Mobot (Obstacle and Edge Detector)

[lloydi12345]

I would like to start a thread about our project. I have decided to use white as the color that will make it move. So if nakalagay lng xa sa table na covered with white cartolina, didiretso lng siya at aatras kung may makitang wall na colored black siguro oh kahit anu pang color except white, tska aatras din kung makakita ng edge dahil walang color ang edge. Is it possible this way?

Guys, tanong po sana ako kung pano ko ito umpisahan sa stepper motor.. Uunahin ko po muna ung wheels. Making the wheels of the Mobot move forward, backward, steer and combinations without the LDRs' first. So far what I have planned is to use 2 unipolar stepper motors. One for steering and one for driving. Nakakita na po ako ng iba't ibang thread tungkol sa pagpapaikot ng motor.  Nahihirapan lng ako kasi daming circuits na dinadaanan ung PIC bago makaconnect sa Stepper Motor (like other IC's na nagiistart sa LM yata to amplify the voltage or maybe signals), at hindi ko po maintindihan ang iba doon. Pwede lang po ba diretso connected ang stepper motor's 6 wires sa PIC ko ? peru syempre merung mga something like resistors, diodes, etc. I'm starting to buy the devices later. I also have seen the line follower mobot from the Mechatronics and Robotics forum so I'm basing some parts of it here.

Questions:

1.Mas maganda po ba ung unipolar kaysa sa bipolar para sa ganitong project?

2.How about DC motors? Is it fine for the forward and backward motions of the wheels?

[lloydi12345]

I would like also to ask if we need for the voltage the stepper driver or H-bridge thing?

We are programming it in PIC assembly language, not yet allowed po pala sa C language..

[lloydi12345]

While waiting for responses I'll read entirely this PIC tutorial thread of sir Paranz:
http://www.electronicslab.ph/forum/index.php/topic,3483.0.html

[lloydi12345]

Kelangan ko pa po ba ng L297 kung L298 gagamitin ko sa pagcontrol ng Unipolar Stepper motor? Help pls

[DigitalMind]

kung unipolar yung stepper mo di mo kailangan nang step driver and h-bridge
sure ako maliit lang naman yung robot mo sure ako uln2003 ok na jan for your application.

[lloydi12345]

kung unipolar yung stepper mo di mo kailangan nang step driver and h-bridge
sure ako maliit lang naman yung robot mo sure ako uln2003 ok na jan for your application.

maraming salamat po boss Martin sa reply, ito rin po nakita ko sa Pr0teus sample designs kaya lng nakita ko ung ibang mga thread dito l297 tska l298 gamit kaya ayun, nakigaya lng hehe.. may mga diode pa nga sa gilid2 nila eh hindi ko maintindihan kung para saan yun..Hindi ko kasi masyado naintindihan ung mga concepts ng Diodes puro lng solving nasa ulo ko tska formula T_T

Mga magkano po pala price nito kuya? kasi papaandarin ko pa dc motor ko sa likod.. kaya bibili pa rin cguro ako ata

Hmm mali ata na forum ung na postan ko.. kaunti lng kasi nagreply

[lloydi12345]

punta lng po muna ako sa DC motor, kung mag program po ba ng PIC16F84A papuntang motors okay na ung codes halimbawa sa pagpapailaw ng LED?

[tiktak]

DC motor sa likod? hmm para saan pa ang stepper? kung mobot na obstacle at edge detector lang pede na differential drive dalawang DC motor lang oks ka na

[lloydi12345]

DC motor sa likod? hmm para saan pa ang stepper? kung mobot na obstacle at edge detector lang pede na differential drive dalawang DC motor lang oks ka na

oo nga po boss tiks.. nakita ko po sa mga line follower dito puro 2 dc motors. Gusto ko nga lang po matuto ng pag gamit ng stepper motor kaya iapply ko na lang po dito.. hehe nagpapahirap ng sarili to gain knowledge..





ask lang po ako.. may circuit pa po ba sa PWM_input? nalilito na po ako

[tiktak]

yup PWM generator pedeng galing sa MCU, 555, opamps etc.. kung trip mo stepper motor pwede naman, dalawang stepper motor din lang differential drive, instead na dalawang DC motor

[lloydi12345]

pareho lang po ba itong kay sir Paranz dito sa nakita ko?



mdju mataas kasi current daw na kaya nito..4amps daw

[lloydi12345]

yup PWM generator pedeng galing sa MCU, 555, opamps etc.. kung trip mo stepper motor pwede naman, dalawang stepper motor din lang differential drive, instead na dalawang DC motor

ah okay pde na po pala direct ung PWM mula sa PIC uC? bali 3 pins po pala gagamitin ko para dito sa motor boss tiks? paano po ako nito mkakagenerate ng adjustment ng speed through logic 0 and logic 1? PIC assembly po gagamitin ko eh.. hindi katulad ng C merun na ata un

[tiktak]

yung rating naman ng transistor ang magsasabi kung gano kataas kaya nyang i drive, basically parehas sila except sa added PWM input ng kay mommy paranz , yup 3 pins for DC motor, use a PIC with internal PWM like 877A para diretso mas madali kung assembly kesa gumawa ng soft PWM sa assembly

[lloydi12345]

yung rating naman ng transistor ang magsasabi kung gano kataas kaya nyang i drive, basically parehas sila except sa added PWM input ng kay mommy paranz , yup 3 pins for DC motor, use a PIC with internal PWM like 877A para diretso mas madali kung assembly kesa gumawa ng soft PWM sa assembly

pde po paexplain ng rating ng transistor ang magsasabi kung gano kataas kaya nyang i drive?
Opo ung main po na PIC gagamitin namin PIC16F877a  gs2 ko lng po muna itry kasisa pic16F84A kasi bka masira aad ung PIC16f877a.. nka 3 na kasi ako ng bili ng F84A, kaya nagiingat na po

[lloydi12345]

gustung gusto ko po sana kuya tiks gamitin ung schematic mu ung differential line follower kasi gumamit ka po ng P16F84A tapus parang konti lng ung gnamit mu..ung etong thread

http://www.electronicslab.ph/forum/index.php/topic,10085.0.html

kainis nga lang walang e-gizmo dito.. puro electronics supply lng.. ung mga bentahan ng mga radio  :'(

[tiktak]

yung max current na kayang i drive ng transistor, kasi nga bawat transistor ay may max current na kayang i drive, like sa mga general purpose nasa 200 to 500mA lang so di mo pede gamitin sa h-bridge mo. yung mas malaki like TIP31 nasa around 1A so pedeng pede na since 600 to 1A usually yung mga maliliit na DC motor.

nasa province lang ako nung ginawa ko yang line follower na yan na score ko lang L298 pero pede mo naman gamitin yung transistor as h-bridge, or order nalang sa e-gizmo

saang province ka?

[lloydi12345]

yung max current na kayang i drive ng transistor, kasi nga bawat transistor ay may max current na kayang i drive, like sa mga general purpose nasa 200 to 500mA lang so di mo pede gamitin sa h-bridge mo. yung mas malaki like TIP31 nasa around 1A so pedeng pede na since 600 to 1A usually yung mga maliliit na DC motor.

nasa province lang ako nung ginawa ko yang line follower na yan na score ko lang L298 pero pede mo naman gamitin yung transistor as h-bridge, or order nalang sa e-gizmo

saang province ka?

thanks.. gets ko na.. so pde po pala maghanap pa ako ng ibang transistor na substitute bsta mdju mataas lng current rating ayus lng?
taga bacolod po ako bossing..malayo ata hehe

[lloydi12345]

ginawa ko po itong circuit using pn100 tska pn200.. generic po ba ung c945 dito?..

tinanggal ko nlng po muna ung circuit pra sa pwm_input..



gumamit po ako ng codes na pang LED ko pra icconnect ung rb0 at rb1 sa input 1 at input 2.. hindi po xa naandar eh, eto po ung codes ko

Code:

processor 16f84a
#include <p16f84a.inc>

__CONFIG _XT_OSC & _PWRTE_ON & _WDT_OFF

cblock 0x0c
suspend
postpone
myvar
endc

org 0x00
goto main

org 0x04

main:
BSF STATUS, RP0
MOVLW 0X00
MOVWF PORTA
MOVWF PORTB
BCF STATUS, RP0
MOVLW 0x00
MOVWF PORTA
MOVWF PORTB
call delay
start:
MOVLW 0x01
MOVWF PORTA
call delay
MOVLW 0x02
MOVWF PORTA
call delay
MOVLW 0x04
MOVWF PORTA
call delay
MOVLW 0x08
MOVWF PORTA
call delay
clrf PORTA
MOVLW 0x01
MOVWF PORTB
call delay
MOVLW 0x02
MOVWF PORTB
call delay
MOVLW 0x04
MOVWF PORTB
call delay
MOVLW 0x08
MOVWF PORTB
call delay
MOVLW 0x04
MOVWF PORTB
call delay
MOVLW 0x02
MOVWF PORTB
call delay
MOVLW 0x01
MOVWF PORTB
call delay
clrf PORTB
MOVLW 0x08
MOVWF PORTA
call delay
MOVLW 0x04
MOVWF PORTA
call delay
MOVLW 0x02
MOVWF PORTA
call delay
MOVLW 0x01
MOVWF PORTA
call delay

;2nd
MOVLW 0x01
MOVWF PORTA
call delay
MOVLW 0x02
MOVWF PORTA
call delay
MOVLW 0x04
MOVWF PORTA
call delay
MOVLW 0x08
MOVWF PORTA
call delay
clrf PORTA
MOVLW 0x01
MOVWF PORTB
call delay
MOVLW 0x02
MOVWF PORTB
call delay
MOVLW 0x04
MOVWF PORTB
call delay
MOVLW 0x08
MOVWF PORTB
call delay
MOVLW 0x04
MOVWF PORTB
call delay
MOVLW 0x02
MOVWF PORTB
call delay
MOVLW 0x01
MOVWF PORTB
call delay
clrf PORTB
MOVLW 0x08
MOVWF PORTA
call delay
MOVLW 0x04
MOVWF PORTA
call delay
MOVLW 0x02
MOVWF PORTA
call delay
MOVLW 0x01
MOVWF PORTA
call delay



;Blink
MOVLW 0xFF
MOVLW 0xFF
MOVWF PORTB
MOVWF PORTA
call delay
clrf PORTA
clrf PORTB
call delay
MOVLW 0xFF
MOVLW 0xFF
MOVWF PORTB
MOVWF PORTA
call delay
clrf PORTA
clrf PORTB
call delay
MOVLW 0xFF
MOVLW 0xFF
MOVWF PORTB
MOVWF PORTA
call delay
clrf PORTA
clrf PORTB
call delay



;Chasing
MOVLW 0X01
MOVWF PORTA
MOVLW 0X08
MOVWF PORTB
call delay

MOVLW 0X02
MOVWF PORTA
MOVLW 0X04
MOVWF PORTB
call delay

MOVLW 0X04
MOVWF PORTA
MOVLW 0X02
MOVWF PORTB
call delay

MOVLW 0X08
MOVWF PORTA
MOVLW 0X01
MOVWF PORTB
call delay

MOVLW 0X04
MOVWF PORTA
MOVLW 0X02
MOVWF PORTB
call delay

MOVLW 0X02
MOVWF PORTA
MOVLW 0X04
MOVWF PORTB
call delay

MOVLW 0X01
MOVWF PORTA
MOVLW 0X08
MOVWF PORTB
call delay


;Chasing 2

MOVLW 0X01
MOVWF PORTA
MOVLW 0X08
MOVWF PORTB
call delay

MOVLW 0X02
MOVWF PORTA
MOVLW 0X04
MOVWF PORTB
call delay

MOVLW 0X04
MOVWF PORTA
MOVLW 0X02
MOVWF PORTB
call delay

MOVLW 0X08
MOVWF PORTA
MOVLW 0X01
MOVWF PORTB
call delay

MOVLW 0X04
MOVWF PORTA
MOVLW 0X02
MOVWF PORTB
call delay

MOVLW 0X02
MOVWF PORTA
MOVLW 0X04
MOVWF PORTB
call delay

MOVLW 0X01
MOVWF PORTA
MOVLW 0X08
MOVWF PORTB
call delay
goto main

delay:
MOVLW .150
MOVWF suspend
MOVWF postpone
loop:
DECFSZ suspend,1
goto loop
DECFSZ postpone,1
goto loop
return

END

[lloydi12345]

sa wakas po napaikot ko na rin ung DC motor.. peru ibang schematic po gnamit ko.. kay kuya Paranz pa rin



patulong naman po sa next problem ko.. ginamit ko pa rin po ung above code na pra sa multi patterned LEDs ko pati na rin ung circuit.. ung gnawa ko lang inalis ko ung mga nkaconnect sa RA0 at RA1 at ito icinonnect ko sa dalawang input ng motor..

so ang kinalabasan niya habang naikot po ung motor nailaw rin ng normal ung mga LEDs.. tapos pagtagal ng ilang minuto humina ang ilaw ng mga LEDs .. may comments po ba kayo dito kung bakit ganon? sa voltage supply po ba yun na inaagaw ng motor? o sa mga transistor ko po? patulong po.. o bka napundi na ung LEDs ko? kasi kanina ung wala pa ung motor masisigla pa ilaw nila eh..