DEFINE RIGHT_LED_OUT PORTC,5 ; LED

#DEFINE CENTER_LED_OUT PORTC,6 ; LED

#DEFINE LEFT_LED_OUT PORTC,7 ; LED

;;; Constant defination.

#DEFINE PWM_HIGH .115

#DEFINE PWM_LOW .20

#DEFINE PWM_VLOW .5

;=============================================

ORG 0X000 ; PROCESSOR RESET VECTOR

NOP ; FOR ICE

GOTO START ; GO TO BEGINNING OF PROGRAM

ORG 0X004 ; INTERRUPT VECTOR

GOTO ISR

;=============================================

ISR

RETFIE

;=============================================

START

CALL INIT_PORT

CALL INIT_ADC

CALL INIT_PWM

CALL START_SIGN

MOVLW .50

MOVWF FRONT_REF_REG

;;

MAIN

CALL READ_LEFT

CALL DELAY_1MS

CALL READ_CENTER

CALL DELAY_1MS

CALL READ_RIGHT

CALL DELAY_1MS

CALL READ_VR

CALL READ_FRONT

CLRF SENSOR_REG ; CLEAR SENSOR_REG

MOVF L_AD_REG,W

SUBWF VR_AD_REG,W ; VR - L_AD_REG

BTFSC STATUS,C

BSF LEFT_FLAG ; IF L_AD_REG > VR_AD_REG THEN SET FLAG.

MOVF C_AD_REG,W

SUBWF VR_AD_REG,W

BTFSC STATUS,C

BSF CENTER_FLAG ; IF C_AD_REG > VR_AD_REG THEN SET FLAG.

MOVF R_AD_REG,W

SUBWF VR_AD_REG,W

BTFSC STATUS,C

BSF RIGHT_FLAG ; IF R_AD_REG > VR_AD_REG THEN SET FLAG.

MOVF F_AD_REG,W

SUBWF FRONT_REF_REG,W

BTFSS STATUS,C

BSF FRONT_FLAG ; IF F_AD_REG > VR_AD_REG THEN SET FLAG.

TURN_OFF LEFT_LED_OUT

TURN_OFF CENTER_LED_OUT

TURN_OFF RIGHT_LED_OUT

TURN_OFF FRONT_LED_OUT

BTFSC LEFT_FLAG

TURN_ON LEFT_LED_OUT

BTFSC CENTER_FLAG

TURN_ON CENTER_LED_OUT

BTFSC RIGHT_FLAG

TURN_ON RIGHT_LED_OUT

BTFSC FRONT_FLAG

TURN_ON FRONT_LED_OUT

CALL DELAY_1MS

MOVLW B'00000111' ;

ANDWF SENSOR_REG,W ;

ADDWF PCL ; JUMP WITH TABLE.

GOTO NO_LINE ;0

GOTO LEFT_LINE ;1

GOTO CENTER_LINE ;2

GOTO LEFT_CENTER_LINE ;3

GOTO RIGHT_LINE ;4

GOTO NUL_LINE ;5

GOTO RIGHT_CENTER_LINE ;6

GOTO CENTER_LINE ;7

NO_LINE BTFSC PRE_OP_FLAG

GOTO LEFT_LINE

GOTO RIGHT_LINE

GOTO MAIN

LEFT_LINE CALL LEFT_SMALL

BSF PRE_OP_FLAG ; PRE_OP_FLAG=1

GOTO MAIN

CENTER_LINE CALL GO1

GOTO MAIN

LEFT_CENTER_LINE CALL LEFT_VSMALL

GOTO MAIN

RIGHT_LINE CALL RIGHT_SMALL

BCF PRE_OP_FLAG ; PRE_OP_FLAG=0

GOTO MAIN

NUL_LINE CALL GO1

GOTO MAIN

RIGHT_CENTER_LINE CALL RIGHT_VSMALL

GOTO MAIN

;==========================================

DELAY_10US

GOTO $+1

GOTO $+1

RETURN

;===========================================

DELAY_50US

MOVWF DELAY_STACK1

MOVLW .15

MOVWF DELAY_CNT1

D_50US_1

DECFSZ DELAY_CNT1

GOTO D_50US_1

MOVF DELAY_STACK1,W

RETURN

;===========================================

DELAY_100US

MOVWF DELAY_STACK1

MOVLW .30

MOVWF DELAY_CNT1

D_100US_1

DECFSZ DELAY_CNT1

GOTO D_100US_1

MOVF DELAY_STACK1,W

RETURN

;===========================================

DELAY_500US

MOVWF DELAY_STACK1

MOVLW .164

MOVWF DELAY_CNT1

D_500US_1

DECFSZ DELAY_CNT1

GOTO D_500US_1

MOVF DELAY_STACK1,W

RETURN

;===========================================

DELAY_1MS

MOVWF DELAY_STACK1

MOVLW .198

MOVWF DELAY_CNT1

D_1MS_1

GOTO $+1

DECFSZ DELAY_CNT1

GOTO D_1MS_1

MOVF DELAY_STACK1,W

RETURN

;===========================================

DELAY_5MS

CALL DELAY_1MS

CALL DELAY_1MS

CALL DELAY_1MS

CALL DELAY_1MS

CALL DELAY_1MS

RETURN

;===========================================

DELAY_50MS

MOVWF DELAY_STACK2

MOVLW .50

MOVWF DELAY_CNT2

D_50MS_1

CALL DELAY_1MS

DECFSZ DELAY_CNT2

GOTO D_50MS_1

MOVF DELAY_STACK2,W

RETURN

;===========================================

DELAY_100MS

MOVWF DELAY_STACK2

MOVLW .100

MOVWF DELAY_CNT2

D_100MS_1

CALL DELAY_1MS

DECFSZ DELAY_CNT2

GOTO D_100MS_1

MOVF DELAY_STACK2,W

RETURN

;===========================================

DELAY_500MS

CALL DELAY_100MS

CALL DELAY_100MS

CALL DELAY_100MS

CALL DELAY_100MS

CALL DELAY_100MS

RETURN

;===========================================

DELAY

MOVWF DELAY_CNT2

DELAY_LOOP1

CALL DELAY_1MS

DECFSZ DELAY_CNT2

GOTO DELAY_LOOP1

RETURN

;=======================================

INIT_PORT

BANKSEL PORTA

MOVLW B'11111111' ; BUZZER OFF

MOVWF PORTA

MOVLW B'11111111' ; IRLEDs OFF

MOVWF PORTB

MOVLW B'11110000' ; LEDs(1111) & MOTORs(0000) OFF

MOVWF PORTC

BANKSEL TRISC

MOVLW B'00000000'

MOVWF TRISC

MOVLW B'11000011'

MOVWF TRISB

BCF OPTION_REG,NOT_RBPU ; PULL UP PORTB

; FOR PUSH AND JUMPER SWs INPUT.

MOVLW B'00101111'

MOVWF TRISA

BANK0

RETURN

;===========================

;===========================

INIT_ADC

BANKSEL ADCON0

MOVLW B'01000001' ; FOSC/8, AN0, A/D IS TURNED ON.

MOVWF ADCON0

BANKSEL ADCON1

MOVLW B'00000010' ; LEFT JUSTIFIED. AD=AN0~AN5. REF=VDD,VSS.

MOVWF ADCON1

BANK0

RETURN

;=============================================

INIT_PWM

BANKSEL T2CON

MOVLW B'00000101'

MOVWF T2CON ; PRESCALER =4, POSTSCALER =1:1

; TIMER2 ON

; TIMER2 CLOCK = 0.25MHz

MOVLW B'00001111'

MOVWF CCP1CON ; 2 LSBS=0, PWM MODE

MOVWF CCP2CON ; 2 LSBS=0, PWM MODE

BANKSEL PR2

MOVLW 0XFF

MOVWF PR2 ; PERIOD = 980HZ = 250000/255

BANKSEL CCPR1L

MOVLW 0X00 ; STOP RIGHT WHEEL(LEFT MOTOR)

MOVWF CCPR1L ; PWM DUTY CYCLE REGISTER

MOVLW 0X00 ; STOP LEFT WHEEL(RIGHT MOTOR)

MOVWF CCPR2L ; PWM DUTY CYCLE REGISTER

RETURN

;========================================

;========================================

START_SIGN

BANK0

TURN_ON BUZZER_OUT

TURN_ON LEFT_LED_OUT

CALL DELAY_100MS

TURN_OFF BUZZER_OUT

CALL DELAY_100MS

TURN_OFF LEFT_LED_OUT

TURN_ON CENTER_LED_OUT

CALL DELAY_100MS

CALL DELAY_100MS

TURN_OFF CENTER_LED_OUT

TURN_ON RIGHT_LED_OUT

CALL DELAY_100MS

CALL DELAY_100MS

TURN_OFF RIGHT_LED_OUT

RETURN

;=====================================

READ_FRONT

BANKSEL ADCON0


MOVWF ADCON0

TURN_ON FRONT_IR_OUT

CALL DELAY_50US

TURN_OFF FRONT_IR_OUT

BSF ADCON0,GO_DONE

R_F_1

BTFSC ADCON0,GO_DONE

GOTO R_F_1

MOVF ADRESH,W

MOVWF F_AD_REG

BANK0

RETURN

;=====================================

READ_LEFT

BANKSEL ADCON0


MOVWF ADCON0

TURN_ON LEFT_IR_OUT

CALL DELAY_10US

CALL DELAY_10US

TURN_OFF LEFT_IR_OUT

BSF ADCON0,GO_DONE

R_L_1


GOTO R_L_1

MOVF ADRESH,W

MOVWF L_AD_REG

BANK0

RETURN

;======================================

READ_CENTER

BANKSEL ADCON0

MOVLW B'01001001' ; FOSC/8, AN1, A/D IS TURNED ON

MOVWF ADCON0

TURN_ON CENTER_IR_OUT

CALL DELAY_10US

CALL DELAY_10US

TURN_OFF CENTER_IR_OUT

BSF ADCON0,GO_DONE

R_C_1


GOTO R_C_1

MOVF ADRESH,W

MOVWF C_AD_REG

BANK0

RETURN

;====================================

READ_RIGHT

BANKSEL ADCON0


MOVWF ADCON0

TURN_ON RIGHT_IR_OUT

CALL DELAY_10US

CALL DELAY_10US

TURN_OFF RIGHT_IR_OUT

BSF ADCON0,GO_DONE

R_R_1


GOTO R_R_1

MOVF ADRESH,W

MOVWF R_AD_REG

BANK0

RETURN

;======================================

READ_VR

BANKSEL ADCON0


MOVWF ADCON0

CALL DELAY_10US

CALL DELAY_10US

BSF ADCON0,GO_DONE

R_V_1


GOTO R_V_1

MOVF ADRESH,W

MOVWF VR_AD_REG

BANK0

RETURN

;=======================================

SET_STOP

BANKSEL CCPR1L

MOVLW 0X00 ; PWM = 0

MOVWF CCPR1L ;

MOVLW 0X00 ; PWM = 0

MOVWF CCPR2L ;

RETURN

;=======================================

GO1

BANKSEL CCPR1L

MOVLW PWM_HIGH ;

MOVWF CCPR1L ;

MOVLW PWM_HIGH ;

MOVWF CCPR2L ;

BANK0

RETURN

;====================================

LEFT_SMALL

BANKSEL CCPR1L

MOVLW PWM_HIGH ;

MOVWF CCPR1L ;

MOVLW PWM_LOW ;

MOVWF CCPR2L ;

BANK0

RETURN

;====================================

LEFT_VSMALL

BANKSEL CCPR1L

MOVLW PWM_HIGH ;

MOVWF CCPR1L ;

MOVLW PWM_VLOW ;

MOVWF CCPR2L ;

BANK0

RETURN

;===================================

RIGHT_SMALL

BANKSEL CCPR1L

MOVLW PWM_LOW

MOVWF CCPR1L ;

MOVLW PWM_HIGH ;

MOVWF CCPR2L ;

BANK0

RETURN

;======================================

RIGHT_VSMALL

BANKSEL CCPR1L

MOVLW PWM_VLOW

MOVWF CCPR1L ;

MOVLW PWM_HIGH ;

MOVWF CCPR2L ;

BANK0

RETURN

;=====================================

END ; End of Program

;=====================================

linbot advanced line following robo1

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