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SWARM ROBOTS USING RF COMMUNICATION

CHAPTER-1

INTRODUCTION

Swarm robotics is a new approach to the coordination of multi-robot system

which consist of large numbers of mostly simple physical robot. It is supposed that adesired collective behavior emerges from the interactions between the robots and interactionsof robots with the environment. This approach emerged on the field of artificial swarmintelligence, as well as the biological studies of insects, ants and other fields in nature,where swarm behavior occurs.

Swarm intelligence:

SI (Swarm Intelligence) systems are typically made up of a population ofsimple agents interacting locally with one another and with their environment. Theinspiration often comes from nature, especially biological systems. The agents follow verysimple rules, and although there is no centralied control structure dictating how individualagents should behave, local, and to a certain degree random, interactions between such agentslead to the emergence of !intelligent" global behavior, un#nown to the individual agents.

Swarm robotics:

Swarm robotics is a relatively new field that focuses on controlling large-scale homogeneous multi-robot systems. These systems are used to develop useful macro-level behaviors while being made of modules that are very simple in design and compact insie. These properties allow robot swarms to reach populations ranging from a doenmodules to hundreds of modules. The theme of simplicity and elegance resonates throughoutswarm robotics research in both the designs of the robots as well as the algorithms that aredevised for these systems.

1.1 Obecti!es:

1.1.1 "oals:

• $oth miniaturiation and cost are #ey-factors in swarm robotics. These arethe constraints in building large groups of robotics% therefore the simplicityof the individual team member should be emphasied.

• & lot of research has been put into achieving this goal of simplicity at theindividual robot level. $eing able to use actual hardware in research of

Swarm 'obotics in place of simulations allows researchers to come acrossand resolve a lot more issues and thus, broadens the scope of Swarm'esearch greatly.

• The goals of these proects is manifold, including but not limited to #eepingthe cost of individual robots low in order to be able to ma#e the swarmsscale-able, ma#ing each member of the swarm less demanding in terms ofresources and ma#ing them more powerenergy efficient. *ne such systemof swarm is the +I$*T 'obotic System that involves a low cost robot builtfor outdoor swarm robotics. The robots are also made to have enough

provisions for indoor use via i-i, since the /S sensors provide poorcommunication inside buildings. &nother e0ample of such an attempt is the

micro robot (1olias), built in the 1omputer Intelligence +ab at the2niversity of +incoln, 23. This micro robot is built on a 4 cm circular

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chassis and is low-cost and open platform for use in a variety of Swarm'obotics applications.

1.1.# $%nctionalities&

• It can be switched to master and slave mode.• Slave robots wor#s on the commands which are transmitted by

the master robot.• &bstacle avoidance.

1.# Re'%irements:

5. 'e6uires a microcontroller to control all the actions.

7. & master communication module to send commands and to receiveinformation to monitor their presence.

8. Slave communication module to send its availability.

4. 1ommunication medium.

9. Slider switch setup.. /ush button setup.

;. ' communication medium.

<. /ower supply system.

1.( Re)ort organisation&

C*a)ter 1& =escribes about the Introduction of the proect, scope and of the proect.

C*a)ter #& =escribes the literature survey% here it compares the different microcontrollersand selecting best components suitable for application. &lso describes some of the specific

reasons for selecting every component in the design.C*a)ter (& =escribes the over view of the system with bloc# diagrams of the base

modules, also describes features of each and every component and tools used in the

design.

C*a)ter +& =escribes the design and implementation of Swarm robots by mention se6uenceof design steps which are followed while designing. &lso scribes the circuit diagram.

C*a)ter ,& =escribes about the problems faced while designing and also shows the

results.

C*a)ter & =escribes about the conclusion and future wor# of the proect.

inally, references are given and at the end source code of the proect which is

simulated using code composer studio is shown.

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CHAPTER-#

REUIRE/ENT ANA0SIS

Intro2%ction&

Comm%nication Tec*nolog3&

• 1ommunication is giving, receiving or e0changing ideas, information, signals ormessages through appropriate media, enabling individuals or groups to persuade, tosee# information, to give information or to e0press emotions.

#.1 Selecting /icrocontroller&

/icrocontroller 2e4inition&

• & microcontroller is a computer present in a single integrated circuit which isdedicated to perform one tas# and e0ecute one specific application.

• It contains memory, programmable inputoutput peripherals as well a processor.>icrocontrollers are mostly designed for embedded applications and are heavily usedin automatically controlled electronic devices such as cellphones, cameras,microwave ovens, washing machines, etc.

The important features that every microcontroller must have are as following:

5. Sie of 1/2.

7. re6uency of operation.

8. /ower consumption.

4. 'e6uired interfacing features.

9. ?umber of input and output pins.

'e6uirements of the designs are

. +ess power consumption.

;. /ortability.

<. Speed in operation.

@. +ess comple0 design.

5A. Small in sie.

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logic AA or 55 will stop the corresponding motor. +ogic A5 and 5A will rotate it in cloc#wise

and anticloc#wise directions, respectively.

Dnable pins 5 and @ (corresponding to the two motors) must be high for motors to startoperating. hen an enable input is high, the associated driver gets enabled. &s a result, the

outputs become active and wor# in phase with their inputs. Similarly, when the enable input

is low, that driver is disabled, and their outputs are off and in the high-impedance state.

/in ?o unction5 Dnable pin for >otor 5% active high7 Input 5 for >otor 58 *utput 5 for >otor 54 round (AC)

9 round (AC) *utput 7 for >otor 5; Input 7 for >otor 5< Supply voltage for >otors% @-57C (u@ Dnable pin for >otor 7% active high

5A Input 5 for >otor 555 *utput 5 for >otor 557 round (AC)58 round (AC)54 *utput 7 for >otor 5

59 Input7 for >otor 55 Supply voltage% 9C (up to 8C)

TA90E& Table 4or motor 2ri!er :0#(;D<

#.( P%s* b%tton&

& push-button (also spelled pushbutton) or simply button is asimple switch mechanism for controlling some aspect of a machine or a process. $uttons aretypically made out of hard material, usually plastic and metal. The surface is usually flat orshaped to accommodate the human finger or hand, so as to be easily depressed or pushed.$uttons are most often biased switches, though even many un-biased buttons (due to their

physical nature) re6uire a spring to return to their un-pushed state. =ifferent people usedifferent terms for the JpushingJ of the button, such as press, depress, mash, hit, and punch.

#.+ Sli2er Switc*&

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https://en.wikipedia.org/wiki/Switch

https://en.wikipedia.org/wiki/Switch




Slide switches are one of the most common switches used in electricaldevices. 1ompact sied and operable with only a finger, slide switches are important as theirabsence can render the device useless in absence of the capability to switch *? and *without having to pull the mains cord. It is uncanny to list all the applications where slideswitch is used. rom electrical chimneys to hand blender in the #itchen, from lamp to the toy

car in the living room, slide switches are almost omni present.e are used to see switchesand use it as a blac# bo0.

#., So4tware&

To proceed with above selected components, there is a need of softwareBs to

simulate, debug the code. or that we re6uire a very good debugging tool which is easy to

understand and easy to wor# out.

Fere we use following software to stimulate the code and debug thesoftware. e use:

5. /roteus

7. &C' studio -4.

1. A8R St%2io-+&

&C' studio-4 is a software used to code the program as re6uired from thefunction of our application. 1oding the program in &C' studio-4 is very easy to write andalso very easy to understand. The code can be understand easily by anyone.

$ig&#.,.1& s*ows e2itor win2ow o4 A8R st%2io-+

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#.Prote%s&

/roteus is a software used for real time stimulation. In proteus we get all thecomponents which are re6uired for the stimulation of our application.

$ig%re.#.,.#&s*ows t*e stim%lation win2ow in )rote%s so4tware

CHAPTER-(

SSTE/ O8ER8IE=

Intro2%ction&

Swarm robot means group of robots communicating with each other andwor#ing on one particular goal together. The group of robots wor#ing on one particular goalon the instructions of on master robot. The robots are divided in two modeBs one robot will

be in master mode and other will be in slave mode. &ll the slave robots wor#s according to

the instruction of master robot.

The components re6uired to build Swarm robots are a &T>D&-5 >icrocontroller, +78@=motor driver,FT57D(encoder which is at transmitter side),FT57= decoder(which will be atreceiver side), transmitter and receiver module, +D=Bs, /ush button, Slider switch etc.

(.1 9loc> 2iagram&

/ower supply

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Sensors

>I1'*1*?T'*++D'(&T>D&5)

' Transmitter

>ode select

(>aster andSlave)

' 'eceiver

$ig%re (.1& bloc> 2iagram o4 swarm robots

(.# Com)onents Descri)tion&

(.#.1 Arc*itect%re o4 AT/E"A-1&

(.#.1.1 Pin Diagram o4 AT/E"A-1&

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$ig%re&(.#.1 )in 2iagram o4 AT/E"A-1

(.#.1.# Pin 2escri)tion o4 AT/E"A-1&

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Pin No. Pin name Descri)tion Alternate $%nction

5(K13TA)/$A

I* /*'T$, /in ATA: TimerA D0ternal 1ounter Input.

K13 : 2S&'T D0ternal 1loc# I*

7 (T5) /$5 I* /*'T$, /in 5 T5:Timer5 D0ternal 1ounter Input

8(I?T7&I?A)/$7

I* /*'T$, /in 7&I?A: &nalog 1omparator /ositive I/

I?T7: D0ternal Interrupt 7 Input

4(*1A&I?5)/$8

I* /*'T$, /in 8

&I?5: &nalog 1omparator ?egative I/

*1A : TimerA *utput 1ompare >atch*utput

9 (SS) /$4 I* /*'T$, /in 4

In System /rogrammer (IS/)

Serial /eripheral Interface (S/I)

(>*SI) /$9 I* /*'T$, /in 9

; (>IS*) /$ I* /*'T$, /in

< (S13) /$; I* /*'T$, /in ;

@ 'DSDT'eset /in, &ctive+ow 'eset

5A Ccc Ccc L M9C

55 ?= '*2?=

57 KT&+7 *utput to Inverting *scillator &mplifier

58 KT&+5 Input to Inverting *scillator &mplifier

54 ('K=) /=A I* /*'T=, /in A2S&'T Serial 1ommunication Interface

59 (TK=) /=5 I* /*'T=, /in 5

5 (I?TA) /=7 I* /*'T=, /in 7 D0ternal Interrupt I?TA

5; (I?T5) /=8 I* /*'T=, /in 8 D0ternal Interrupt I?T5

5< (*15$) /=4 I* /*'T=, /in 4/> 1hannel *utputs

5@ (*15&) /=9 I* /*'T=, /in 9

7A (I1/) /= I* /*'T=, /in Timer1ounter5 Input 1apture /in

75 /=; (*17) I* /*'T=, /in ;Timer1ounter7 *utput 1ompare >atch*utput

77 /1A (S1+) I* /*'T1, /in ATI Interface

78 /15 (S=&) I* /*'T1, /in 5

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74 /17 (T13) I* /*'T1, /in 7

NT& Interface79 /18 (T>S) I* /*'T1, /in 8

7 /14 (T=*) I* /*'T1, /in 4

7; /19 (T=I) I* /*'T1, /in 9

7</1(T*S15)

I* /*'T1, /in Timer *scillator /in 5

7@/1;(T*S17)

I* /*'T1, /in ; Timer *scillator /in 7

8A &Ccc Coltage Supply L Ccc for &=1

85 ?= '*2?=

87 &'D &nalog 'eference /in for &=1

88 /&; (&=1;) I* /*'T&, /in ; &=1 1hannel ;

84 /& (&=1) I* /*'T&, /in &=1 1hannel

89 /&9 (&=19) I* /*'T&, /in 9 &=1 1hannel 9

8 /&4 (&=14) I* /*'T&, /in 4 &=1 1hannel 4

8; /&8 (&=18) I* /*'T&, /in 8 &=1 1hannel 8

8< /&7 (&=17) I* /*'T&, /in 7 &=1 1hannel 7

8@ /&5 (&=15) I* /*'T&, /in 5 &=1 1hannel 5

4A /&A (&=1A) I* /*'T&, /in A &=1 1hannel A

Table&(.#.1.# & Table 4or )in 2escri)tion o4 AT/E"A-1

(.#.1.( 9loc> 2iagram o4 AT/E"A-1&

The &C' core combines a rich instruction set with 87 general purpose wor#ing registers. &ll

the 87 registers are directly connected to the &rithmetic +ogic 2nit (&+2), allowing twoindependent registers to be accessed in one single instruction e0ecuted in one cloc# cycle.

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$ig&(.#.1.(& Internal arc*itect%re o4 microcontroller

The Idle mode stops the 1/2 while allowing the 2S&'T, Two-wire interface, &=1onverter, S'&>, Timer1ounters, S/I port, and interrupt system to continue functioning.

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The /ower-down mode saves the register contents but freees the *scillator, disabling allother chip functions until the ne0t D0ternal Interrupt or Fardware 'eset. In /ower-save mode,the &synchronous Timer continues to run, allowing the user to maintain a timer base whilethe rest of the device is sleeping. The &=1 ?oise 'eduction mode stops the 1/2 and all I*modules e0cept &synchronous Timer and &=1, to minimie switching noise during &=1conversions. In Standby mode, the crystalresonator *scillator is running while the rest of thedevice is sleeping. This allows very fast start-up combined with low-power consumption. InD0tended Standby mode, both the main *scillator and the &synchronous Timer continue torun. The device is manufactured using &tmelBs high density nonvolatile memory technology.The *nchip IS/ lash allows the program memory to be reprogrammed in-system through anS/I serial interface, by a conventional nonvolatile memory programmer, or by an *n-chip$oot program running on the &C' core. The boot program can use any interface to downloadthe application program in the &pplication lash memory. Software in the $oot lash sectionwill continue to run while the &pplication lash section is updated, providing true 'ead-hile-rite operation. $y combining an <-bit 'IS1 1/2 with In-System Self-/rogrammable lash on a monolithic chip, the &tmel &Tmega5 is a powerfulmicrocontroller that provides a highly-fle0ible and cost-effective solution to many embeddedcontrol applications. The &Tmega5 &C' is supported with a full suite of program andsystem development tools including: 1 compilers, macro assemblers, programdebuggersimulators, in-circuit emulators, and evaluation #its.

C11: =igital supply voltage.

?= :round.

/ort & (/&;../&A): /ort & serves as the analog inputs to the &= 1onverter. /ort & also serves

as an <-bit bi-directional I* port, if the &= 1onverter is not used. /ort pins can provideinternal pull-up resistors (selected for each bit). The /ort & output buffers have symmetricaldrive characteristics with both high sin# and source capability. hen pins /&A to /&; areused as inputs and are e0ternally pulled low, they will source current if the internal pull-upresistors are activated. The /ort & pins are tri-stated when a reset condition becomes active,even if the cloc# is not running.

/ort $ (/$;../$A): /ort $ is an <-bit bi-directional I* port with internal pull-up resistors(selected for each bit). The /ort $ output buffers have symmetrical drive characteristics with

both high sin# and source capability. &s inputs, /ort $ pins that are e0ternally pulled low will

source current if the pull-up resistors are activated. The /ort $ pins are tri-stated when a resetcondition becomes active, even if the cloc# is not running.

/ort 1 (/1;../1A): /ort 1 is an <-bit bi-directional I* port with internal pull-up resistors(selected for each bit). The /ort 1 output buffers have symmetrical drive characteristics with

both high sin# and source capability. &s inputs, /ort 1 pins that are e0ternally pulled low willsource current if the pull-up resistors are activated. The /ort 1 pins are tri-stated when a resetcondition becomes active, even if the cloc# is not running. If the NT& interface is enabled,the pull-up resistors on pins /19(T=I), /18(T>S) and /17(T13) will be activated even if areset occurs. /ort = (/=;../=A): /ort = is an <-bit bi-directional I* port with internal pull-up resistors (selected for each bit). The /ort = output buffers have symmetrical drive

characteristics with both high sin# and source capability. &s inputs, /ort = pins that are

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e0ternally pulled low will source current if the pull-up resistors are activated. The /ort = pinsare tri-stated when a reset condition becomes active, even if the cloc# is not running.

'DSDT: 'eset Input. & low level on this pin for longer than the minimum pulse length willgenerate a reset, even if the cloc# is not running. The minimum pulse length is given in Table

59 on page 8<. Shorter pulses are not guaranteed to generate a reset. KT&+5: Input to the inverting *scillator amplifier and input to the internal cloc# operatingcircuit. KT&+7 :*utput from the inverting *scillator amplifier.

&C11: &C11 is the supply voltage pin for /ort & and the &= 1onverter. It should bee0ternally connected to C11, even if the &=1 is not used. If the &=1 is used, it should beconnected to C11 through a low-pass filter.

&'D: &'D is the analog reference pin for the &= 1onverter

(.( DC /otor Dri!er :0#(;D<&

$ig&(.( & 4ig%re 4or motor2ri!er:0#(;D< )in 2iagram

The +7@8= are 6uadruple high-current half-F drivers.. The +7@8= is designed to provide bidirectional drive currents of up to AA-m& at voltages from 4.9 C to 8 C. $oth

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devices are designed to drive inductive loads such as relays, solenoids, dc and bipolarstepping motors, as well as other high-currenthigh-voltage loads in positive-supplyapplications. &ll inputs are TT+ compatible. Dach output is a complete totem-pole drivecircuit, with a =arlington transistor sin# and a pseudo =arlington source. =rivers are enabledin pairs, with drivers 5 and 7 enabled by 5,7D? and drivers 8 and 4 enabled by 8,4D?. henan enable input is high, the associated drivers are enabled, and their outputs are active and in

phase with their inputs. hen the enable input is low, those drivers are disabled, and theiroutputs are off and in the high-impedance state. ith the proper data inputs, each pair ofdrivers forms a full-F (or bridge) reversible drive suitable for solenoid or motor applications

The driver I1 +7@8= is 6uad push-pull drivers capable of delivering output currents to 5& per channel respectively. Dach channel is controlled by a TT+-compatible logic input andeach pair of drivers (a full bridge) is e6uipped with an inhibit input available at pin 5 and pin@. The motor will run only when chip inhibit is at high logic i.e. chip inhibit is enabled. Theconnection diagram is shown below:

$ig&(.(.1& Pin 2escri)tion o4 0#(;D

(.+ Comm%nication s3stem&

(.+.1 Transmitter an2 Recei!er mo2%le&

e use a transmitter and receiver module. To reduce noise near transmitter and receiver sidewe connect to other components to transmitter and receiver modules. To transmitter weconnect a encoder i.e., FT57D and a decoder to receiver i.e., FT57=. These two componentshelps to reduce noise and transmitter and receiver.

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(.+.1.1 Enco2er at Transmitter:HT1#E<&

$ig&(.+.1.1 & 4ig%re o4 HT1#E enco2er

HT1#E is an enco2er integrate2 circ%it of 757 series of encoders. They are paired with

757 series of decoders for use in remote control system applications. It is mainly used in

interfacing ' and infrared circuits. The chosen pair of encoderdecoder should have same

number of addresses and data format.

Simply put, FT57D converts the parallel inputs into serial output. It encodes the 57 bit

parallel data into serial for transmission through an ' transmitter. These 57 bits are divided

into < address bits and 4 data bits.

FT57D has a transmission enable pin which is active low. hen a trigger signal is received

on TD pin, the programmed addressesdata are transmitted together with the header bits via an

' or an infrared transmission medium. FT57D begins a 4-word transmission cycle upon

receipt of a transmission enable. This cycle is repeated as long as TD is #ept low. &s soon as

TD returns to high, the encoder output completes its final cycle and then stops.

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(.+.1.# Pin Descri)tion o4 HT1#E&

Pin No $%nction

5

< bit &ddress pins for input

7

8

4

9

;

<

@ round (AC)

5A

4 bit =ata&ddress pins for input

55

57

58

54 Transmission enable% active low

59 *scillator input

5 *scillator output

5; Serial data output

5< Supply voltage% 9C (7.4C-57C)

Table&(.+.1.# & Table 4or HT1#E enco2er

(.+.1.( Deco2er at recei!er mo2%le:HT1#D<&

HT1#D is a 2eco2er integrate2 circ%it that belongsto 757 series of decoders. This series of decoders are mainly used for remote control systemapplications, li#e burglar alarm, car door controller, security system etc. It is mainly providedto interface ' and infrared circuits. They are paired with 757 series of encoders. The chosen

pair of encoderdecoder should have same number of addresses and data format.

Dept of ECE, NCET Page 1!




In simple terms, FT57= converts the serial input into parallel outputs. It decodes the

serial addresses and data received by, say, an ' receiver, into parallel data and sends them to

output data pins. The serial input data is compared with the local addresses three times

continuously. The input data code is decoded when no error or unmatched codes are found. &

valid transmission in indicated by a high signal at CT pin.

FT57= is capable of decoding 57 bits, of which < are address bits and 4 are data bits. The

data on 4 bit latch type output pins remain unchanged until new is received.

(.+.1.+ Pin Descri)tion&

$ig&(.+.1.+& 4ig%re o4 HT1#D 2eco2er

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/I? =DS1'I/TI*? :

Pin No $%nction

5

< bit &ddress pins for input

7

8

4

9

;

<

@ round (AC)

5A

4 bit =ata&ddress pins for output55

57

58

54 Serial data input

59 *scillator output

5 *scillator input

5; Calid transmission% active high

5< Supply voltage% 9C (7.4C-57C)

Table&(.+.1.+ & Table o4 HT1#D )in 2escri)tion

(., /o2e select :/aster an2 Sla!e mo2e<&

& robot can either be in master mode or slave. If it is in

master mode then the slave robots wor#s on the commands of master robot i.e., the slave

robots follows the swarm robots, and if a robot will b in slave mode than if receives all the

data and command from the master robot. The process of selecting master mode or slave

mode is called as mode selection, and it can be done by slider switch.

Dept of ECE, NCET Page 1#




(.,.1 Sli2er switc*& Slide switches are one of the most common switches used in electricaldevices. 1ompact sied and operable with only a finger, slide switches are important as their absence can render the device useless in absence of the capability to switch *? and *without having to pull the mains cord. It is uncanny to list all the applications where slide

switch is used. rom electrical chimneys to hand blender in the #itchen, from lamp to the toycar in the living room, slide switches are almost omnipresent.

e are used to see switches and use it as a blac# bo0.

$ig&(.,.1& sli2er switc*

If it is in *? mode i.e., slider switchL5 then it is in >aster mode. If it is in * mode i.e., slider switchLA the it is in Slave mode.





CHAPTER-+

DESI"N AND I/P0E/ENTATION

Intro2%ction&

In previous chapter we discussed about the components which are re6uired for the design of swarm robots. $ut only selecting components is not enough, the interfacing each and everycomponent should be done very carefully, interfacing enhances the proect. In this chapter weinterface and connect the components with each other. &fter designing we write the re6uiredcode or program for our proect by using &C' studio-4 according to our need. or testing our

proect we use /roteus for stimulation.

+.1 Design&

+.1.1 Inter4acing o4 AT/E"A-1 microcontroller wit* 0#(;D motor 2ri!er&

=1 >otor =river is a +7@8= based motor driver interface board from &$+abSolutions. The main aim of interfacing =1 motor with any microcontroller is to control thedirection and speed of a =1 motor. $ut due to high voltage and current re6uirement of =1motors, it cannot be interfaced directly with microcontrollers. So, to interface =1 motor withany microcontroller, you need a motor driver.

>otor driver is basically a current amplifier which ta#es a low-current signal from themicrocontroller and gives out a proportionally higher current signal which can control anddrive a motor. +7@8= is a dual F-$ridge motor driver I1. ith one +7@8= I1 we caninterface two =1 motors which can be controlled in both cloc#wise and counter cloc#wisedirection.

In this proect, we will learn Fow to interface a +7@8= based =1 >otor =river in 9C modewith &C' &Tmega5 microcontroller. The 9C mode is used to run a =1 motor at constantspeed in cloc#wise and anti-cloc#wise direction. In 9C mode, 9C is given to two enable pinsof +7@8=. Fere, we will use the =1 >otor =river to control the direction of two =1 motor

mounted on a 'obot at constant speed.The &Tmega5 microcontroller will provide the necessary signal to the =1 >otor =river torun the robot in forward, left, right, reverse direction and to stop it respectively each for 7minutes. The below table shows the different directions of =1 motor with different signals to=1 >otor =river .

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Table&+.1.1& Direction o4 DC motor

The direction of movement of the =1 motors depends on the connection of =1 motors withthe =1 >otor =river.

Har2wares Re'%ire2&

• &C' Trainer $oard-5AA-5pc

• &C' 2S$ /rogrammer-5pc

• 57C, 5& =1 &dapter-5pc

• =1 >otor =river-5pc

• 5 to 5 1onnector-5pc

• 5A to 5A '1 emale 1onnector-7pcs

• 'obot-5pc

• 2S$ &>-& 1able (*ptional)-5pc

So4twares Re'%ire2&

• &C' Studio 4

• in&C' -7A5A

• Sina/rog Fe0 =ownloader

• 2S$asp =river

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Input 5 Input 7 =irection of =1 >otor

A A Stop

A 5 &nti-1loc#wise

5 A 1loc#wise

5 5 Stop




Circ%it Diagram&

1ircuit diagram showing connections from &T>D& 5 to motors through +7@8= motordriver.

& $ig&(.+.1&Circ%it 2iagram o4 0#;(D DC motor 2ri!er inter4acing wit* AT/E"A-1

Connection "%i2e&

The step-by-step connection guide for +7@8= based =1 >otor =river Interfacing with&Tmega5 in 9C >ode proect is as follows:

• Insert the =1 /in of 57C, 5& =1 &dapter to the =1 Soc#et of &C' Trainer $oard-5AA.

• 1onnect /ort$ header of &C' Trainer $oard-5AA with Input header of =1 >otor =river with a 5A to 5A '1 emale 1onnector.

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• 1onnect the 57C pin of /> E >otor Coltage header of =1 >otor =river with the 57Cheader of &C' Trainer $oard-5AA with a 5 to 5 1onnector.

• 1onnect the 'obot connector to the *utput header of the =1 >otor =river.

• Switch off the >ode Switch of =1 >otor =river.

• 1onnect the IS/ header of &C' Trainer $oard-5AA with &C' 2S$ /rogrammer header of &C' 2S$ /rogrammer with a 5A to 5A '1 emale 1onnector.

• 1onnect the &C' 2S$ /rogrammer to the /1+aptopBs 2S$ /ort directly or with the helpof 2S$ &>-> 1able.

• Switch on the power with the help of /ower Switch of &C' Trainer $oard-5AA.

• =ownload the +7@8= based =1 >otor =river Interfacing with &Tmega5 in 9C >odeFe0 file to &C' Trainer $oard-5AA with the help of Sina/rog Fe0 downloader and &C' 2S$ /rogrammer.

• See the result

+.1.# R$ 9ase2 =ireless Remote %sing R?-T? /o2%les :+(+/H@.<&

Summary of the proect This circuit utilies the ' module (T0'0) for ma#ing a wirelessremote, which could be used to drive an output from a distant place. ' module, as the namesuggests, uses radio fre6uency to send signals. These signals are transmitted at a particular fre6uency and a baud rate. & receiver can receive these signals only if it is configured for thatfre6uency. & four channel encoderdecoder pair has also been used in this system. The inputsignals, at the transmitter side, are ta#en through four switches while the outputs aremonitored on a set of four +D=s corresponding to each input switch. The circuit can be usedfor designing 'emote &ppliance 1ontrol system. The outputs from the receiver can drivecorresponding relays connected to any household appliance.

+.1.#.1 Descri)tion &

This radio fre6uency (') transmission system employs &mplitude Shift3eying (&S3) with transmitterreceiver (T0'0) pair operating at 484 >F. The transmitter module ta#es serial input and transmits these signals through '. The system allows one waycommunication between two nodes, namely, transmission and reception. The ' module has

been used in conunction with a set of four channel encoderdecoder I1s. Fere FT57D EFT57= have been used as encoder and decoder respectively. The encoder converts the parallelinputs (from the remote switches) into serial set of signals. These signals are seriallytransferred through ' to the reception point. The decoder is used after the ' receiver to

decode the serial format and retrieve the original signals as outputs. These outputs can beobserved on corresponding +D=s.

Dept of ECE, NCET




Dncoder I1 (FT57D) receives parallel data in the form of address bits and control bits. Thecontrol signals from remote switches along with < address bits constitute a set of 57 parallelsignals. The encoder FT57D encodes these parallel signals into serial bits. Transmission isenabled by providing ground to pin54 which is active low. The control signals are given at

pins 5A-58 of FT57D. The serial data is fed to the ' transmitter through pin5; of FT57D.

Transmitter, upon receiving serial data from encoder I1 (FT57D), transmits it wirelessly tothe ' receiver. The receiver, upon receiving these signals, sends them to the decoder I1(FT57=) through pin7. The serial data is received at the data pin (=I?, pin54) of FT57=. Thedecoder then retrieves the original parallel format from the received serial data.

hen no signal is received at data pin of FT57=, it remains in standby mode and consumesvery less current (less than 5&) for a voltage of 9C. hen signal is received by receiver, it isgiven to =I? pin (pin54) of FT57=. *n reception of signal, oscillator of FT57= getsactivated. I1 FT57= then decodes the serial data and chec#s the address bits three times. If these bits match with the local address pins (pins 5-<) of FT57=, then it puts the data bits onits data pins (pins 5A-58) and ma#es the CT pin high. &n +D= is connected to CT pin (pin5;)

of the decoder. This +D= wor#s as an indicator to indicate a valid transmission. Thecorresponding output is thus generated at the data pins of decoder I1. & signal is sent bylowering any or all the pins 5A-58 of FT57D and corresponding signal is received at receiverBsend (at FT57=). &ddress bits are configured by using the by using the first < pins of bothencoder and decoder I1s. To send a particular signal, address bits must be same at encoder and decoder I1s. $y configuring the address bits properly, a single ' transmitter can also beused to control different ' receivers of same fre6uency.

To summarie, on each transmission, 57 bits of data is transmitted consisting of < address bitsand 4 data bits. The signal is received at receiverBs end which is then fed into decoder I1. If address bits get matched, decoder converts it into parallel data and the corresponding data bitsget lowered which could be then used to drive the +D=s. The outputs from this system caneither be used in negative logic or ?*T gates (li#e ;4+SA4) can be incorporated at data pins.

+.1.#.# Circ%it 2iagram 4or HT1#E wit* Transmitter mo2%le&

Dept of ECE, NCET




$ig&+.1.#& Circ%it 2iagram o4 transmitter mo2%le wit* HT1#E

+.1.#.( Circ%it 2iagram HT1#D wit* Recei!er mo2%le&





$ig&+.1.#.(& Circ%it 2iagram o4 recei!er mo2%le wit* HT1#D

+.1.( R$ /o2%les :+(+/H@< &

The ' module, as the name suggests, operates at 'adio

re6uency. The corresponding fre6uency range varies between 8A #F E 8AA F. In this 'system, the digital data is represented as variations in the amplitude of carrier wave. This #indof modulation is #nown as &mplitude Shift 3eying (&S3).

Transmission through ' is better than I' (infrared) because of many reasons. irstly, signalsthrough ' can travel through larger distances ma#ing it suitable for long range applications.&lso, while I' mostly operates in line-ofsight mode, ' signals can travel even when there isan obstruction between transmitter E receiver. ?e0t, ' transmission is more strong andreliable than I' transmission. ' communication uses a specific fre6uency unli#e I' signalswhich are affected by other I' emitting sources.

This ' module comprises of an ' Transmitter and an ' 'eceiver. The transmitterreceiver (T0'0) pair operates at a fre6uency of 484 >F. &n ' transmitter receives serial data andtransmits it wirelessly through ' through its antenna connected at pin4.

The transmission occurs at the rate of 53bps - 5A3bps.The transmitted data is received by an' receiver operating at the same fre6uency as that of the transmitter.

The ' module is often used along with a pair of encoderdecoder. The encoder is used for encoding parallel data for transmission feed while reception is decoded by a decoder. FT57D-FT57=, FT4A-FT4<, etc. are some commonly used encoderdecoder pair I1s.





+.1.(.1 Pin Diagram o4 Transmitter an2 Recei!er mo2%le&

$ig&+.1.(.1& Transmitter an2 Recei!er mo2%le

+.1.(.# Pin Descri)tion&

a< Transmitter /o2%le&

/in ?umber unction ?ame

5 round (AC) ?=

7 Serial =ata Input /in =&T&

8 Supply Coltage(9C) C11

4 &ntenna *utputpin &?T

Table &+.1.(.#:a<& Pin 2escri)tion o4 Transmitter mo2%le

Recei!er /o2%le&





/in

?umber

unction ?ame

5 round (AC) ?=

7 Serial =ata *utput /in =&T&

8 +inear *utput /in% ?ot 1onnected ?1

4 Supply Coltage (9C) C11

9 Supply Coltage (9C) C11

round (AC) ?=

; round (AC) ?=

< <&ntenna Input /in &?T

Table&+.1.(.#:b<& Pin 2escri)tion o4 Recei!er mo2%l

+.1.+ Reg%late2 DC Power s%))l3&

;<A9 is a voltage regulator integrated circuit. It is a member of ;<00 series of fi0ed linearvoltage regulator I1s. The voltage source in a circuit may have fluctuations and would notgive the fi0ed voltage output. The voltage regulator I1 maintains the output voltage at aconstant value. The 00 in ;<00 indicates the fi0ed output voltage it is designed to provide.;<A9 provides M9C regulated power supply. 1apacitors of suitable values can be connected atinput and output pins depending upon the respective voltage levels.

Pin 2iagram o4 56,&





$ig&+.1.+& Pin 2iagram an2 9loc> 2iagram o4 0/56, Reg%late2 DC )ower s%))l3

+.1.+. Pin Descri)tion&

Table&+.1.+.1& )in 2escri)tion o4 0/56, DC Power S%))l3

Com)onent 0ist &

5. Step down transformer

7. Coltage regulator

8. 1apacitors

4. =iodes

8oltage reg%lator &

&s we re6uire a 9C we need +>;<A9 Coltage 'egulator I1.

;<A9 I1 'ating :





• Input voltage range ;C- 89C

• 1urrent rating Ic L 5&

•

*utput voltage range C>a0L9.7C ,C>inL4.<C

Trans4ormer &

Selecting a suitable transformer is of great importance. The current

rating and the secondary voltage of the transformer is a crucial factor.

$ig&+.1.+.1:a<& Centre ta))e2 Trans4ormer

Dept of ECE, NCET




• The current rating of the transformer depends upon the current re6uired for the load to

be driven.

• The input voltage to the ;<A9 I1 should be at least 7C greater than the re6uired 7C

output, therefore it re6uires an input voltage at least close to ;C.

• So I chose a -A- transformer with current rating 9AAm& (Since OP7 L <.4C).

NOTE : &ny transformer which supplies secondary pea# voltage up to 89C can be used but as

the voltage increases sie of the transformer and power dissipation across regulator increases.

Recti43ing circ%it &

The best is using a full wave rectifier

• Its advantage is =1 saturation is less as in both cycle diodes conduct.

• Figher Transformer 2tiliation actor (T2).

• 5?4AA; diodes are used as its is capable of withstanding a higher reverse voltage of

5AAAv whereas 5?4AA5 is 9AC

Ca)acitors :

3nowledge of 'ipple factor is essential while designing the values of capacitors

It is given by

• QL5(4P8f'1) (as the capacitor filter is used)

5. fL fre6uency of &1 ( 9A F)

7. 'Lresistance calculated

'L CIc

CL secondary voltage of transformer

• CLP7L<. 4

• 'L<.499AAm&L5.@R standard 5<R chosen

Dept of ECE, NCET




8. 1L filtering capacitance

e have to determine this capacitance for filtering

QLCac-rmsCdc

Cac-rms L Cr 7P8

CdcL C>a0-(Cr 7)

CrL C>a0- C>in

• Cr L 9.7-4.< LA. 4C

• Cac-rms L .844C

• Cdc L 9C

• QLA .A@7<

Fence the capacitor value is found out by substituting the ripple factor in QL5(4P8f'1)

Thus, 1L 7854 and standard 77AA is chosen

=atasheet of ;<A9 prescribes to use a A.A5 capacitor at the output side to

avoid transient changes in the voltages due to changes in load and a A.88 at the input side

of regulator to avoid ripples if the filtering is far away from regulator.

Circ%it Diagram&

Dept of ECE, NCET




$ig& +.1.+.1:b<&Sim)le DC Reg%late2 Power S%))l3 S3s

CHAPTER -,

SENSORS

& device that detects the changes in electrical or physical or other 6uantities and

thereby produces an output as an ac#nowledgement of change in the 6uantity is called as aSensor. enerally, this sensor output will be in the form of electrical or optical signal.

Dept of ECE, NCET




,.1. Criteria to c*oose a Sensor&

There are certain features which have to be considered when we choose a sensor. They are as

given below:

5. &ccuracy

7. Dnvironmental condition - usually has limits for temperature humidity

8. 'ange - >easurement limit of sensor

4. 1alibration - Dssential for most of the measuring devices as the readings changes with

time

9. 'esolution - Smallest increment detected by the sensor

. 1ost

;. 'epeatability - The reading that varies is repeatedly measured under the same

environment

,.#. Classi4ication o4 Sensors&

The sensors are classified into the following criteria:

5. /rimary Input 6uantity (>easurand)

7. Transduction principles (2sing physical and chemical effects)

8. >aterial and Technology

4. /roperty

9. &pplication

In swarm robots IR SENSORS were used. This device emits andor detects infrared radiationto sense a particular phase in the environment.

$ig&,.#& IR Sensor

enerally, thermal radiation is emitted by all the obects in the infrared spectrum.

The infrared sensor detects this type of radiation which is not visible to human eye.

A2!antages&

• Dasy for interfacing

Dept of ECE, NCET




• 'eadily available in mar#et

Disa2!antages&

• =isturbed by noises in the surrounding such as radiations, ambient light etc.

,.(. =or>ing&

The basic idea is to ma#e use of I' +D=s to send the infrared waves to the obect. &nother I'

diode of the same type is to be used to detect the reflected wave from the obect.

$ig&,.(& =or>ing o4 IR sensor

hen I' receiver is subected to infrared light, a voltage difference is produced across the

leads. +ess voltage which is produced can be hardly detected and hence operational

amplifiers (*p-amps) are used to detect the low voltages accurately.

>easuring the distance of the obect from the receiver sensor. The electrical property of I'

sensor components can be used to measure the distance of an obect. The fact when I'

receiver is subected to light, a potential difference is produced across the leads.

,.+. A))lications&

• T*ermogra)*3 &ccording to the blac# body radiation law, it is possible to

view the environment with or without visible illumination using thermography





• Heating Infrared can be used to coo# and heat food items. They can ta#e away

ice from the wings of an aircraft. They are popular in industrial field such as, print

dying, forming plastics, and plastic welding.

• S)ectrosco)3 This techni6ue is used to identify the molecules by analysing the

constituent bonds. This techni6ue uses light radiation to study organic compounds.

• /eteorolog3 1loud heights, calculate land and surface temperature is possible

when weather satellites are e6uipped with scanning radiometers.

• P*otobiomo2%lation This is used for chemotherapy in cancer patients. This is

used to treat anti herpes virus.

• Climatolog3 >onitoring the energy e0change between the atmosphere and

earth.

• Comm%nications Infrared laser provide light for optical fibre communication.

These radiations are also used for short range communications among mobiles andcomputer peripherals.

CHAPTER-

RESU0TS





.1. /o2%le =or>ing Set%)&

The below diagram shows the setup of all the componentsinterfaced with microcontroller with transmitter and receiver module, push button, motordriver and slider switch.

$ig&.1& /o2%le set%)

CHAPTER-

CONC0USION B $UTURE =OR





.1. Concl%sion&

The swarm robot is designed for obstacle avoidance and also as light follower.&T>D&-5 microcontroller has been interfaced with different components as +78@= motor driver, FT57D encoder along with the transmitter module, and FT57= decoder along with

the receiver module and also with a push button and slider switch. e use &C' Studio-4 forcoding the program and /roteus to stimulate it.

.1.1. $%t%re wor>&

The swarm robots can be e0tended for great e0tent in future for many purposessuch as following:

• $omb detector in military field.• or also oil spills clean up and the seashore.

Re4erences





• &Tmega5 U >ega5 &C' >icrocontroller =atasheet E /I? =escription -Dngineersarage.html.

• www.eKtremeDlecronics.co.in• www.atmel.com•

www.Folte#.com• www.futurelec.com• Te0as instruments• www.&b+ab Solutions.com• www.ra#eshmondal.info• www.STroboti0.com

A))en2i

Vifndef U1/2Vdefine U1/2 5AAAAAA2+


http://www.extremeelecronics.co.in/

http://www.atmel.com/

http://www.holtek.com/

http://www.futurelec.com/

http://www.rakeshmondal.info/

http://www.strobotix.com/

http://www.extremeelecronics.co.in/

http://www.atmel.com/

http://www.holtek.com/

http://www.futurelec.com/

http://www.rakeshmondal.info/

http://www.strobotix.com/




Vendif

Vinclude Havrio.hW initialising &C' /I* libraryVinclude Hutildelay.hW initialising delay library

void forward()X /*'T$YL(5HH;)% motor pins 5AA5 /*'T$ELZ(5HH)% /*'T$ELZ(5HH9)% /*'T$YL(5HH4)%

/*'T$YL(5HH8)% transmitting 5AA5 /*'T$ELZ(5HH7)%

/*'T$ELZ(5HH5)%

/*'T$YL(5HHA)%[

void bac#ward()X /*'T$ELZ(5HH;)% motor pins A55A

/*'T$YL(5HH)% /*'T$YL(5HH9)% /*'T$ELZ(5HH4)%

/*'T$ELZ(5HH8)% transmitting A55A /*'T$YL(5HH7)% /*'T$YL(5HH5)% /*'T$ELZ(5HHA)%[

void left()X /*'T$ELZ(5HH;)% motor pins A5A5 /*'T$YL(5HH)% /*'T$ELZ(5HH9)%

/*'T$YL(5HH4)% /*'T$ELZ(5HH8)% transmitting A5A5 /*'T$YL(5HH7)% /*'T$ELZ(5HH5)% /*'T$YL(5HHA)%[

void right()X /*'T$YL(5HH;)% motor pins 5A5A

/*'T$ELZ(5HH)% /*'T$YL(5HH9)%

Dept of ECE, NCET




/*'T$ELZ(5HH4)%

/*'T$YL(5HH8)% transmitting 5A5A /*'T$ELZ(5HH7)% /*'T$YL(5HH5)%

/*'T$ELZ(5HHA)%[

void stop()X /*'T$ELZ(5HH;)% motor pins AAAA

/*'T$ELZ(5HH)% /*'T$ELZ(5HH9)% /*'T$ELZ(5HH4)%

/*'T$ELZ(5HH8)% transmitting AAAA

/*'T$ELZ(5HH7)% /*'T$ELZ(5HH5)% /*'T$ELZ(5HHA)%[

int main()X =='$LAK% initialinsing /*'T$ as outputs : +ower nibble for ' Transmitter, Fighernibble for >otor driver

/*'T$LAKAA%=='=LAKAA% initialising /*'T= as inputs : +ower nibble for ' receiver, /=4

ma#e it >aster or Slave/*'T=LAK%=='1LAKAA% initialising /*'T1 as outputs : /1A and /15 for sensor inputs/*'T1LA0A8%while(5)X if((/I?= E AK5A) LL AKAA) /=4 FIF: 'obot acts as >aster X

if((/I?1 E AKA8)LL AKA8) +DT and 'IFT side has *bect X

forward()% 'obot moves forward and transmits 5AA5 [ else if((/I?1 E AKA8)LL AKAA) +DT and 'IFT side has no *bect X stop()% 'obot stops and transmits AAAA [ else if((/I?1 E AKA8)LL AKA5) +DT side has *bect X left()% 'obot moves left and transmits A5A5 [ else if((/I?1 E AKA8)LL AKA7) 'IFT side has *bect

X right()% 'obot moves right and transmits 5A5A

Dept of ECE, NCET




[ else X stop()% [

[ else if ((/I?= E AK5A) LL AK5A) /=4 +* : 'obot acts as Slave X

if((/I?= E AKA)LL AKA@) 'eceived 5AA5, when master moving forward X forward()% 'obot moves forward [ else if((/I?= E AKA)LL AKAA) 'eceived AAAA, when master is not

movingX

stop()% 'obot stops

[ else if((/I?= E AKA)LL AKA9) 'eceived A5A5, when master moving left X left()% 'obot moves left [ else if((/I?= E AKA)LL AKA&) 'eceived 5A5A, when master moving

right X right()% 'obot moves right [ else X stop()% [

[[

[

swarm documentation

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