My Differential Line Follower

[tiktak]

Schematic:

Code:

#include <pic.h>
#include <htc.h> // Required to interface with delay routines

#ifndef _XTAL_FREQ
 // Unless already defined assume 4MHz system frequency
 // This definition is required to calibrate __delay_us() and __delay_ms()
 #define _XTAL_FREQ 4000000
#endif
__CONFIG(XT & WDTDIS & PWRTDIS & UNPROTECT);

#define TURN_LEFT 0b00000010
#define TURN_RIGHT 0b00001000
#define MOVE_FORWARD 0b00001010
#define MOVE_BACKWARD 0b00000101

void init (void)
{
 TRISA = 0xF0;
 TRISB = 0xE7;
 PORTB = 0xE7;
}

void PWM1 (void)
{
 RB3 = 1;
 RB4 = 1;
 __delay_ms(100);

 RB3 = 0;
 RB4 = 0;
 __delay_ms(150);
}


void main (void)
{
 unsigned char sensor;
 unsigned char prev_command = 0x01;
 init();

  while(1)
   {
    PWM1();
      sensor = (PORTB & 0x07);
switch(sensor)
{
case 0x00: //000 - move forward
PORTA = MOVE_BACKWARD;
prev_command = MOVE_BACKWARD;
break;
case 0x01: //001
PORTA = TURN_RIGHT;
prev_command = TURN_RIGHT;
break;
case 0x02: //010
PORTA = MOVE_FORWARD;
  prev_command = MOVE_FORWARD;
break;
case 0x03: //011
PORTA = TURN_RIGHT;
prev_command = TURN_RIGHT;
break;
case 0x04: //100
PORTA = TURN_LEFT;
prev_command = TURN_LEFT;
break;
case 0x05: //101
PORTA = prev_command;
break;
case 0x06: //110
PORTA = TURN_LEFT;
prev_command = TURN_LEFT;
break;
case 0x07: //111
PORTA = MOVE_BACKWARD;
break;
default:
PORTA = prev_command;
break;
}
    }
}

actual:

sensor (galing sa mouse  )

[tiktak]

video :

Differential Line Follower

[tiktak]

pinned na pala ang thread na to

[_Jiro]

Ilang battery ginamit jan?

[RaffT]

nice one tiktak

school project or TRIP lang?

[tiktak]

Trip lang hehe, isang 9v para sa circuit, at 4 na AA para sa motor

[_Jiro]

Umm.. Ung 4xAA nkakonek sa pin4 ng l298? Sapat na b ung pra mapatakb0 ng mabilis ung m0t0r?

[tiktak]

yup yun ang connected sa pin4 ng L298, mabilis na yun patakbuhin ang motor, mahirap atang gumawa ng mabilis na mobot madalas mawala sa track mabilis yan pag diretso, pero kung titignan mo sa program meron dun yung parte na nag ko control sa speed ng motor dinedelay ko para di sya gaanong mabilis

[Woots29]

+1 ayus!

[piona]

okay a kaya ang very tight na turns...

[voltaman_krc]

ung chassis ng car.. i saw it before, ung tinitinda ni manong. hehe! great post!!

[amitie]

ano po bang value ng transistor dyan po
tnx po.

[tiktak]

yung transistor ay photodiode yun tinamad lang iedit sa tamang symbol , yung galing sa mga lumang mouse ginamit ko dyan

[Tarkov24]

ano ung mcu nito master?

[tiktak]

16F84A lang yan

[Tarkov24]

16F84A lang yan

wow! anong compiler ginamit mo sir master? btw.. what if ganito po ung gearbox na gamitin ko

pero ung codes nyo po gagamitin ko to program the mcu...will it work?

[tiktak]

Hi tech C po yan, yup that would work, kahit sensor at opamp nga lang eh wala ng MCU
also check master glutnix tank mobot here

[Tarkov24]

hhhmmm... nakakainspire toh...hehehe. thanks sir... i might start working on it this friday evening.hehehe.

[tiktak]

hehe wala kasing ganyang chassis dito sa province kaya ginamit ko yan tumbling car na tinda sa bangketa pictures ha post mo din

[Tarkov24]

yes sir! once na matapos ko un post ko pics. salamat pala sa codes in advance.hehehe. OT: san pala province mo sir?