tag:blogger.com,1999:blog-19350440695549938112024-03-18T20:41:20.061-07:00ROBO ZONEElectronics hobbyists enjoy playing with the projects.some people start a garage at home. For making any new invention you don't need any big laboratory. you can make your home a LAB.to work you just need a "multimeter". I have been working on some projects.At the beginning stage i made so many disasters in my room.I blasted so many components(one day i burnt my bed).what ever we do we enjoy that.So i just wanted to share some of my work with you.
VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.comBlogger29125tag:blogger.com,1999:blog-1935044069554993811.post-84982506461325883382016-03-13T11:34:00.000-07:002016-03-14T03:28:24.911-07:00DHT11 humidity and temperature sensor interfacing<div dir="ltr" style="text-align: left;" trbidi="on">
when i first got this sensor in my hand i thought it might be an analog sensor and tried with analog channels which dint work.<br />
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Then after googling some time i found a data sheet saying this sensor works on 1 wire interface which means a single microcontroller pin used as both trigger and input reading.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEil1d9mxa2v-sdwH03k3wlrUS21Fx4TSWV3ULnH00b9IRjvEgCted0GuQKXxS71wFlM5QvbIV3XL4OI6fvyW7PcPvKfctTiIkxbDiazIYGQKbJvTByAlUHxD9EiDY7ra3Dqi_JlnqXK_2s/s1600/dht11+pins.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="305" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEil1d9mxa2v-sdwH03k3wlrUS21Fx4TSWV3ULnH00b9IRjvEgCted0GuQKXxS71wFlM5QvbIV3XL4OI6fvyW7PcPvKfctTiIkxbDiazIYGQKbJvTByAlUHxD9EiDY7ra3Dqi_JlnqXK_2s/s320/dht11+pins.bmp" width="320" /></a></div>
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This sensor provides 40 bits of data in a single burst.<br />
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8 bits humidity data integral part.<br />
8 bits humidity data decimal part<br />
8 bits temperature data integral part.<br />
8 bits temperature data decimal part<br />
8 bits check sum data<br />
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There is a data frame sequence to be followed to read the data from this sensor. I copied these frames from its data sheet.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgqMOloddJQl-jlilD9aRBd9scMuPaVTwB6Tscjc_A1gbtcato5rnENNBlG63-XvRPBDZylkZ23kewf9N1LFHosvhutq4H2YTmHtAc5nYSg5N6W89S9seg5icQwxTlI-sMi0Yyr-Np6PAs/s1600/dht11+data+frame.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="587" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgqMOloddJQl-jlilD9aRBd9scMuPaVTwB6Tscjc_A1gbtcato5rnENNBlG63-XvRPBDZylkZ23kewf9N1LFHosvhutq4H2YTmHtAc5nYSg5N6W89S9seg5icQwxTlI-sMi0Yyr-Np6PAs/s640/dht11+data+frame.bmp" width="640" /></a></div>
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So got the data frames are ready. My choice of microcontroller is ATmega8 as i got an awesome USB programmable development board with me.<br />
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Good support drivers provided with this board like lcd, uart, adc all in winavr compatible C.</div>
I am using PORTC pin PC0 an sensor data pin.<br />
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here is the code:<br />
//============== start of program=================================<br />
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#include<avr/io.h><br />
#include<util/delay.h> <br />
#include"uart.h"// UART header file provided with the development board<br />
// serial communication<br />
<br />
unsigned char temp=0,humidity=0;// actual values<br />
unsigned char hm_bit_count=0;// count the 40 bit sequence<br />
unsigned char hm_pulse_width=0; // to identify the pulse with in case of '0' and '1'<br />
unsigned char hm_data_buffer[50];//40 bit sequence <br />
<br />
void main()<br />
{<br />
<br />
<br />
uart_init();// configures the UART value<br />
_delay_ms(100);<br />
<br />
while(1)<br />
{<br />
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<b> </b>DDRC=0x01;//PC0 out put<br />
PORTC=0x01; //PC0 high<br />
_delay_ms(10);// 10 ms high for stable value<br />
<br />
PORTC=0x00;//PC0 low<br />
_delay_ms(18);//low delay trigger to sensor<br />
DDRC=0x00;// PC0 input<br />
PORTC=0x01;//PC0 internal pull up enable<br />
_delay_us(2);//input mode and pullup 20us wait min(i kept 2 instead of 20 )<br />
while((PINC&0x01)==1);//wait untill the sensor pulls the line to low<br />
while((PINC&0x01)==0);//wait during the line is low for 80us<br />
while((PINC&0x01)==1);//wait during the line is high for 80us<br />
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// reading sequence starts<br />
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for(hm_bit_count=0;hm_bit_count<40;hm_bit_count++)//reading sequence of 40 bits<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span>{<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> while((PINC&0x01)==0);//wait for 50 micro sec delay before bit<br />
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<span class="Apple-tab-span" style="white-space: pre;"> </span> for(hm_pulse_width=0;hm_pulse_width<80;hm_pulse_width++)//max width is 70<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> {<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> if((PINC&0x01)==1)//pin high<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> _delay_us(1);<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> else<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> break;<span class="Apple-tab-span" style="white-space: pre;"> </span> <br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> }<br />
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<span class="Apple-tab-span" style="white-space: pre;"> </span> if(hm_pulse_width>40)//if width is 28us then 0 and is 70 for 1 so im using 40 as threshold<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> hm_data_buffer[hm_bit_count]='1';// storing character 1 <br />
<span class="Apple-tab-span" style="white-space: pre;"> </span>else<br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> hm_data_buffer[hm_bit_count]='0';// storing character 0 <br />
<span class="Apple-tab-span" style="white-space: pre;"> </span> <br />
<span class="Apple-tab-span" style="white-space: pre;"> </span>}<br />
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tx_string("\n\r raw data: ");// display function using UART<br />
tx_string(hm_data_buffer); //displays the buffer values<br />
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temp=0;humidity=0;<br />
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// i am considering only integral part of humidity and temperature values.<br />
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for(hm_bit_count=0;hm_bit_count<8;hm_bit_count++)// converting raw bits to single byte value<br />
{<br />
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if(hm_data_buffer[hm_bit_count]=='0')<br />
humidity=(humidity&0xfe);<br />
else<br />
humidity=(humidity|0x01);<br />
//if(hm_bit_count<<br />
humidity=humidity<<1;<br />
}<br />
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for(hm_bit_count=16;hm_bit_count<24;hm_bit_count++)<br />
{<br />
<br />
if(hm_data_buffer[hm_bit_count]=='0')<br />
temp=(temp&0xfe);<br />
else<br />
temp=(temp|0x01);<br />
//if(hm_bit_count<<br />
temp=temp<<1;<br />
}<br />
<br />
tx_string(" humidity: ");tx_num(humidity);<br />
tx_string(" temperature : ");tx_num(temp);<br />
<br />
}//end of while<br />
}//end of main<br />
//============== end of program=================================<br />
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NOTE: in the above program i just omitted the decimal part of the sensor data and displaying only the integral part of them.<br />
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In order to display the values on PC i'm using CP2102 usb to serial converter and tera term software at 9600 baud rate.<br />
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<iframe allowfullscreen="" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/5UD3oc5e3lI/0.jpg" frameborder="0" height="512" src="https://www.youtube.com/embed/5UD3oc5e3lI?feature=player_embedded" width="640"></iframe></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com4tag:blogger.com,1999:blog-1935044069554993811.post-15419503724323308522015-09-11T23:28:00.002-07:002015-09-12T05:02:39.403-07:00ESP8266 wifi module Basic working circuit and AT commands<div dir="ltr" style="text-align: left;" trbidi="on">
I have been waiting to buy this module for 8 months..and i got one finally..when i'm testing it for the first time i faced lots of problems. after lot of googling and 2 continuous sleepless nights i figured it out..and felt lot crazy about the mistakes that i made while checking ESP8266 module is little tricky compared to the other famous wireless modules like Xbee or HC-05.<br />
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So i wanted to share all the problems i faced during my first successful test of ESP8266.<br />
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<h3 style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"><u>Beauty of ESP8266 :</u></span></h3>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFylsiaGuIQbiuRMLBhIMJzADvS4HsSYSCS_ZLyQ5L3_LBKK-h-T98IaNLX7LEvqps5FoKL3npf2NaKWoFoAKEbtp6zD8cbaTGYCw5RNAms-wIdAw4aV4sCuAVcj3wGIIJjXCOcvUbWEs/s1600/WiFi+Serial+Transceiver+Module.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFylsiaGuIQbiuRMLBhIMJzADvS4HsSYSCS_ZLyQ5L3_LBKK-h-T98IaNLX7LEvqps5FoKL3npf2NaKWoFoAKEbtp6zD8cbaTGYCw5RNAms-wIdAw4aV4sCuAVcj3wGIIJjXCOcvUbWEs/s1600/WiFi+Serial+Transceiver+Module.jpg" width="320" /></a></div>
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<span style="font-family: Times, Times New Roman, serif;">This is simple small wifi module that is very much simple and so cheaper than a Bluetooth. I bought it for Rs 400/-. </span></div>
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<span style="font-family: Times, Times New Roman, serif;"><br /></span></div>
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<span style="font-family: Times, Times New Roman, serif;">The best thing is it is Serial UART interface which is basic feature in many Microcontrollers....</span></div>
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<span style="font-family: Times, Times New Roman, serif;"><br /></span></div>
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<span style="font-family: Times, Times New Roman, serif;">It is also equipped with GPIO(General Purpose Input Output) pins so you can directly use this module to switch some leds or any digital controlled devices with out a Microcontroller.. </span></div>
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<span style="font-family: Times, Times New Roman, serif;"><br /></span></div>
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identifying the circuit</div>
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So the first thing in our mind after getting this module is about its pin configuration.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjeJlP7Nbmsq7AoLhlQ5u3R01uzYoa4g3KN6q4IfTmJqR6KKJwFXzWMJRY7rbjg23GVUFT6_5GbrbUboTIqlPL7wKH-Q_Hn1Y7Il4I9Uf6IXqjazP3vYz4QjoZSYwNBQzcm0S9jbXG21yo/s1600/esp8266-pins.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="192" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjeJlP7Nbmsq7AoLhlQ5u3R01uzYoa4g3KN6q4IfTmJqR6KKJwFXzWMJRY7rbjg23GVUFT6_5GbrbUboTIqlPL7wKH-Q_Hn1Y7Il4I9Uf6IXqjazP3vYz4QjoZSYwNBQzcm0S9jbXG21yo/s1600/esp8266-pins.png" width="320" /></a></div>
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The above version is abundantly available in the market. It contains 8 pins arranged in two rows.</div>
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3,3V and GND are for power supply</div>
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GPIO0,GPIO2 are i/o pins which are programmable</div>
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RST is reset signal for module(beginners better not use it) </div>
<div>
CH_PD : power down mode enable(to enable chip we need to connect it to Vcc)</div>
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Tx, Rx are serial Transmitter and Receiver pins.</div>
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<br /></div>
<div>
along with these pins another two important things are Power(RED) and N/W(Blue) LEDs.</div>
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<div>
Supply voltage Vcc for this ESP8266 module is 3.3V </div>
<div>
if you are using an arduino you will find 3.3V on arduino to run the module.</div>
<div>
if you are using any other Hardware that run on 5V then i suggest the following circuit using a asm1117 3.3v voltage regulator..<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmI61U5PkuRYxuafWo-IeGq_85eMwwcLn-ECx6pYBKECDxwecp9BbnrhBY7z7Axlc9pDTc1A2r-532sWLnc_-ZpcrxZ-mAdw4GF8b3cwEwjjeVW_XE1pHCSYRo0OeI1I7_z8yh1rZKsRU/s1600/ams1117+3.3v+pins.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmI61U5PkuRYxuafWo-IeGq_85eMwwcLn-ECx6pYBKECDxwecp9BbnrhBY7z7Axlc9pDTc1A2r-532sWLnc_-ZpcrxZ-mAdw4GF8b3cwEwjjeVW_XE1pHCSYRo0OeI1I7_z8yh1rZKsRU/s1600/ams1117+3.3v+pins.jpg" /></a></div>
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Middle pin in the above module is also 3.3V o/p. For circuit convenience i prefer to go for notch instead of the pin.This voltage regulator provides upto 800mA current at 3.3V which will be sufficient to drive ESP8266. Do not forget about the capacitors(i used 10uF) in input and output of voltage regulator. </div>
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The CH_PD pin should be connected to Vcc to keep the module in active mode. if this pin is not connected to Vcc your device will be in ideal mode and will not work.</div>
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As the Rx and Tx pins of ESP8266 are working at 3.3v logic levels, if you connect a microcontroller working at 5v vcc this module then there is a chance that ESP8266 may get damaged.</div>
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To protect the Rx pin of ESP8266 connect a 300 Ohm resistor in between</div>
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Rx(ESP8266) to Tx(microcontroller)</div>
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But there won't be a problem with Tx(ESP8266) as it can be directly connected to Rx(MC)</div>
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so the simplified circuit is :</div>
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My prototype.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBzDVKieXDNozEB57VGAU3n6Jk5kOt9mRE_W-oJ4MVtK4g2sAnB9bK2qtNibGp7QYpLNbSPHvaXGYim7wG8vVl6RCAN2fhJ43gd591-ctYtqwfN6lw0ADUskqS8pUT4VU5H_TfbGuncAk/s1600/20150911004510.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="296" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBzDVKieXDNozEB57VGAU3n6Jk5kOt9mRE_W-oJ4MVtK4g2sAnB9bK2qtNibGp7QYpLNbSPHvaXGYim7wG8vVl6RCAN2fhJ43gd591-ctYtqwfN6lw0ADUskqS8pUT4VU5H_TfbGuncAk/s400/20150911004510.jpg" width="400" /></a></div>
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To test the module through AT commands there are so many serial monitoring software are available for windows. even ARDUINO serial monitor can also be used. I am using a serial terminal monitoring software called " Tera Term " .</div>
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Tera term support both Serial and TCP/IP.</div>
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i am using CP2102(USB to Serial) and TeraTerm to check the AT commands.</div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com7tag:blogger.com,1999:blog-1935044069554993811.post-41617833806301693042015-08-08T00:56:00.000-07:002015-08-08T03:00:06.220-07:00AVR Embedded Systems Workshop<div dir="ltr" style="text-align: left;" trbidi="on">
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<b style="font-size: x-large;"><span style="color: blue;"><br /></span></b>
<b style="font-size: x-large;"><span style="color: blue;"><br /></span></b>
<b style="font-size: x-large;"><span style="color: blue;">AVR Embedded Systems Workshop</span></b></div>
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<span style="font-size: large;"><b><br /></b></span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"><b>AVR Embedded Systems Workshop</b> mainly focuses on the students and hobbyists eager to learn about Advanced features of AVR Microcontroller. They will get a chance to expand their knowledge in interfacing LEDs, GPIOs, Potentiometers, LCD Display and their application in real time projects.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">The duration of the workshop will be one day with 8 hours hands on practical session. Each person will be provided with the non-takeaway AVR kit for hands on.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">1. Introduction to Microcontrollers</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"> This session would deal with the basics of Microcontroller. the focus will be on the AVR series micro controller - ATMega8, which is one of the most powerful and widely used 8 bit micro controller.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">2. Introduction to Software and Debugging</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"> This session would deal with the basics of 'Embedded C', writing your First 'Embedded C' program in AVR studio. Program compilation and Loading compiled C program into the microcontroller.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">3. Input and Output (I/O) operations</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"> This session deals with Interfacing LEDs, Switches to the GPIO pins and generating LED pattern using switches.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">4. ADC operations </span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"> This session deals with Interfacing Potentiometer to the ADC input of the AVR micro controller and hands on performing operations like controlling intensity of the LEDs by reading potentiomenter data.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">5. Interfacing DC motor</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"> This session deals with Interfacing DC motor to the AVR microcontroller and hands on performing operations like operating Motor speed and direction control.</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">Note: The kits provided at the time of the Workshop are non-take away kits (you have to return the kits at the end of the session).</span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;"><b>Location: Bangalore</b></span><br />
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<span style="font-family: Georgia, 'Times New Roman', serif; font-size: large;">For more Information like </span><b style="font-family: Georgia, 'Times New Roman', serif; font-size: x-large;">payment for workshop, mode of payment, Venue, scheduled date</b></div>
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<span style="font-size: large;"><span style="font-family: Georgia, Times New Roman, serif;">mail us at: <b><a href="mailto:vaabrobotics@gmail.com">vaabrobotics@gmail.com</a></b></span></span></div>
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">with subject "<b>AVR Embedded Systems Workshop</b>"</span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com1tag:blogger.com,1999:blog-1935044069554993811.post-36078000618490151862014-11-04T11:59:00.001-08:002014-11-04T21:38:37.464-08:00HC-05 Bluetooth AT commands configuration<div dir="ltr" style="text-align: left;" trbidi="on">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhp1ZIu8KmZSAjyVO3FJH7gS_AG8buna3VO_i8esQExEJTq9BJYnjsGqXKSKgQitd88cilcv_3hd29uSfKTEYlYAKDSXuWW3kytw1PizfgrMMGJFqp-PpddGT8BNy7s7nBq5LeGiN4xMdg/s1600/DSCN8035.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhp1ZIu8KmZSAjyVO3FJH7gS_AG8buna3VO_i8esQExEJTq9BJYnjsGqXKSKgQitd88cilcv_3hd29uSfKTEYlYAKDSXuWW3kytw1PizfgrMMGJFqp-PpddGT8BNy7s7nBq5LeGiN4xMdg/s1600/DSCN8035.JPG" height="480" width="640" /></a></div>
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We have been using the serial SPP(Serial Port Profile) Bluetooth modules to interface our embedded hardware and robots to Laptop or a smart phone... hear is an example of Bluetooth controlled POV LED display and a smart phone turned into an intelligent robot....<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/bM44Z0uZL2Q?feature=player_embedded' frameborder='0'></iframe></div>
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So this HC-05 is very much useful if you want to make some thing cool like this. So it will be helpful if we are aware of the configurations commands to work with the module. </div>
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AT commands:</div>
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AT commands stands for attention commands with which we communicate with the module and alter it's performance.</div>
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There are TWO modes of working with HC-05 module. To check with the module you will need a serial port on your PC or laptops. But nowadays our PC won't come with an inbuilt RS232 serial interface so you can use any USB to serial converters like CP2102 or FT232 devices. After connecting the device to the PC we need any serial terminal software in case of windows7 and 8 like "Teraterm" or "Putty" .But in case of windows XP you got hyper-terminal. </div>
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In my case i got a CP2102 with me. connect Bluetooth to the CP2102 UART pins (RX and TX)</div>
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There is one important thing that you need to keep in mind is....</div>
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"your Bluetooth module logic voltage levels" mine is 3.3V but it got tolerance up to 5V so no problem with my device. and my CP2102 is direct TTL and I am not using any MAX232 in this. so make sure of your device before powering it.</div>
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after connecting the Bluetooth to your serial port device like the one in the picture above. </div>
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connect the device to your PC and power it up...now you will see an LED blinking very fast on your Bluetooth module. This is the normal serial data mode.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgcpEqIlH-3RDZdDaz3oo8bsBIkHOuvW-gHtFNdzGsXhOPTATM9f4rtH4tqR2Ko14TiQTXHUjlS2j1WmHYExUyk-uup-HNxOot5RwvTcfCkLDcl5iHDaL-D2xewn3qVKEqPTGgw7MrRf7s/s1600/switch.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgcpEqIlH-3RDZdDaz3oo8bsBIkHOuvW-gHtFNdzGsXhOPTATM9f4rtH4tqR2Ko14TiQTXHUjlS2j1WmHYExUyk-uup-HNxOot5RwvTcfCkLDcl5iHDaL-D2xewn3qVKEqPTGgw7MrRf7s/s1600/switch.jpg" height="251" width="400" /></a></div>
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Now remove the power. Press and hold the mode button and connect the power. Then the LED will start blinking very slowly...which indicate that you Bluetooth is now in "AT command"mode.</div>
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open the serial terminal software and select the "COM" number of your serial port module and configure the following </div>
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<span style="text-align: left;">baud rate as"38400"</span></div>
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<span style="text-align: left;">hardware "none"</span></div>
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<span style="text-align: left;">parity "none"</span></div>
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<span style="text-align: left;">databits "8"</span></div>
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<span style="text-align: left;">stop bits "1"</span></div>
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better enable local echo in your terminal software...<br />
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type "AT" and press <enter> switch you will get response "OK" it means your device is working in AT mode successfully..once if you disconnect the power then the you Bluetooth will be back to serial data mode.<br />
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NOTE: in AT mode the baud rate will be 38400. but in serial data mode many baud rate values can be used.<br />
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few of the useful AT commands:<br />
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AT <enter> it gives the response OK continuously so press <enter> again to stop<br />
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AT+NAME? <enter> it displays the name of Bluetooth module<br />
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AT+NAME=new_name <enter> changes module name to "new_name"<br />
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AT+PSWD? <enter> displays password to enter while pairing with this device<br />
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AT+PSWD=4321 <enter> changes the password to 4321<br />
( only 4 digit number is accepted as password )<br />
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for more info regarding AT commands refer to the data sheet.<br />
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com2tag:blogger.com,1999:blog-1935044069554993811.post-20495496656735357262014-07-03T14:48:00.001-07:002015-05-10T11:51:40.865-07:00PIR motion sensor interfacing with microcontroller<div dir="ltr" style="text-align: left;" trbidi="on">
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<span style="font-family: Times, Times New Roman, serif;">This sensor senses the bodies that emitting IR radiation and are in motion. there are several types of PIR sensors are available in the market. most common types are these TWO..</span><br />
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<span style="font-family: Times, Times New Roman, serif;"><span style="color: blue; font-size: large;">TYPE.1:</span> with one potentiometer </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUtkPELCDCVO69U3jMOKgdIo4ExSoRvBTQbtGZlRLglZrefQ_1H-KX8kLtcLHTdRpAO72OxZYZIoG0RtfMYpdusdez6gZzWHpsWT5JlKFhcDFOV0tMysu7zRn6gdW9eEyfgL94EvndwE0/s1600/pir_module_3.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"><span style="font-family: Times, Times New Roman, serif;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUtkPELCDCVO69U3jMOKgdIo4ExSoRvBTQbtGZlRLglZrefQ_1H-KX8kLtcLHTdRpAO72OxZYZIoG0RtfMYpdusdez6gZzWHpsWT5JlKFhcDFOV0tMysu7zRn6gdW9eEyfgL94EvndwE0/s1600/pir_module_3.jpg" width="320" /></span></a><span style="font-family: Times, Times New Roman, serif;"></span></div>
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<span style="font-family: Times, Times New Roman, serif;"> This Pot is used to set the time of out put signal stays at logic high on object detection width. this sensor's sensitivity can't be altered. </span><span style="font-family: Times, 'Times New Roman', serif;">It produces a 3.3V "logic high". </span></div>
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<span style="color: blue; font-family: Times, 'Times New Roman', serif;"><span style="font-size: large;">TYPE.2:</span> </span><span style="font-family: Times, 'Times New Roman', serif;">with two potentiometers </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYAVceZ4axPHGgYts1dZPapTeAHiVWi79ObpzLdFxzrYcyxv4qDhHc4rJ4RGoMlrN77A4HmfsgCFLaKiuva-eDLdYlAVHxxSeSXGz3DJVtsWiLl_zxTF3ZsMwGS3tOZ4b-_VKMc69Bcrg/s1600/pir_module_2.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em; text-align: left;"><span style="font-family: Times, Times New Roman, serif;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYAVceZ4axPHGgYts1dZPapTeAHiVWi79ObpzLdFxzrYcyxv4qDhHc4rJ4RGoMlrN77A4HmfsgCFLaKiuva-eDLdYlAVHxxSeSXGz3DJVtsWiLl_zxTF3ZsMwGS3tOZ4b-_VKMc69Bcrg/s1600/pir_module_2.jpg" width="320" /></span></a></div>
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<span style="background-color: white; font-size: 16px; line-height: 24px;"><span style="font-family: Times, Times New Roman, serif;">The device has two variable resistors that you can adjust to tweak the performance of the module.</span></span></div>
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<span style="font-family: Times, Times New Roman, serif;">The first one (left-hand side on the photo) determines the sensitivity of the device. The default setting is usually 50%.</span></div>
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<span style="font-family: Times, Times New Roman, serif;">The second control (right-hand side on the photo and usually marked “time” on the PCB) allows you to adjust the amount of time the output pin stays at 3.3V (high) when it is triggered by movement. This can be set from a few seconds to 200 seconds. The default setting is usually a few seconds.</span></div>
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<span style="color: blue; font-family: Times, Times New Roman, serif;"> WORKING:</span></div>
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<span style="font-family: Times, Times New Roman, serif;">But the operation of the both sensors is same. This PIR sensor doesn't respond for the stationary objects. Instead it senses the IR bodies in motions(hot materials and living objects). This sensor accepts DC voltage of 5V. </span><br />
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<span style="color: blue; font-family: Times, Times New Roman, serif;">NOTE:</span></h3>
<span style="font-family: Times, Times New Roman, serif;">Most of the time pin configuration will be printed on the sensor . But some sensors available with in in India are not describing pin configurations properly. But the standard notation of pin will be like all ways <span style="background-color: yellow; color: red;">middle pin will be output</span>. so if you identify the GROUND then remaining pin will be VCC.</span><br />
<span style="font-family: Times, Times New Roman, serif;">It is very simple. Most of these sensors are made of using BISS0001(16 pin DIL package). 7th pin of this IC is GND. So take a multimeter and check for short circuit test and beep sound. then it will be your sensor ground and opposite side pin will be VCC</span></div>
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<span style="font-family: Times, Times New Roman, serif;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6EvdwJIcpkVwisXm3w7D0MWknJRTPPRhCgQ_eYzrbP4NsWO0KlIlM6ltwbpREoSs3lIp1MSC7DlloZlwVHjmt3UK-C1gLwIJ4Q-jDXrPb1TLT_FmhdxQsYcXJLBU-kQN7hVLG9rTbPyE/s1600/pir_module_4.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6EvdwJIcpkVwisXm3w7D0MWknJRTPPRhCgQ_eYzrbP4NsWO0KlIlM6ltwbpREoSs3lIp1MSC7DlloZlwVHjmt3UK-C1gLwIJ4Q-jDXrPb1TLT_FmhdxQsYcXJLBU-kQN7hVLG9rTbPyE/s1600/pir_module_4.jpg" width="263" /></a></span></div>
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<span style="font-family: Times, Times New Roman, serif;">As the sensor provides 3.3V signal it may be little difficult to interface with microcontrollers working at Vcc=5V(most 8 bit hobby controllers like AT89S51). At the same time it will be easy to interface with low powered microcontrollers like LPC2148. You better check your microcontroller Logic voltage levels.</span></div>
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<span style="font-family: Times, Times New Roman, serif;">Actually i interfaced this sensor to ATmega8 MCU which can detect even 3.3 volt logical signal. So i successfully connected this PIR sensor to the ATmega8 microcontroller.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEinMO1wjuIbg2K_Px5flkyiUOMcb_0S8Olr7xkyU_x44-mVuv_hBl7wjqCza1iyI_-vsk8D8XKKDqgamC4pEU02_IyrV55D4OXzpHLddWihTmD_PpjY4nDymZsqbn1KV5pUqkw4HbnJvPI/s1600/pir_module_5.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEinMO1wjuIbg2K_Px5flkyiUOMcb_0S8Olr7xkyU_x44-mVuv_hBl7wjqCza1iyI_-vsk8D8XKKDqgamC4pEU02_IyrV55D4OXzpHLddWihTmD_PpjY4nDymZsqbn1KV5pUqkw4HbnJvPI/s1600/pir_module_5.bmp" width="390" /></a></div>
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<span style="color: blue; font-size: x-large;">Basic Program </span></div>
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<span style="font-size: large;">#include<avr/io.h></span></div>
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<span style="font-size: large;">void main()</span></div>
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<span style="font-size: large;">{</span></div>
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<span style="font-size: large;"> DDRC=0xfe; //configuring PortC pin 0 as input</span></div>
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<span style="font-size: large;"> PORTC=0xff; //enabling internal pull-up resistors</span></div>
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<span style="font-size: large;">DDRB=0xff; // configuring PortB as output</span></div>
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<span style="font-size: large;">PORTB=0x00; // buzzer off</span></div>
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<span style="font-size: large;"> if((PINC & 0x01)==0x01) // check for sensor pin PC.0 using bit { //masking (if sensor detects motion ) </span></div>
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<span style="font-size: large;"> PORTB=0xff; // buzzer on</span></div>
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<span style="font-size: large;"> else</span></div>
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<span style="font-size: large;"> PORTB=0x00; // buzzer off</span></div>
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<span style="font-size: large;">}</span></div>
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<span style="font-size: large;">}</span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com4tag:blogger.com,1999:blog-1935044069554993811.post-19011329050790471182014-05-13T11:43:00.000-07:002014-06-24T15:49:34.228-07:00Bluetooth controlled robot using ARDUINO<div dir="ltr" style="text-align: left;" trbidi="on">
This article helps you to make a robot that can be controlled from your android powered mobile through Bluetooth.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidKk7pVOsTVtRVOo6p40eYZWSoFqBf-fFbka9vpNYDOXy017L4DJ-3eHfCTeVqyK9m-U2sr1nhdjRtaf7oK-L0WqZjLbW8LxCcIf9yt9ugSGdCrQim5BLcVdHUMx5MLWVDq2vfTV74U78/s1600/DSCN0078.JPG" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidKk7pVOsTVtRVOo6p40eYZWSoFqBf-fFbka9vpNYDOXy017L4DJ-3eHfCTeVqyK9m-U2sr1nhdjRtaf7oK-L0WqZjLbW8LxCcIf9yt9ugSGdCrQim5BLcVdHUMx5MLWVDq2vfTV74U78/s1600/DSCN0078.JPG" height="480" width="640" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidKk7pVOsTVtRVOo6p40eYZWSoFqBf-fFbka9vpNYDOXy017L4DJ-3eHfCTeVqyK9m-U2sr1nhdjRtaf7oK-L0WqZjLbW8LxCcIf9yt9ugSGdCrQim5BLcVdHUMx5MLWVDq2vfTV74U78/s1600/DSCN0078.JPG" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"><br /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMMNqj8xguXPPYTef3VCWjms_ov8uyLaGhyphenhyphen8ZBlPWz2m2gxicll7bjBuhri2cir0TMXWmh7UGzdXZxD4qizPnqwwPQv0aOZgcaSIFC5CC9e3xf-6tSWl0WzOwhOGtR-7hR9l0HjrkDaQs/s1600/DSCN0079.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMMNqj8xguXPPYTef3VCWjms_ov8uyLaGhyphenhyphen8ZBlPWz2m2gxicll7bjBuhri2cir0TMXWmh7UGzdXZxD4qizPnqwwPQv0aOZgcaSIFC5CC9e3xf-6tSWl0WzOwhOGtR-7hR9l0HjrkDaQs/s1600/DSCN0079.JPG" height="480" width="640" /></a></div>
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<span style="color: blue; font-family: Times, Times New Roman, serif; font-size: x-large;"><b> HC-05:</b></span><br />
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This Bluetooth module works on SPP (serial port profile). It establishes a serial communication(UART) between your android mobile and microcontroller.<br />
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This module works in two modes:<br />
1) AT mode<br />
2)COM mode<br />
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AT mode:<br />
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In AT mode you can directly connect the module to your computer hyper terminal or any other serial gate way through DB9 serial port through MAX232 circuit (or you can use any USB to UART gateways like FT232and configure through AT commands. set the baud rate "38400"<br />
some example commands:<br />
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AT <enter> it gives the response OK continuously so press <enter> again to stop<br />
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AT+NAME? <enter> it displays the name of Bluetooth module<br />
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AT+NAME=new_name <enter> changes module name to "new_name"<br />
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AT+PSWD? <enter> displays password to enter while pairing with this device<br />
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AT+PSWD=4321 changes the password to 4321 ( only 4 digit number is accepted as password )<br />
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for more info regarding AT commands refer to the data sheet.<br />
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COM mode:<br />
this is the mode that to be set when interfacing with a microcontroller through UART.<br />
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In this project i'm using an Arduino MEGA 2560 and a Bluetooth shield from <a href="http://robogenesis.in/" target="_blank">Robogenesis</a><br />
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To drive the DC motors i'm using L293D.<br />
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<span style="font-family: Georgia, Times New Roman, serif; font-size: large;">CIRCUIT DIAGRAM:</span></h4>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi-54Lvya8k5hK7dK5RqKIwAqCsGRw_pTkG8mFIG5wfZVcUli1yrOFueLLzdSmj0qul5IkOVGznBrU4pmCfRthj7UCDdV4s089EUlXiIliz31FvtiZLSLI9NX-OErlE2bKX_wz737YM4kM/s1600/arduino+bluetooth.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi-54Lvya8k5hK7dK5RqKIwAqCsGRw_pTkG8mFIG5wfZVcUli1yrOFueLLzdSmj0qul5IkOVGznBrU4pmCfRthj7UCDdV4s089EUlXiIliz31FvtiZLSLI9NX-OErlE2bKX_wz737YM4kM/s1600/arduino+bluetooth.bmp" height="570" width="640" /></a></div>
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<span style="color: blue; font-size: x-large;"><b>arduino code:</b></span></h4>
//---------------------------------------------------<br />
//--------------- code starts-------------------------<br />
//---------------------------------------------------<br />
unsigned char blue_data;<br />
void setup()<br />
{<br />
Serial.begin(9600);// set up serial communications with 9600 baud rate<br />
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pinMode(7, OUTPUT);//motor 1a<br />
pinMode(6, OUTPUT);//motor 1b<br />
pinMode(5, OUTPUT);//motor 2a<br />
pinMode(4, OUTPUT);//motor 2b<br />
digitalWrite(7,LOW);<br />
digitalWrite(6,LOW);<br />
digitalWrite(5,LOW);<br />
digitalWrite(4,LOW);<br />
}<br />
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void loop()<br />
{<br />
if (Serial.available() > 0)<br />
{<br />
blue_data = Serial.read();// get incoming byte from bluetooth<br />
if(blue_data=='F' )//forword<br />
{<br />
digitalWrite(7,HIGH);digitalWrite(6,LOW);digitalWrite(5,HIGH);digitalWrite(4,LOW);<br />
}<br />
else if(blue_data=='B' )//backword<br />
{<br />
digitalWrite(7,LOW);digitalWrite(6,HIGH);digitalWrite(5,LOW);digitalWrite(4,HIGH);<br />
}<br />
else if(blue_data=='L' )//left turn<br />
{<br />
digitalWrite(7,LOW);digitalWrite(6,HIGH);digitalWrite(5,HIGH);digitalWrite(4,LOW);<br />
}<br />
else if(blue_data=='R' )// right turn<br />
{<br />
digitalWrite(7,HIGH);digitalWrite(6,LOW);digitalWrite(5,LOW);digitalWrite(4,HIGH);<br />
}<br />
else if(blue_data=='S' )// stop<br />
{<br />
digitalWrite(7,LOW);digitalWrite(6,LOW);digitalWrite(5,LOW);digitalWrite(4,LOW);<br />
}<br />
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}<br />
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}<br />
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<span style="font-size: large;">android app:</span></h4>
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Description</div>
<div class="show-more-content text-body" itemprop="description" style="background-color: whitesmoke; border: 0px; color: #333333; font-family: Roboto, Arial, sans-serif; font-size: 14px; line-height: 20px; margin: 0px; max-height: none; overflow: hidden; padding: 0px; position: relative;">
<div class="id-app-orig-desc" style="border: 0px; margin: 0px; padding: 0px;">
****This application is designed to be used with a MODIFIED RC car. You have to replace the car's stock control circuit with a micro controller. This involves programming. The application will not work with a brand new, out of the box RC car. Please visit the website before you download the application.<br />
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The application allows you to control an Arduino based RC car over Bluetooth. This is done using a Bluetooth enabled Android phone. Visit this site<a href="https://www.google.com/url?q=https://sites.google.com/site/bluetoothrccar/&sa=D&usg=AFQjCNFSzognA-y03ro_nMDrMSkMnQFZQw" style="color: #1155cc; cursor: pointer; text-decoration: none;" target="_blank">https://sites.google.com/site/bluetoothrccar/</a> for the Arduino code and control circuit. The app lets you control the car with either buttons or the phone's accelerometer. A slider bar allows you to control your car's velocity if the car's control circuit has this feature. There are also two buttons for front and back lights. A flashing light lets you know when the phone is connected to the car, and arrows light up letting you know the car's driving direction.</div>
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<h4 style="text-align: center;">
<span style="font-size: x-large;">WORKING VIDEO</span></h4>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com3tag:blogger.com,1999:blog-1935044069554993811.post-43563618455920566352014-02-26T20:48:00.002-08:002014-03-22T00:50:31.629-07:00 ZIGBEE (Tarang F4) interfacing with microcontroller <div dir="ltr" style="text-align: left;" trbidi="on">
When there is a need of long range two way communications in hobby electronics most of the people prefer "ZIGbee" modules. there are several zigbee modules available in the market...with several ranges and qualities..<br />
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<div>
Tarang F4 is also a similar module.....</div>
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So let's see how to use these modules for normal full duplex serial communication with UART:</div>
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<div>
<ol style="text-align: left;">
<li> This module can be easily interfaced with any 8 bit microcontroller with all standard baud-rates between 1200 to 115200. </li>
<li>Each module consists of a 16 bit address. So user must provide a source address and destination address while configuring the module. which means only the destination module with matched address can only receive the data.</li>
<li>User can select the RF channels among 16 channels with addresses from 0x00 to 0x0F. The modules must be in same channel to establish the communication between them. </li>
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<div>
lets check the pin configuration of this module.</div>
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Tarang module works on <span style="color: red;">3.3v </span>power supply. so sufficient voltage regulator must be used.</div>
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<span style="color: blue; font-size: large;">WORKING PROCESS:</span></div>
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<span style="color: blue; font-size: large;"><br /></span></div>
<div>
By default the tarang F4 module: works at baud-rate of : 9600</div>
<div style="text-align: center;">
source address : 0x1000 (hexadecimal) </div>
<div style="text-align: center;">
destination address : 0x1000 </div>
<div style="text-align: center;">
RF channel : 0x00 </div>
<div style="text-align: justify;">
it means :<br />
<br /></div>
<div style="text-align: justify;">
<span style="font-size: large;"><span style="background-color: yellow;">"by default any tarang F4 module can communicate with any other module"</span>.</span></div>
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<div>
So tarang modules can be directly interfaced with microcontroller with baudrate of 9600. The connection circuit will be as follows.</div>
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<span style="color: red; font-size: large;"><b style="background-color: yellow;">NOTE: if your microcontroller is working at 3.3V then you can directly interface it to the microcontroller. if your microcontroller is working at 5V connect a resistor of 100ohms between TXD pin of MCU and Din pin of Tarang F4.</b></span></div>
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<h3 style="text-align: left;">
<span style="color: blue;">CONFIGURING THE MODULE:</span></h3>
For configuring the tarang F4 module first connect the module to PC serial Port. Now a days our laptops are not designed with serial ports directly. So we have to go for USB to Serial converters Like FT232, CP2102 or Prolific connectors.<br />
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<ol style="text-align: left;">
<li><span style="font-size: large;">Connect the module to PC using any above serial interface.</span></li>
<li><span style="font-size: large;">open "hyper terminal"(in xp) or use any similar software in case of Windows7 or 8 like "Tera Term".</span></li>
<li><span style="font-size: large;">connect to the selected "COM" port and select local echo option select baudrate of 9600,databits 8, hardware : none.</span></li>
<li><span style="font-size: large;">Device must be set to command mode by entering three '+' symbols "+++" with in one second. and <span style="color: red;">Do not press enter</span>.</span></li>
<li><span style="font-size: large;">you will get a response from module "OK".</span></li>
<li><span style="font-size: large;">Enter the correspond AT commands as per your requirement and <span style="color: red;">press enter</span>. Follow the command as per the data sheet. Some of the useful basic commands are listed below.</span></li>
<li><span style="font-size: large;">After entering the settings the settings must be stored in the memory. "ATGRD" is the command used to store the settings. If this is not used the current settings will be lost.</span></li>
<li><span style="font-size: large;">to exit the command mode "ATGEX" is used. it gives "EXIT" as response. </span></li>
</ol>
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<span style="color: blue; font-size: large;"><b><br /></b></span></div>
<div>
<span style="color: blue; font-size: large;"><b style="background-color: yellow;">SOME TARANG F4 BASIC AT-COMMANDS </b></span></div>
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<span style="color: blue; font-size: large;"><b><br /></b></span></div>
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<ol style="text-align: left;">
<li><span style="font-size: large;">"<span style="color: red;">ATGEX</span>" : exit form command mode ; response: "<span style="color: blue;">EXIT</span>"</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATGRD</span>": set module to default settings(channel(00)baud(9600),address(1000));response:"<span style="color: blue;">OK</span>"</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATGWR</span>":stores current settings; response : "<span style="color: blue;">OK</span>"</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATNCH</span>": sets/read channel number: response:"<span style="color: blue;">00</span>" to "<span style="color: blue;">0F</span>" (total 16 supporting channels)</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATNMY</span>":set/read source address: response:"<span style="color: blue;">1000</span>"(16 bit hexadecimal number)</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATNDA</span>":set/read destination address: response:"<span style="color: blue;">1000</span>"(16 bit hexadecimal number)</span></li>
<li><span style="font-size: large;">"<span style="color: red;">ATSBD</span>": set/read baudrate: response: "<span style="color: blue;">00</span>" to "<span style="color: blue;">07</span>". </span></li>
</ol>
<div style="text-align: center;">
<span style="font-size: large;">00=>1200</span></div>
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<div style="text-align: center;">
<span style="font-size: large;">01=>2400</span></div>
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<span style="font-size: large;">02=>4800</span></div>
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<span style="font-size: large;">03=>9600</span></div>
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<span style="font-size: large;"> 04=>19200</span></div>
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<span style="font-size: large;"> 05=>38400</span></div>
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<span style="font-size: large;"> 06=>57600</span></div>
<div style="text-align: center;">
<span style="font-size: large;"> 07=>115200</span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com15tag:blogger.com,1999:blog-1935044069554993811.post-10577348805072869552013-10-16T05:56:00.004-07:002013-10-18T06:20:13.928-07:00ARDUINO based Quadruped robot using 2 servos<div dir="ltr" style="text-align: left;" trbidi="on">
I all ways wanted to make a quadruped robot. And finally got a chance to make one. So i wanted to simplify the design with least possible hardware.<br />
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<h2 style="text-align: center;">
<span style="color: red;">working video</span></h2>
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<span id="goog_5358407"></span><span id="goog_5358408"></span><br />
I checked in the market to get good servos and found these VS-2 servos. These servos provide up to<br />
3Kg-cm torque.<br />
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To control the servos i wanted to use ARDUINO. I got Arduino mega with me. But that board is little heavy and my robot cant bare it. So tried for arduino uno or nano. I'm not able to find one in the Indian market and the cost is going beyond the budget. So i thought of making my own Arduino. </div>
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This board consists of an ATmega8 microcontroller working at 16Mhz and almost all the pins are exposed in this board and each and every pin is associated with supply and ground pins.<br />
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To load the arduino sketch into this board i made a sketch loader for it. In traditional Arduino boards FTDT chips(FT232) are used. It is a USB to serial devise. I googled about and found a similar chip which is a little cheaper in my local market called CP2102 from silicon lcbs.<br />
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<span style="color: red; font-family: Verdana, sans-serif;"><b><br /></b></span></h3>
</b></span><span style="color: red; font-family: Verdana, sans-serif;"><b><i>MECHANICAL ARRANGEMENT<br />
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<span style="color: red; font-family: Verdana, sans-serif;"><b><i><br />
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</i></b></span></h3>
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<h2 style="text-align: left;">
<span style="background-color: black; color: lime; font-family: Times, Times New Roman, serif;">CIRCUIT DIAGRAM:</span></h2>
<div>
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<div style="text-align: justify;">
<span style="font-family: Times, Times New Roman, serif;">In this circuit diagram i didn't showed the Power supply for Arduino. if you are using any standard Arduino you have to use a separate 9v supply for your Arduino board. In this project i used an ATmega8L microcontroller(operates from 3.3V to 5V) with Arduino boot-loader. So i used a common power supply for both Board and Motors.</span></div>
<div style="text-align: justify;">
<span style="font-family: Times, Times New Roman, serif;">NOTE: if you are using a common supply the circuit may get reset continuously due to more load of motors. To overcome this problem i used 2x1000uF capacitors accross Vcc and Gnd </span></div>
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<h3 style="text-align: left;">
<span style="color: blue; font-family: Times, Times New Roman, serif; font-size: large;"><b style="background-color: #fff2cc;"><u>ARDUINO CODE :</u></b></span></h3>
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#include <Servo.h><br />
<br />
Servo mot1;<br />
Servo mot2;<br />
<br />
<br />
void setup( )<br />
{<br />
mot1.attach(9); // servo one to digital pin 9 of arduino<br />
mot2.attach(10);// servo two to digital pin 10 of arduino<br />
<br />
}<br />
void loop( )<br />
{<br />
mot1.write(60);<br />
mot2.write(120);<br />
<br />
delay(300);<br />
<br />
mot1.write(120);<br />
mot2.write(60);<br />
<br />
delay(300);<br />
<br />
<br />
}<br />
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<span style="color: red;"><br /></span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com10tag:blogger.com,1999:blog-1935044069554993811.post-10605583431593721912013-10-13T15:30:00.006-07:002014-06-24T15:47:54.666-07:00Analog 3-Axis Accelerometer interfacing with ATmega8 board<div dir="ltr" style="text-align: left;" trbidi="on">
Every body is having a smart phone. The vary first game that you will look for is "TEMPLE RUN".<br />
This game became favorite of many.<br />
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<h3 style="text-align: left;">
<span style="color: blue; font-size: large;">In the above situation how the player bends side?</span></h3>
<div>
<span style="background-color: #444444; color: lime; font-size: large;">I know what you will say "we</span><span style="background-color: #fff2cc; color: red;"><u><span style="font-size: large;"> </span><span style="font-size: large;"><b>tilt</b></span></u><span style="font-size: large;"> </span></span><span style="background-color: #444444; color: lime; font-size: large;">the smart phone left".</span></div>
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<span style="background-color: #444444; color: lime; font-size: large;"><br /></span></div>
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<span style="background-color: white;">the question is how your mobile is able to sense the tilt. Here comes the concept of a small devise called</span><br />
<span style="background-color: white;"><br /></span></div>
<div style="text-align: center;">
<span style="color: red; font-family: Courier New, Courier, monospace; font-size: x-large;"><b><i style="background-color: yellow;">Accelerometer</i></b></span><br />
<span style="color: red; font-family: Courier New, Courier, monospace; font-size: x-large;"><b><i style="background-color: yellow;"><br /></i></b></span></div>
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<span style="font-family: Times, Times New Roman, serif;"><span style="background-color: white;"> what is this thing?????????</span></span></div>
</div>
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<span style="font-family: Times, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
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<div style="text-align: center;">
<span style="font-family: Times, Times New Roman, serif;">It is a Micro Electro Mechanical device. For short MEMS.</span></div>
</div>
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<a href="http://img.docstoccdn.com/thumb/orig/83516847.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://img.docstoccdn.com/thumb/orig/83516847.png" height="480" width="640" /></a></div>
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<span style="font-family: Times, Times New Roman, serif;"><br /></span></div>
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<span style="color: red;"><span style="font-family: Times, Times New Roman, serif;">How the </span><b style="background-color: white; font-family: sans-serif; font-size: 12.800000190734863px; line-height: 19.200000762939453px; text-align: left;">accelerometer work?</b></span></div>
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<a href="http://www.analog.com/static/imported-files/images/functional_block_diagrams/ADXL335_fbs.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.analog.com/static/imported-files/images/functional_block_diagrams/ADXL335_fbs.png" height="376" width="640" /></a></div>
<div style="text-align: justify;">
<b style="background-color: white; font-family: sans-serif; font-size: 12.800000190734863px; line-height: 19.200000762939453px; text-align: left;">when ever you tilt the </b><b style="background-color: white; font-family: sans-serif; font-size: 12.800000190734863px; line-height: 19.200000762939453px; text-align: left;">accelerometer at any axis the module of the corresponding axis will sense the change in "g"(acceleration due to gravity) and produces a corresponding change in the terms of analog voltage. </b><br />
<div style="text-align: justify;">
<b style="background-color: white; font-family: sans-serif; font-size: 12.800000190734863px; line-height: 19.200000762939453px; text-align: left;"><br /></b></div>
<div style="text-align: justify;">
<b style="background-color: white; font-family: sans-serif; font-size: 12.800000190734863px; line-height: 19.200000762939453px; text-align: left;">Now we are going to use an accelerometer to control the robot. This technique helps a physically challenged person to control the wheel chair with their hand gesture .</b></div>
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<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif;"><span style="font-size: 12.800000190734863px; line-height: 19.200000762939453px;">As shown in the above figure this sensor module is </span></span><span style="font-family: sans-serif; font-size: x-small;"><span style="line-height: 19.1875px;">available at many models from different vendors. But the basic connection are same for all ADXL335 modules.</span></span></b></div>
<div style="text-align: justify;">
<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif; font-size: x-small;"><span style="line-height: 19.1875px;"><br /></span></span></b></div>
<div style="text-align: justify;">
<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif;"><span style="line-height: 19.1875px;"><span style="font-size: x-small;">Actually this sensor module comes with an internal 3.3V voltage regulator. then you can directly use a 5V supply. otherwise you have to go for 3.3V supply. </span></span></span></b></div>
<div style="text-align: justify;">
<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif;"><span style="line-height: 19.1875px;"><span style="font-size: x-small;"><br /></span></span></span></b></div>
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<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif;"><span style="line-height: 19.1875px;"><span style="font-size: x-small;">These X Y Z pins are the analog outputs from the sensor. As the device internally works at 3.3V the maximum voltage produced at these pins will be 3.3V</span></span></span></b></div>
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<b style="background-color: white; text-align: left;"><span style="font-family: sans-serif;"><span style="line-height: 19.1875px;"><span style="font-size: x-small;"><br /></span></span></span></b></div>
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As we know that our microcontroller is digital and it cannot process the analog data directly. We need to convert the analog data into digital. An A/D converter is required for this process.<br />
<br />
In this tutorial We are going to use an AVR microcontroller (ATmega8) based platform which is having an in built ADC mechanism in it.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5sHtoiRGbiEjOQRes_CGELKmzifvsAwEq0FboDxlt66xzLdtwKb7nQVb2RsLAZUB8Itqh-HsmJvCoE1LFpZJKqVVVlEW04yxf_f4KJn2kkuaAX0w40ZWPQ_AENW7FLwSdfGa9mog0HFc/s1600/atmega8+board.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5sHtoiRGbiEjOQRes_CGELKmzifvsAwEq0FboDxlt66xzLdtwKb7nQVb2RsLAZUB8Itqh-HsmJvCoE1LFpZJKqVVVlEW04yxf_f4KJn2kkuaAX0w40ZWPQ_AENW7FLwSdfGa9mog0HFc/s1600/atmega8+board.bmp" height="420" width="640" /></a></div>
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This board was developed by <a href="http://robogenesis.in/" target="_blank">ROBOGENESIS</a>.<br />
The specialty of the board is "NO EXTERNAL PROGRAMMER IS REQUIRED" .<br />
It can be programmed through USB port.<br />
comes along with a special library so any one can program the board.<br />
Also compatible with <b><span style="color: red;">ARDUINO</span></b> programming.<br />
For more info about This board mail us at : vaabrobotics@gmail.com<br />
This board comes with a CD that include the necessary libraries for all the modules compatible with this microcontroller hardware.<br />
<br />
So in this project we are going to use "adc.h" header file<br />
which helps in using the ADC port of this board.<br />
<br />
to check the ADC values at the respective levels we are going to interface an LCD too..<br />
this will help us in calibrating the ADC data from the accelerometer.<br />
to support the LCD port the "lcd.h" header file can be used.<br />
<br />
connect the sensor X,Y,Z axis outputs to the ADC0, ADC1, ADC2 channels respectively <br />
<br />
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<span style="color: blue; font-family: Georgia, Times New Roman, serif; font-size: large;"><b>CODE FOR ATmega8 INTERFACING WITH ADXL335</b></span></div>
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<span style="font-family: Times, Times New Roman, serif;">#include<avr/io.h> // I/O port definitions </span></div>
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<span style="font-family: Times, Times New Roman, serif;">#define F_CPU 12000000UL // frequency of the board</span></div>
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<span style="font-family: Times, Times New Roman, serif;">#include<util/delay.h> // headder file for delay functions</span></div>
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<span style="font-family: Times, Times New Roman, serif;">#include"lcd.h" // LCD headder file</span></div>
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<span style="font-family: Times, Times New Roman, serif;">#include"adc.h" // ADC headder file</span></div>
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<span style="font-family: Times, Times New Roman, serif;">void main()</span></div>
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<span style="font-family: Times, Times New Roman, serif;">{ </span></div>
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<span style="font-family: Times, Times New Roman, serif;"> lcd_init(); // initializing LCD</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> adc_init(); // </span><span style="font-family: Times, 'Times New Roman', serif;">initializing ADC</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> lcd_string("working"); // displays "working" on first row of LCD</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> _delay_ms(1200); // delay of 1.2seconds</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> lcd_clear(); // LCD display cleared</span></div>
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<span style="font-family: Times, Times New Roman, serif;">lcd_cursor(0,0); // setting cursor to row 0 column 0 position</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> lcd_string(" X Y Z "); // display on row 0</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> unsigned char x,y,z; // variables</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> while(1)</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> {</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> x=getdata(0x00); //reading data from ADC0 storing in variable x</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> y=getdata(0x01); </span><span style="font-family: Times, 'Times New Roman', serif;">//reading data from ADC1 storing in variable y</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> z=getdata(0x02); </span><span style="font-family: Times, 'Times New Roman', serif;">//reading data from ADC2 storing in variable z</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> </span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_cursor(1,0); </span><span style="font-family: Times, 'Times New Roman', serif;">// setting cursor to row 1 colums 0 position</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_num(x); //displays the value of x</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_cursor(1,5); </span><span style="font-family: Times, 'Times New Roman', serif;">// setting cursor to row 1 colums 5 position</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_num(y); </span><span style="font-family: Times, 'Times New Roman', serif;">//displays the value of y</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_cursor(1,10);</span><span style="font-family: Times, 'Times New Roman', serif;">// setting cursor to row 1 colums 10 position</span></div>
<div style="text-align: left;">
<span style="font-family: Times, Times New Roman, serif;"> lcd_num(z); </span><span style="font-family: Times, 'Times New Roman', serif;">//displays the value of z</span></div>
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<span style="font-family: Times, Times New Roman, serif;"> }</span></div>
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<span style="font-family: Times, Times New Roman, serif;">}</span></div>
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<span style="font-family: Times, Times New Roman, serif;"><br /></span></div>
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<span style="color: red; font-family: Georgia, Times New Roman, serif;">NOTE:ALL THE HEADER FILES ARE PROVIDED ALONG WITH THIS BOARD.....</span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com6tag:blogger.com,1999:blog-1935044069554993811.post-40872375041856350162013-06-28T11:38:00.000-07:002013-06-28T11:38:01.848-07:00home made printed circuit board<div dir="ltr" style="text-align: left;" trbidi="on">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjp_peB8XF3TXrnuInRQRwAoVWwnWAkT6RynL6Hww5QaHhZi7TcxBGKmq-nQJjuLrClQ57xRLpa93UiLvmHFvxs5TGM0Cn77YNn_VvgGfQx3OJV2W5-EmpeN14HsUThwF9vsGgaLRnQfRU/s1600/IMG_1082-2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjp_peB8XF3TXrnuInRQRwAoVWwnWAkT6RynL6Hww5QaHhZi7TcxBGKmq-nQJjuLrClQ57xRLpa93UiLvmHFvxs5TGM0Cn77YNn_VvgGfQx3OJV2W5-EmpeN14HsUThwF9vsGgaLRnQfRU/s640/IMG_1082-2.jpg" height="362" width="640" /></a></div>
<br />
I felt bored of using the universal PCB or the DOT board for my projects so i thought of making one printed circuit board after googling for couple of days i found the chemicals for this process<br />
1)<b>FeCl</b><i>3</i><br />
2)<b>H</b><i>2</i><b>O</b>(available in your everywhere for free)<br />
3)<b>H</b><i>2</i><b>O</b><i>2</i>(available in medical shops called hydrogen peroxide<br />
<br />
before every thing first you have to make a schematic and board file of your circuit.<br />
for that you require any CAD software for PCB designing.<br />
<br />
i used Eagle software....its so cool..<br />
first make schematic of the circuit of your interest and make its board file<br />
save the board file as PDF and print it in black colour using a laser printer<br />
<br />
NOTE: while printing do not forget to keep it in its original size. If you shrink the image you won't get a perfect PCB<br />
<br />
take a print out and soak it in worm water.<br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj3I_RtqmVffZauzTFvj8t5wZrjA-bMZxnlKOC9L7UCADaF9jIFTVPTyJH7G3FcFt5paYmTeEfmA_VARouJy78ll46NimxSKu7qPVYw51Zg1I8jBvgD8eQwXN3-EZ246a2C40DNelUkGzE/s1600/DSCN6732.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj3I_RtqmVffZauzTFvj8t5wZrjA-bMZxnlKOC9L7UCADaF9jIFTVPTyJH7G3FcFt5paYmTeEfmA_VARouJy78ll46NimxSKu7qPVYw51Zg1I8jBvgD8eQwXN3-EZ246a2C40DNelUkGzE/s1600/DSCN6732.JPG" height="480" width="640" /></a></div>
<br />
take a PCB copper clad sheet of same size<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4TEKvdghyphenhyphend-It5_nZSpzQr31a8yjxtje-ws8U3KKuHECqmMVBbfK6-XTqLDy6xbOyXyU3TW5L5yrI_U6LZlzff0QQ7XF6TJp_AKroX0EVEXP6ww-_Dt8QJcb6-vM5zRtxkkIMC_OzqZM/s1600/DSCN6737.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4TEKvdghyphenhyphend-It5_nZSpzQr31a8yjxtje-ws8U3KKuHECqmMVBbfK6-XTqLDy6xbOyXyU3TW5L5yrI_U6LZlzff0QQ7XF6TJp_AKroX0EVEXP6ww-_Dt8QJcb6-vM5zRtxkkIMC_OzqZM/s1600/DSCN6737.JPG" height="480" width="640" /></a></div>
<br />
place it in such a whay that copper side toches the print side of the paper and heat it with iron box <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV2-ik-HtvXoKxIK7bdISq4K9hSMHZRkPhusRIRr_kh58V9Nr3n5M9XUnxfu1qDe9ktGP9RW6K0E3_u2vYenWdKsyF-rOzKEPvnAqCCyCgG3SQkVz22W-UBgXKtp2SMy5_1NjvY_zeX_w/s1600/DSCN6739.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV2-ik-HtvXoKxIK7bdISq4K9hSMHZRkPhusRIRr_kh58V9Nr3n5M9XUnxfu1qDe9ktGP9RW6K0E3_u2vYenWdKsyF-rOzKEPvnAqCCyCgG3SQkVz22W-UBgXKtp2SMy5_1NjvY_zeX_w/s1600/DSCN6739.JPG" height="480" width="640" /></a></div>
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after that apply hydrogen peraxide on it and sloly rub the paper<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhMabdIkT3sasoxL30QtlEYKYsiSn6EHUWWaJ7bQfp4q3HAZ98uPIUkPVSxhBImRlx9bfzXrodbYbgZXYMXLqtO7vKvtvUwTi7DBZMe9Y9CTvRqy_JwTkPITbNjn4zR43BtswnsdvG-8M0/s1600/DSCN6740.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhMabdIkT3sasoxL30QtlEYKYsiSn6EHUWWaJ7bQfp4q3HAZ98uPIUkPVSxhBImRlx9bfzXrodbYbgZXYMXLqtO7vKvtvUwTi7DBZMe9Y9CTvRqy_JwTkPITbNjn4zR43BtswnsdvG-8M0/s1600/DSCN6740.JPG" height="480" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWzHxBrhzGYeQ9t03xhMeDt0Id8xU4BSQpOswvOjDSZLrFbwBSEPWZrHKQCK-dJoil1NMx9BywwqiTYHRISDGnNmugcEB70S2YGSqtgXb3-hCSABhD13BcW4g8QCygwzbnQSh-w1EdTuo/s1600/DSCN6743.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWzHxBrhzGYeQ9t03xhMeDt0Id8xU4BSQpOswvOjDSZLrFbwBSEPWZrHKQCK-dJoil1NMx9BywwqiTYHRISDGnNmugcEB70S2YGSqtgXb3-hCSABhD13BcW4g8QCygwzbnQSh-w1EdTuo/s1600/DSCN6743.JPG" height="480" width="640" /></a></div>
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the paper melts and comes out of the PCB<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTW4dPo4jWpirAIArMhOinxsLz1c6a8iLVF0w0UlDHCfS0CpwAMlp_Fk91b-XaYPSQWApmNBgblTwrilf-2yjUErPp72qq3z7glB6Kfi9F44WVacYOdkjqh3E_mZGucgmVzIclEgHc5U/s1600/DSCN6749.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTW4dPo4jWpirAIArMhOinxsLz1c6a8iLVF0w0UlDHCfS0CpwAMlp_Fk91b-XaYPSQWApmNBgblTwrilf-2yjUErPp72qq3z7glB6Kfi9F44WVacYOdkjqh3E_mZGucgmVzIclEgHc5U/s1600/DSCN6749.JPG" height="480" width="640" /></a></div>
only the black laser printer ink stays on it<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRSdHE1CRrm57EcxiBWCSZbOUC9VVeS0_SojJO0-2W5q0u65m6uSXk74MIqkOvuX3Xe1wDCb3GXLlaYvYYhb1Zp_1ONvSXiu73xCZxUa80NI6_N4lJdQFrKblp2QKCcYs0tQHgLfA44Aw/s1600/DSCN6752.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRSdHE1CRrm57EcxiBWCSZbOUC9VVeS0_SojJO0-2W5q0u65m6uSXk74MIqkOvuX3Xe1wDCb3GXLlaYvYYhb1Zp_1ONvSXiu73xCZxUa80NI6_N4lJdQFrKblp2QKCcYs0tQHgLfA44Aw/s1600/DSCN6752.JPG" height="480" width="640" /></a></div>
<br />
take a permanant CD marker and correct the missed paths on it<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh9zj6_12Yw1_NnvLdmCI6t5ChBLVcqE-PC4LUMVE81r_54UhJVTKkFuRIMTtqhtSRoe9VRVVV0KtTvkM-ydWuvrUyPNERmiDa8ykL9JSg4SuAR9Og0yo7lKzsAHrEFpNeIbpX4eiQ0OHE/s1600/DSCN6760.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh9zj6_12Yw1_NnvLdmCI6t5ChBLVcqE-PC4LUMVE81r_54UhJVTKkFuRIMTtqhtSRoe9VRVVV0KtTvkM-ydWuvrUyPNERmiDa8ykL9JSg4SuAR9Og0yo7lKzsAHrEFpNeIbpX4eiQ0OHE/s1600/DSCN6760.JPG" height="480" width="640" /></a></div>
<br />
finally dip this board in to ferric chloride. actually it is available in the form of power . you have to mix it with water and make the solution.<br />
after that dip it completely in the solution and mix it slowly. the chemical is a kind of dangerous. so i made a mixing mechanism for that ..<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimMI5ne1i1Coxe5oTfCFgFB0Nb8m-6_Ymihtge1Bl4y1Y9NA7FItQ4f7iZUg8oeBzJAiFkIBXwsWMlyhCl1Z2inOAuAnlqZxGoqdul6nes9NIVe4u18XvFFOs7mn9rvKZukXC24cTRPWY/s1600/DSCN6762.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimMI5ne1i1Coxe5oTfCFgFB0Nb8m-6_Ymihtge1Bl4y1Y9NA7FItQ4f7iZUg8oeBzJAiFkIBXwsWMlyhCl1Z2inOAuAnlqZxGoqdul6nes9NIVe4u18XvFFOs7mn9rvKZukXC24cTRPWY/s1600/DSCN6762.JPG" height="480" width="640" /></a></div>
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take a look at the video:</div>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/aZMoPEH5oBw?feature=player_embedded' frameborder='0'></iframe></div>
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after that you will need a PCB driller to make the holes for the components.it is a hand driller will cost around Rs 100/- </div>
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<br /></div>
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Making PCBs is fun but you must be careful with the chemicals </div>
<div style="text-align: justify;">
Preferred to use hand gloves.</div>
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<br /></div>
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Enjoy.........you can write your names and logos on PCBs using a permanent marker.............</div>
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just like the first picture.</div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com3tag:blogger.com,1999:blog-1935044069554993811.post-83714909992395555292013-03-30T03:43:00.000-07:002014-04-25T13:16:47.565-07:00USB programmable Propeller LED Display<div dir="ltr" style="text-align: left;" trbidi="on">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTxh9pRMeRkBq_fCIgPjnWwtlNqnO5pt6FUPR82wKqHUzq4LZkQVsMEc6FVMTTNxEjAkPZzVIexW-Ts2hmIgsjikjxXrn_Zcm1FyNo4Q8HearO2ohYImnUtXiuOK6y-AlRLeuueHlkqu0/s1600/DSCN7280.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTxh9pRMeRkBq_fCIgPjnWwtlNqnO5pt6FUPR82wKqHUzq4LZkQVsMEc6FVMTTNxEjAkPZzVIexW-Ts2hmIgsjikjxXrn_Zcm1FyNo4Q8HearO2ohYImnUtXiuOK6y-AlRLeuueHlkqu0/s1600/DSCN7280.JPG" height="480" width="640" /></a></div>
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<span style="color: blue; font-size: large;"><br /></span></div>
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<span style="color: blue; font-size: large;">Here is an ATmega8 based USB programmable POV Training kit.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFAmRlZgQFtvqPFtKio_ZBGoYnRU4nAWn5r67QIwtyE9fbdSAWnTC2c-8VqGEh0ebQQOXWYUOEq4XJTbUerw7R443Pg8-OaTeBVbWkFIeQ_bxSqnMFH0UuyKxHXTo62kgxKqZuhsVVno4/s1600/DSCN7658.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFAmRlZgQFtvqPFtKio_ZBGoYnRU4nAWn5r67QIwtyE9fbdSAWnTC2c-8VqGEh0ebQQOXWYUOEq4XJTbUerw7R443Pg8-OaTeBVbWkFIeQ_bxSqnMFH0UuyKxHXTo62kgxKqZuhsVVno4/s1600/DSCN7658.JPG" height="480" width="640" /></a></div>
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This kit was designed for students those who are very much interested in working this POV concept. </div>
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</div>
<ul>
<li><b><span style="background-color: yellow; color: blue; font-size: large;">No need of any external programmer.</span></b></li>
<li><b><span style="background-color: yellow; color: blue; font-size: large;">you can directly program this kit from your PC/Laptop USB port.</span></b></li>
<li><b><span style="background-color: yellow; color: blue; font-size: large;">Mechanically stable design.</span></b></li>
<li><b><span style="background-color: yellow; color: blue; font-size: large;">Very easy to build.</span></b></li>
<li><b><span style="background-color: yellow; color: blue; font-size: large;">Perfect delay calculations.</span></b></li>
</ul>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjz8wEjWfOZtJeGpK94mfDZFuQxgrhMy40wDB1oVmLn1VgRxZWh59tSOrRFywQuWAg7pC0uUtv3bu15SWZzXEVBGpleMfvi77ZT9RfloFlTklKLDNv9Mx2xAYr8t1av_2zB_KVNWe9X1mg/s1600/100_1696.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjz8wEjWfOZtJeGpK94mfDZFuQxgrhMy40wDB1oVmLn1VgRxZWh59tSOrRFywQuWAg7pC0uUtv3bu15SWZzXEVBGpleMfvi77ZT9RfloFlTklKLDNv9Mx2xAYr8t1av_2zB_KVNWe9X1mg/s1600/100_1696.JPG" height="480" width="640" /></a></div>
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After a lot of handwork we finally came out with our best design.</div>
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Special Thanks</div>
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to </div>
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<span style="color: red;">VARMA NAIDU</span> sir</div>
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<span style="color: blue;"><a href="http://robogenesis.in/index.php" target="_blank">ROBOGENESIS</a></span></div>
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For your technical and financial support.</div>
<br />
<div style="text-align: center;">
<span style="color: lime; font-family: Georgia, Times New Roman, serif; font-size: large;"><b style="background-color: black;"><br /></b></span></div>
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<span style="color: lime; font-family: Georgia, Times New Roman, serif; font-size: large;"><b style="background-color: black;"> This video helps in assembling this kit </b></span></div>
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<br /></div>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/jmW4cMr6y5k?feature=player_embedded' frameborder='0'></iframe></div>
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<br />
Before programming the device first the USBasp drivers must be installed in the PC/Laptop. All the necessary soft wares and documents will be provided along with the KIT.</div>
<div style="text-align: center;">
<span style="background-color: black; color: lime; font-family: Times, Times New Roman, serif; font-size: large;"><b> PROGRAMMING PROCESS OF THE KIT</b></span></div>
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<br /></div>
<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/r37Uz88N2FE?feature=player_embedded' frameborder='0'></iframe><br />
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<br /></div>
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This is the basic block diagram of PCB of POV kit on which you can observer the locations of and arrangement of components.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgeI2e9NXQ7ZLTeCFuzs2gEjPTt6W0Ie1oR0Q2_A9LfWcUAlhuXlkPYD8Jg6dzZPpwFvkXOt0OEn7TMJaB3Lp4JmjtLfdnt_gCCTsUj25lSiE8u3xBE4C_97Is8mru0zwqByU8Mebpuf0/s1600/programmable+POV+calculations.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgeI2e9NXQ7ZLTeCFuzs2gEjPTt6W0Ie1oR0Q2_A9LfWcUAlhuXlkPYD8Jg6dzZPpwFvkXOt0OEn7TMJaB3Lp4JmjtLfdnt_gCCTsUj25lSiE8u3xBE4C_97Is8mru0zwqByU8Mebpuf0/s640/programmable+POV+calculations.jpg" height="480" width="640" /></a></div>
<div style="text-align: center;">
<span style="color: red; font-family: Times, Times New Roman, serif; font-size: large;"><b style="background-color: #f3f3f3;"><br /></b></span>
<span style="color: red; font-family: Times, Times New Roman, serif; font-size: x-large;"><b style="background-color: #f3f3f3;">FOR THOSE WHO WANT TO BUY THE KIT:</b></span><br />
<span style="font-size: x-large;"><br /></span>
<a href="http://www.ebay.in/itm/USB-programmable-Rotating-LED-display-/291120480230?" target="_blank"><span style="font-size: x-large;">http://www.ebay.in/itm/USB-programmable-Rotating-LED-display-/291120480230?</span></a><br />
<span style="font-size: x-large;"><br /></span>
<span style="font-size: x-large;"><br /></span>
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<b style="color: red; font-family: Times, 'Times New Roman', serif;"><span style="font-size: x-large;">FREE SHIPPING ALL OVER INDIA</span></b><br />
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<span style="color: red; font-family: Times, Times New Roman, serif; font-size: large;"><b>vaabrobotics@gmail.com</b></span></div>
</div>
VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com10tag:blogger.com,1999:blog-1935044069554993811.post-6954898783844697222013-02-08T02:38:00.001-08:002014-01-09T21:44:02.429-08:00Basic PC controlled robot <div dir="ltr" style="text-align: left;" trbidi="on">
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A PC controlled robot is robotic platform that operates based on the data transmitted from the PC </div>
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serial COM port.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbp6m1jy7zxol-n5K-F9RFDQ0vRwzWgqgZYH696EqxADjijEpgB2s7llsopBpL9h3EJHeG8WZmidalvUg9U2x7FvBDuKNOVW1Fn6KYpq27FmIpwuy3A66_xjM4d6IXlTM3bhBuPfPUWGI/s1600/DSCN2041.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbp6m1jy7zxol-n5K-F9RFDQ0vRwzWgqgZYH696EqxADjijEpgB2s7llsopBpL9h3EJHeG8WZmidalvUg9U2x7FvBDuKNOVW1Fn6KYpq27FmIpwuy3A66_xjM4d6IXlTM3bhBuPfPUWGI/s400/DSCN2041.jpg" height="300" width="400" /></a></div>
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COM port is a <span style="color: red; font-size: large;"><b>9 pin</b></span> port that transmit data serially using UART(Universal asynchronous reception and transmission) protocol. This is a full duplex which means one can transmit and receive data simultaneously.</div>
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Just like a USB port a PC will have a COM port at its back. It looks like this...</div>
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<a href="http://www.freeradionetwork.eu/ComPortInterface/CommPortPinOut.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.freeradionetwork.eu/ComPortInterface/CommPortPinOut.bmp" /></a></div>
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Though this port is having 9 pins we deal with only two pins. The are...</div>
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<span style="color: blue; font-size: large;"><b> PIN 2:Serial Receiver(Rx)</b></span></div>
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<span style="color: blue; font-size: large;"><b> PIN 3:Serial Transmitter(Tx) </b></span></div>
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<span style="color: blue; font-size: large;"><b>PIN 5:Signal Ground </b></span></div>
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if your PC is not having a serial port you can use a USB to Serial cable..</div>
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<a href="http://helpingindia.com/images/usb-serial-prolicif-chipset.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://helpingindia.com/images/usb-serial-prolicif-chipset.jpg" height="261" width="320" /></a></div>
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The connections of of PC and microcontroller will be as follows</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGjjv3EOXem2paj7I_uoSvoungvsXtG5uSLaqvWU-jFBFyawAZS8F5ceNtXoo11x4BXULW487qhUT1z_3OZ_3wp0FNkHCo_7jQBcbHdyTvySEDZst83OsqamXTEh17hKedTFO_kpCmUrY/s1600/uart+rx+tx+2.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGjjv3EOXem2paj7I_uoSvoungvsXtG5uSLaqvWU-jFBFyawAZS8F5ceNtXoo11x4BXULW487qhUT1z_3OZ_3wp0FNkHCo_7jQBcbHdyTvySEDZst83OsqamXTEh17hKedTFO_kpCmUrY/s1600/uart+rx+tx+2.gif" height="156" width="320" /></a></div>
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We connected the circuit....but ..</div>
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Can a microcontroller understand the data sent by a PC ?</div>
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Have you seen the word "TTL" in the above picture..........? </div>
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it stands for (Transistor Transistor Logic). In which a logic '0' is represented by 0V</div>
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logic '1' is represented by 5V</div>
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but the data transferred from the PC will follow RS-232(Recommended standard) logic</div>
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<span style="background-color: white; font-family: 'Times New Roman', serif; line-height: 115%;">The RS-232 standard defines the voltage levels that correspond to
logical one and logical zero levels for the data transmission and the control
signal lines. Valid signals are either in the range of +3 to +15 volts or the
range -3 to -15 volts; the range between -3 to +3 volts is not a valid RS-232
level. For data transmission lines (TxD, RxD and their secondary channel
equivalents) logic one is defined as a negative voltage, the signal condition
is called marking. Logic zero is positive and the signal condition is termed
spacing.</span> </div>
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So to convert the voltage levels we need a level converter. MAX232 chip is used to do this job.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiHxWNTelZH6tXgWdMrSg8GBWINggnKBGP3ALr_4EPBvvQQXyzgeiLLBM0YvuQhxNEEzFrywhC7HGhRrbbsnFwHVqyoN42WG7ADuDb3LmiQV4MZiTHPBdoa2gVABR9kbzbEPK6rA8RILg/s1600/PC+controlled+2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiHxWNTelZH6tXgWdMrSg8GBWINggnKBGP3ALr_4EPBvvQQXyzgeiLLBM0YvuQhxNEEzFrywhC7HGhRrbbsnFwHVqyoN42WG7ADuDb3LmiQV4MZiTHPBdoa2gVABR9kbzbEPK6rA8RILg/s1600/PC+controlled+2.jpg" height="252" width="320" /></a></div>
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<span style="color: red; font-family: Georgia, Times New Roman, serif; font-size: large;">MAX232 connections with PC </span></div>
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<span style="text-align: left;">Basically</span> PC will have a male port. so take a female port and make this circuit and connect to the PC and microcontroller.</div>
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<a href="http://sodoityourself.com/wp-content/uploads/2007/02/max232.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://sodoityourself.com/wp-content/uploads/2007/02/max232.JPG" height="230" width="400" /></a></div>
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<a href="http://sodoityourself.com/wp-content/uploads/2007/02/circuit_232.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://sodoityourself.com/wp-content/uploads/2007/02/circuit_232.jpg" height="305" width="400" /></a></div>
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now your microcontroller will receive the proper data from PC</div>
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Here comes the Question what microcontroller to choose?</div>
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<a href="http://homemaderobo.blogspot.com/p/microcontrollers.html" target="_blank"><span style="font-size: x-large;">ANSWER is here...</span></a></div>
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Here i'm considering 8051 microcontroller...for beginners<br />
<br /></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizxKR3_NurWNxL5_0ThjXEtFiaiQV39GXlCbtmHnQhntq3lQSXevVqtNNZK4S-8C9xf2A9h4silP2Fw_RB2Wzbs3i0DdDQDGB4IX3S4uOy-OeGHpdsiLQYWiFDpMrEK1vuZ1qvdfXgGGA/s1600/DSCN4986.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizxKR3_NurWNxL5_0ThjXEtFiaiQV39GXlCbtmHnQhntq3lQSXevVqtNNZK4S-8C9xf2A9h4silP2Fw_RB2Wzbs3i0DdDQDGB4IX3S4uOy-OeGHpdsiLQYWiFDpMrEK1vuZ1qvdfXgGGA/s400/DSCN4986.JPG" height="300" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiH2Us1XQSY4x1xR_bzzViykNquXuiDECWWBBY3cpNrzrVtxoW6Q2G4ajeArZ0ewyh7yofdRWIZoGLim730qY21RFhI0xvQBuSghgthyg_Vhs8jKHp3VgBQiPW22Lr1rzCk-QhWSEtaADw/s1600/8051.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiH2Us1XQSY4x1xR_bzzViykNquXuiDECWWBBY3cpNrzrVtxoW6Q2G4ajeArZ0ewyh7yofdRWIZoGLim730qY21RFhI0xvQBuSghgthyg_Vhs8jKHp3VgBQiPW22Lr1rzCk-QhWSEtaADw/s320/8051.JPG" height="320" width="301" /></a></div>
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<a href="http://homemaderobo.blogspot.com/2012/07/home-made-8051training-board.html" target="_blank"><span style="font-size: large;">Here is the basic 8051 circuit for kick start projects</span></a></div>
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now after the connection..... the programming for 8051 using <span style="font-size: large;"><a href="http://homemaderobo.blogspot.com/2012/03/how-to-work-with-keil.html" target="_blank">keil microvision 3</a></span><br />
<br />
Connecting motors to the microcontroller using an L293D motor driver<br />
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<a href="http://www.electroons.com/8051/electroons/images/ckt_mtr.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.electroons.com/8051/electroons/images/ckt_mtr.jpg" height="393" width="640" /></a></div>
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i connected the RA(1234) pins to Port1 lower pins</div>
P1.0=>PA0<br />
P1.1=>PA1<br />
P1.2=>PA2<br />
P1.3=>PA3<br />
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before going through the code reader must know about 8051 microcontroller.<br />
if you press reset it says "HEY" on hyper terminal<br />
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Code:</div>
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</div>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><span style="font-family: Times, Times New Roman, serif;">#include<reg51.h>
void serial_init() // Initialize Timer 1 for serial communication
{
TMOD=0x20; //Timer1, mode 2, baud rate 9600 bps
TH1=0XFD;
SCON=0x50;
TR1=1;
}
unsigned char recieve() //Function to receive serial data
{
unsigned char value;
while(RI==0);
value=SBUF;</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white; font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;"> RI=0;</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white; font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;"> return value;</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white; font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;">}</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><span style="font-family: Times, Times New Roman, serif;">
void transmit(unsigned char data) // Funtion to transmit serial data
{
SBUF=data;
while(TI==0);
TI=0;
}
void main()
{serial_init</span><span style="font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;">();</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">transmit('H');</span><span style="font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;">transmit('E');</span><span style="font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;">transmit('Y');// display "HEY" on serial hyperterminal</span></pre>
<span style="font-family: Times, Times New Roman, serif;">unsigned char x;
while(1)
{
x= recieve();</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><span style="font-family: Times, Times New Roman, serif;">if(x==w)</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><span style="font-family: Times, Times New Roman, serif;">P1=0x0a;// forword</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white;"><pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">else if(x==a)</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">P1=0x06;// left turn</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">else if(x==w)</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">P1=0x09;// right turn</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">else if(x==w)</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">P1=0x05;// back</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">else</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px;"><span style="font-family: Times, Times New Roman, serif;">P1=0x00//stop</span></pre>
</pre>
</pre>
<span style="font-family: Times, Times New Roman, serif;">
}</span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; color: #333333; font-size: 0.92em; line-height: 1.5; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="background-color: white; font-family: Times, 'Times New Roman', serif; font-size: 0.92em; line-height: 1.5;">}</span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;">to execute this project you will need to open hyper terminal which is not possible in Windows7 instead you can use the following softwear</span></span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;">DOWNLOAD:<a href="udp://tracker.ccc.de:80/announce" target="_blank"> udp://tracker.ccc.de:80/announce</a></span></span></span></pre>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeUbbw5pSbZt1VO6D1qVPtD62eK05HAaoGxfDV1lbtvPqPs6Eq8q6P8_-wdF3NnZD98FR8yg8NCrId2MdQidgFJtpoDOOmzB4M4CJ3VhLY7RT4Rd_BA_gwKJE9F_cSP8jQISgZ3ypOGBQ/s1600/Fullscreen+capture+282013+35031+PM.bmp.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeUbbw5pSbZt1VO6D1qVPtD62eK05HAaoGxfDV1lbtvPqPs6Eq8q6P8_-wdF3NnZD98FR8yg8NCrId2MdQidgFJtpoDOOmzB4M4CJ3VhLY7RT4Rd_BA_gwKJE9F_cSP8jQISgZ3ypOGBQ/s640/Fullscreen+capture+282013+35031+PM.bmp.jpg" height="441" width="640" /></a></div>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;"> select your COM port and settings as shown in the picture...</span></span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;">and type the data....in the field....</span></span></span></pre>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;">it starts.....working enjoy...............................................................</span></span></span></pre>
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/QZcy2goIFng?feature=player_embedded' frameborder='0'></iframe></div>
<pre style="border-left-color: rgb(205, 205, 205); border-left-style: solid; border-width: 0px 0px 0px 5px; margin-bottom: 15px; margin-top: 15px; outline: 0px; padding: 0px; text-align: start;"><span style="font-family: Times, Times New Roman, serif;"><span style="color: #333333;"><span style="font-size: 14px; line-height: 20px;">
</span></span></span></pre>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com2tag:blogger.com,1999:blog-1935044069554993811.post-36627165636825015632013-02-03T22:46:00.002-08:002013-02-04T22:40:56.853-08:00interfacing 4*4 matrix keypad to Microcontroller <div dir="ltr" style="text-align: left;" trbidi="on">
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<span style="color: red; font-size: large;">What is matrix key pad?</span></div>
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<a href="https://encrypted-tbn2.gstatic.com/images?q=tbn:ANd9GcSinZivzwk69UfE9ecdxasYXbzdU67plqaCbTc6wq7J7aP3REr7_A" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://encrypted-tbn2.gstatic.com/images?q=tbn:ANd9GcSinZivzwk69UfE9ecdxasYXbzdU67plqaCbTc6wq7J7aP3REr7_A" width="400" /></a></div>
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Ans: A matrix key pad is a two dimensional arrangement of switches in row and columns. This arrangement follows an algorithm to get the status of the keys. Here comes the questions:</div>
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<span style="color: blue;">How a switch works ?</span></div>
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A switch is nothing but two conductive terminals and an adjustable contact that connects the two terminals. So that one can adjust a the position of the switch manually to make circuit "OPENED" or "CLOSED"</div>
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<a href="https://encrypted-tbn0.gstatic.com/images?q=tbn:ANd9GcT6TXeAun8XhSJ_EMJjiGou_AGuknMYozGp8u3OMXjrkizGOwmv" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://encrypted-tbn0.gstatic.com/images?q=tbn:ANd9GcT6TXeAun8XhSJ_EMJjiGou_AGuknMYozGp8u3OMXjrkizGOwmv" /></a></div>
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This switch is called a "Tact switch",which is generally used to make matrix keypads. it consists of four terminals but opposite pins are shorted internally.</div>
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<span style="text-align: center;"> <span style="color: blue;">How to connect the switch to a microcontroller?</span> </span></div>
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<span style="text-align: center;">Before that don't forget that a switch simply "<span style="color: red; font-family: Helvetica Neue, Arial, Helvetica, sans-serif; font-size: large;"><span style="background-color: yellow;">closes</span></span>" or "<span style="background-color: yellow; color: red; font-family: Helvetica Neue, Arial, Helvetica, sans-serif; font-size: large;">opens</span>" a circuit. </span></div>
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<span style="text-align: center;">But a microcontroller is a digital device that only understands "<span style="font-size: large;"><span style="background-color: yellow; color: red;">ZERO</span>(0V)</span>" or "<span style="font-size: large;"><span style="background-color: yellow; color: red;">ONE</span>(5V)</span>".</span></div>
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<span style="text-align: center;">so we need a circuit that indicate the status of a switch in turms of "0" or '1"....</span></div>
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<span style="text-align: center;">here it goes.....</span><span style="text-align: center;"> </span></div>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgppNEDXc3lPwGjB7I2NUXqG4_M4mridxPfLBWVfmqPVIAT8q1KbZ3y2aGfs1M4OyH47OBT-fqQEUealNY0faFDkKXidnIKfa1ldlck1o1lhUx0WF8Q7nBwZMOvY1pcT5_qcyd47xH4tKc/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="616" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgppNEDXc3lPwGjB7I2NUXqG4_M4mridxPfLBWVfmqPVIAT8q1KbZ3y2aGfs1M4OyH47OBT-fqQEUealNY0faFDkKXidnIKfa1ldlck1o1lhUx0WF8Q7nBwZMOvY1pcT5_qcyd47xH4tKc/s640/New+Bitmap+Image.bmp" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">working of the circuitry is left to the reader's assignment</td></tr>
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<span style="background-color: yellow;"><span style="color: red;">if switch close=1 and switch open =0 then it is called active high logic</span></span></div>
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<span style="background-color: yellow;"><span style="color: red;">i</span></span><span style="background-color: yellow; color: red;">f</span><span style="background-color: yellow; color: red;"> switch close=0 and switch open =1 then it is called active low logic</span></div>
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<li><span style="background-color: #ea9999; color: blue; font-size: x-large;">Reader must Google about the concept of "Pull-up" and "Pull-down" resistor</span></li>
<li><span style="background-color: #ea9999; color: blue; font-size: x-large;">The resistor in the above circuit prevents the circuitry</span><span style="background-color: #ea9999; color: blue; font-size: x-large;"> from "short circuit of Vcc and Gnd" when the switch is pressed.</span></li>
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Now we go for the matrix key pad arrangement. Take a look at the figure below. the keys are arranged in four rows and four columns. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4ALA7wPK4UHhvNVEPZWfaB0XdYukiiY_x4GFXndJzYIaVmrfCl7J_5GdTi5a_TZ5NbGVxZgHyAJ6q_6bxFGiZNCI_4pbypr69IwEs6AbqxIYk2Xn0Y0_-50xaxBuS1AKSWHMxYy0hzwc/s1600/keypad-schematic.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="416" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4ALA7wPK4UHhvNVEPZWfaB0XdYukiiY_x4GFXndJzYIaVmrfCl7J_5GdTi5a_TZ5NbGVxZgHyAJ6q_6bxFGiZNCI_4pbypr69IwEs6AbqxIYk2Xn0Y0_-50xaxBuS1AKSWHMxYy0hzwc/s640/keypad-schematic.gif" width="640" /></a></div>
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So we got 4+4 pins to interface this matrix key pad to the microcontroller.</div>
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Now how to check weather a switch is pressed or not....</div>
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The basic algorithm for matrix key pad ....</div>
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Let us assume the row pins and columns are connected an 8 pin port</div>
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<span style="background-color: #9fc5e8; color: red; font-size: large;"> 7 6 5 4 3 2 1 0 </span></div>
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<span style="background-color: white; color: red; font-size: large;"> </span><span style="background-color: #9fc5e8; color: red; font-size: large;"> R1 R2 R3 R4 C1 C2 C3 C4 </span></div>
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<ol>
<li>Configure all row pins of microcontroller as outputs and column pins as input .(7,6,5,4 are output and 3,2,1,0 are input.) </li>
<li>pull -up all column pins</li>
<li>write '1's to row pins so all row pins are at high state. </li>
<li>make R1 pin 0 and remaining pins high</li>
<li>scan each column pin (if any key is pressed in this row then that particular column pin will be zero)</li>
<li>make R2 pin 0 and remaining pins high</li>
<li>scan each column pin (if any key is pressed in this row then that particular column pin will be zero)</li>
<li>make R3 pin 0 and remaining pins high</li>
<li>scan each column pin (if any key is pressed in this row then that particular column pin will be zero)</li>
<li>make R4 pin 0 and remaining pins high</li>
<li>scan each column pin (if any key is pressed in this row then that particular column pin will be zero) </li>
</ol>
This is basic algorithm. initialize a variable and return the corresponding value to the variable. This algorithm<br />
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will be same for all microcontroller. Some expert developers add some additional hardware to it and makes it more reliable. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4ALA7wPK4UHhvNVEPZWfaB0XdYukiiY_x4GFXndJzYIaVmrfCl7J_5GdTi5a_TZ5NbGVxZgHyAJ6q_6bxFGiZNCI_4pbypr69IwEs6AbqxIYk2Xn0Y0_-50xaxBuS1AKSWHMxYy0hzwc/s1600/keypad-schematic.gif" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"><br /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4ALA7wPK4UHhvNVEPZWfaB0XdYukiiY_x4GFXndJzYIaVmrfCl7J_5GdTi5a_TZ5NbGVxZgHyAJ6q_6bxFGiZNCI_4pbypr69IwEs6AbqxIYk2Xn0Y0_-50xaxBuS1AKSWHMxYy0hzwc/s1600/keypad-schematic.gif" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"></a></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com0tag:blogger.com,1999:blog-1935044069554993811.post-21233636443358236852012-09-13T22:50:00.003-07:002013-02-02T21:59:58.673-08:00 Programmable Robotic Platform<div dir="ltr" style="text-align: left;" trbidi="on">
Many of beginners of robotics field feel that working with robots.If you are looking for a kick start robot kit here is the solution. recently Robogenisis released ATmega8 based development board in the market. which is very much compact in size and of affordable cost. with the help of this kit we developed a mini robot kit that is compatible with even Windows7 64 bit.<br />
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No special programmer is required as the board is self programmable.<br />
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<h2 style="background-color: yellow; color: red; text-align: left;">
introducing the V-2 Bot..............................................</h2>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGF_GA0YuLYavv9SHdfpnZMH5Cd5O08d0DfiCOycz7x94MoiSYZxWsn2vhqGpguz_l0VsA-TC2_SH1vodNPOQLhuv_PhcvupZlKBOFNq2XsPaLkJUB27urU4JJWMT1wKc8Z8hoPpw96bo/s1600/V-2+Bot.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="425" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGF_GA0YuLYavv9SHdfpnZMH5Cd5O08d0DfiCOycz7x94MoiSYZxWsn2vhqGpguz_l0VsA-TC2_SH1vodNPOQLhuv_PhcvupZlKBOFNq2XsPaLkJUB27urU4JJWMT1wKc8Z8hoPpw96bo/s640/V-2+Bot.jpg" width="640" /></a></div>
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you can just program the robot using USB cable<br />
This robot was designed by considering students and hobbyists of beginners and medium. this development environment will help the user to reduce his//her efforts in making connections as all the peripherals are by default connected to the respective pins of the microcontroller. This circuit consumes less power so just two 9V batteries are required.here comes the BOT take a look at this<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/itvO7nI2m24?feature=player_embedded' frameborder='0'></iframe></div>
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<h2 style="text-align: left;">
KIT CONTENT:</h2>
<ol style="text-align: left;">
<li>ATmega8L development board.</li>
<li>16*2 alpha numeric LCD display</li>
<li>Bread board for prototyping</li>
<li>Power supply plugs</li>
<li>Robot chases</li>
<li>100RPM DC geared motors</li>
<li>7cm plastic wheels with tires</li>
<li>clamps and screws and screw driver</li>
<li>USB cable</li>
</ol>
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currently this kit is available in Hyderabad<br />
for more details mail us at:<br />
<br />
vaabrobotics@gmail.com</div>
VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com0tag:blogger.com,1999:blog-1935044069554993811.post-53047460725580136552012-08-02T09:22:00.001-07:002015-03-09T22:45:00.770-07:00HC-SR04 ultrasonic sensor interfacing with 8051 microcontroller<div dir="ltr" style="text-align: left;" trbidi="on">
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If you want to make your robot sense the objects in it's surroundings i suggest you to go for an ULTRASONIC sensor.Though the IR based sensors are cheep, their working range may vary due change in ambient light and won't give accurate range values.</div>
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In case of ULTRASONIC sensors they work based on the principle of RADAR(RAdio Detection And Ranging). A RADAR transmits electromagnetic "pulse" towards the target and receives the "echo" reflected by the target.</div>
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Then the range of the target is determined by the "time lagging" between transmitted pulse and the received "echo". Generally microwave and ultrasonic frequencies are used in RADARS</div>
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Our HC-SR04 ultrasonic sensor works similar to the RADAR mechanism but in a simplified manner. This sensor consists of four PINS</div>
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1.Vcc------------------connect to 5V dc</div>
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2.Trigger--------------pulse input that triggers the sensor</div>
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3.Echo----------------indicates the reception of echo from the target </div>
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4.Gnd-----------------ground final</div>
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<h2 style="background-color: white; text-align: left;">
<span style="color: red;">working with sensor step by step</span></h2>
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<span style="color: black;"> Take a look at the timing diagram of HC-SR04 sensor</span></div>
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<span style="color: black;"> </span><img alt="" 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" /></div>
<div style="background-color: white; text-align: left;">
<span style="color: black;"> This diagram describes the basic algorithm in distance measuring using the sensor.</span><br />
<br />
<div style="text-align: left;">
<span style="color: black;"> </span>
</div>
<div class="MsoListParagraphCxSpFirst" style="background-attachment: scroll; background-clip: border-box; background-image: none; background-origin: padding-box; background-position: 0% 0%; background-repeat: repeat; background-size: auto auto; line-height: normal; margin-left: 54pt; text-align: left; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP1.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;"> </span>Make
"Trig" pin of the sensor high for 10µs. This initiates a sensor cycle. </span></div>
<div class="MsoListParagraphCxSpMiddle" style="background-attachment: scroll; background-clip: border-box; background-image: none; background-origin: padding-box; background-position: 0% 0%; background-repeat: repeat; background-size: auto auto; line-height: normal; margin-left: 54pt; text-align: left; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP2.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>8 x 40 kHz pulses will be sent from
the transmitting piezzo transducer of the sensor, after which
time the "Echo" pin on the sensor will go from low to high.</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background-attachment: scroll; background-clip: border-box; background-image: none; background-origin: padding-box; background-position: 0% 0%; background-repeat: repeat; background-size: auto auto; line-height: normal; margin-left: 54pt; text-align: left; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP3.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;"> </span>The
40 kHz sound wave will bounce off the nearest object and return to the sensor.</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background-attachment: scroll; background-clip: border-box; background-image: none; background-origin: padding-box; background-position: 0% 0%; background-repeat: repeat; background-size: auto auto; line-height: normal; margin-left: 54pt; text-align: left; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP4.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>When
the sensor detects the reflected sound wave, the Echo pin will go low again.</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background-attachment: scroll; background-clip: border-box; background-image: none; background-origin: padding-box; background-position: 0% 0%; background-repeat: repeat; background-size: auto auto; line-height: normal; margin-left: 54pt; text-align: left; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP5.<span style="font: 7.0pt "Times New Roman";"> </span></span></span></b><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"> The
distance between the sensor and the detected object can be calculated based on
the length of time the Echo pin is high.</span></div>
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<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP6.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="background-color: white;"> </span><span style="background-color: white;"> </span></span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="background-color: white;"> </span>If
no object is detected, the Echo pin will stay high for 38ms and then go low. </span><br />
<br /></div>
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<h3>
</h3>
<h3>
<span style="color: blue; font-size: large;">
configuring the 8051 microcontroller:</span></h3>
</div>
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<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">To inter face the sensor to AT89S51 microcontroller we need two I/O pins. One of them is external interrupt pin(INT0 or INT1) for measuring the pulse width at the echo pin. and any other pin say P3.5 for trigger.</span><br />
<br />
<div class="MsoListParagraphCxSpFirst" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP1.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">Connect the trigger pin of
sensor to P3.5 of AT89S51</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP2.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">Connect the echo pin of the
sensor to INT0 (P3.2) of AT89S51</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP3.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">Configure the TIMER0 of
8051 in 16 bit mode with “GATE” bit enabled. If the GATE pin is enabled and
timer run control bit TR0 is set, the TIMER0 will be controlled by INT0 pin.
When INT0 is high then the TIMER0 starts counting. Whenever INT0 goes low TIMER0
holds its count. So load the TMOD register with 00001010==0x0A; (better refer to
any book of 8051).</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<b style="mso-bidi-font-weight: normal;"><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 14.0pt; mso-ansi-language: EN-IN; mso-bidi-font-size: 12.0pt; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-list: Ignore;">STEP4.<span style="font: 7.0pt "Times New Roman";">
</span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">As the INT0 pin is input don’t
forget to declare the pin input. Write “1” to the pin to make it input.</span></div>
<div class="MsoListParagraphCxSpMiddle" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<br /></div>
</div>
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<h3 class="MsoListParagraphCxSpMiddle" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="font-size: large;">algorithm </span></span></h3>
</div>
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<div class="MsoListParagraphCxSpLast" style="background: none repeat scroll 0% 0% white; line-height: normal; margin-left: 18pt; text-indent: -18pt;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">==>Send a 10 micro second high
pulse at trigger</span></div>
<div class="MsoNormal" style="background: none repeat scroll 0% 0% white; line-height: normal;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;">
</span>Initially P3.5=0;</span></div>
<div class="MsoNormal" style="background: none repeat scroll 0% 0% white; line-height: normal;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"><span style="mso-spacerun: yes;"> </span>P3.5=1;</span></div>
<div class="MsoNormal" style="background: none repeat scroll 0% 0% white; line-height: normal;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"> Delay(10 micro second);</span></div>
<div class="MsoNormal" style="background: none repeat scroll 0% 0% white; line-height: normal;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;"> P3.5=0;</span></div>
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> ==> "WAIT" until the sensor transmits the eight 40KHz pulses and signal reflection.</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> initially the "ECHO"pin is low when the transmitter completes the pulse the pin goes high then our TIMER0 starts counting.when input at INT0 goes low timer holds count. logic for waiting:</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> while(INT0==0);</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> while(INT0==1); </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">but some times due to errors in the sensor functioning the 8051 microcontroller may go into an "INFINITE LOOP" </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">for that there are two remedies</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">1)use watch dog timer(present on AT89S52 and other advanced versions)</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">2)generate a delay of 40 milliseconds after triggering the ultrasonic sensor.</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">the second option is preferred for beginners.</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> ==>TIMER0 value = time taken by the signal to (go forward+come back)</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">It meas the signal traces the whole distance twice. </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">so time taken by the signal to travel the distance = TIMER0 value/2 </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">ULTRASONIC pulse travels with the speed of sound </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">340.29 m/s<span style="color: #080808;"><span style="font-family: "Times New Roman","serif";"> </span></span></span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">= </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">34029 cm/s </span></b><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">range of target= <b>velocity *time </b>==> </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-IN; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-IN;">34029 * TIMER0/2</span></b><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> ==> 17015 * TIMER0</span></b><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">At 12MHz TIMER0 gets incremented for</span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> 1microsecond.</span></b><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> RANGE = </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">17015</span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> centimeters/seconds </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">*</span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> TIMER0 micro seconds</span></b><br />
<br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> = </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">17015</span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> centimeters/seconds</span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> *</span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> TIMER0 * (10^-6) seconds </span></b><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> as </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> (</span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">1micro</span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">second</span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">=</span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">10^-6 seconds)</span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> = </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">17015</span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> centimeters/seconds</span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> * </span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">TIMER0 * (10^-6) seconds </span></b><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> = <u><b> </b></u></span><u><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">17015</span></b></u><u><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><b> * </b></span></u><u><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></u><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><u>TIMER0</u> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">centimeters</span><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> (1000000) </span></b><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> = </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><u><b></b></u></span><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><u>TIMER0_______</u> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">centimeters</span><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span><br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> 1000000/ </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">17015</span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><u><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><b> </b></span></u><br />
<br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> = </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><u>TIMER0_</u> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">centimeters</span><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span>
<br />
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> 58.771</span></b><br />
<div style="background-color: yellow;">
<br /></div>
<div style="background-color: yellow;">
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> RANGE of target = </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><u>TIMER0_</u> <span style="background-color: yellow;"> </span></span></b><span style="background-color: yellow; color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;">centimeters</span><span style="background-color: yellow; color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span>
</div>
<div style="background-color: white;">
<div style="background-color: yellow;">
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> 59</span></b></div>
<b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"> </span></b><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="background-color: white;"><span style="background-color: white;"> </span></span></span><br />
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="background-color: white;"><span style="background-color: white;">By using the formula we can calculate the range of the target easily.</span></span></span></div>
</div>
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<div style="background-color: white;">
<h2 style="text-align: left;">
<span style="color: #080808; font-family: "Times New Roman","serif"; font-size: 12pt;"><span style="background-color: white;"><span style="background-color: white;"><span style="font-size: large;">circuit diagram </span></span></span></span></h2>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgqO8LlcFRjxht9M3Xjlv1ned1OxvWVmxkHTY3szH5BbeQODItbSRMvIh4MAdwYpuDTE9DLiwvRIK2Jiuxn5UHLNDt6amdsm-WccEx323zO7NANGfINPRFR3nIqcGoW3QuU396cxWGrdLU/s1600/8051+hc-sr04+circuit.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgqO8LlcFRjxht9M3Xjlv1ned1OxvWVmxkHTY3szH5BbeQODItbSRMvIh4MAdwYpuDTE9DLiwvRIK2Jiuxn5UHLNDt6amdsm-WccEx323zO7NANGfINPRFR3nIqcGoW3QuU396cxWGrdLU/s640/8051+hc-sr04+circuit.bmp" height="603" width="640" /></a></div>
<h2 style="text-align: left;">
<u><span style="color: #080808; font-family: "Times New Roman","serif"; font-size: x-large;"><span style="background-color: white;"><span style="background-color: white;">CODE</span></span></span></u></h2>
</div>
</div>
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<span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> #include<REGX51.h><br />#include<intrins.h>// for using </span></span></span></span><span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;">_nop_() function</span></span></span></span><br />
<span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> sfr16 DPTR =0x82;// you can use DPTR as a single 16 bit register<br />sbit trig=P3^5;<br />void send_pulse(void) //to generate 10 microseconds delay<br />{<br />TH0=0x00;TL0=0x00; <br /> trig=1;<br /> _nop_();_nop_();_nop_();_nop_();_nop_();<br /> _nop_();_nop_();_nop_();_nop_();_nop_();<br /> trig=0;<br /> <br />} <br /><br />unsigned char get_range(void) <br />{<br /> unsigned char range;<br /> send_pulse();<br /> while(!INT0);// in sake of these lines you can generate a delay of 40 Milli seconds=40000 micro <br /> while (INT0);// </span></span></span></span><span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;">seconds</span></span></span></span><br />
<span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> DPH=TH0;DPL=TL0; <br /> TH0=0xFF;TL0=0xFF;<br /> if(DPTR<35000)//actually you need to use 38000 but the sensor may not work at higher levels <br /> range=DPTR/59;<br /> else<br /> range=0; // indicates that there is no obstacle in front of the sensor <br /> return range; <br />}<br />void main()<br />{//main begin<br /> TMOD=0x09;//timer0 in 16 bit mode with gate enable<br /> TR0=1;//timer0 run enabled<br /> TH0=0x00;TL0=0x00;<br /> P3|=0x04;//setting pin P3.2 to make it INPUT</span></span></span></span></div>
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<span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> unsigned int target_range=0; <br /> while(1)<br /> {</span></span></span></span><span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> target_range=get_range();</span></span></span></span><br />
<span style="color: #080808;"><span style="font-size: x-large;"><span style="font-family: "Times New Roman","serif";"><span style="font-size: x-small;"> //make your own function to display the range value.better to use LCD<br /> }<br />}// end of main</span></span></span></span></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com62tag:blogger.com,1999:blog-1935044069554993811.post-17131520951995307062012-07-05T22:46:00.002-07:002012-07-25T07:41:09.477-07:00ATmega8 based line follower robot<div dir="ltr" style="text-align: left;" trbidi="on">
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This project is a microcontroller based line follower robot by using ATmega8 development board from "ROBOGENISIS". This development board consists of an on board USB programmer, motor driver and some other peripherals like LEDs, buzzers. This board is best for beginners.This can be programed using WinAVR,programers notepad.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5GdGok4FBHnKTLMXbClaMKbKduZnryXPFk_zOjW9wP_78R7SnxZ8pAal7uvPb9SyMoijirdGdEYhZAqpLujN10NDpQ2vgVaqB7HSbDk3Gme7eAgqtPCnRF4Ub0WQYJU2AToz09AZPTew/s1600/ATmega8+board.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="255" sca="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5GdGok4FBHnKTLMXbClaMKbKduZnryXPFk_zOjW9wP_78R7SnxZ8pAal7uvPb9SyMoijirdGdEYhZAqpLujN10NDpQ2vgVaqB7HSbDk3Gme7eAgqtPCnRF4Ub0WQYJU2AToz09AZPTew/s400/ATmega8+board.JPG" width="400" /></a></div>
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<span style="font-family: 'Times New Roman', serif;">ATmega8 microcontroller consist 3 ports: </span></div>
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<span style="font-family: 'Times New Roman', serif;"> PORTB an 8 bit I/O port</span></div>
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<span style="font-family: 'Times New Roman', serif;"> PORTC a 7 bit I/O port .</span><span style="font-family: 'Times New Roman', serif;">But pin PORTC.6 is also RESET pin for the MCU so it cannot be used for input but remaining 6 pins can be used as inputs.</span></div>
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<span style="font-family: 'Times New Roman', serif;"> PORTD an 8 bit I/O port</span></div>
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<span style="font-family: 'Times New Roman', serif;"> In this board the ATmega8 works at 12 MHz crystal.</span></div>
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<span style="font-family: 'Times New Roman', serif;">An on board L293D is used for driving motors. Separate power supply is provided motor driver and logic supply for MCU. Motor driver control pins are internally connected to the higher nibble (D7, D6, D5, and D4) pins of PORTD. </span><br />
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To get familier with basics of <a href="http://homemaderobo.blogspot.in/2012/03/simple-line-follower.html" target="_blank">line follower</a> click here.<br />
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I connected the sensors to PORTC lower 2 pins left sensor to C1 & right one to C0. Connect two motors to the motor output ports.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZ5zSbXmQqSW9VLJaB4dVGQ6WqW0uwq__gP51_oT8LaFivA_E-KAniXRlKenKbi-YL7UP_BKocYqEmi7XCqIjdkGUItSNDiURt62A78fGYn_z7AV5Z-hUloEWfglnhRVIOUMFR3hc3fpQ/s1600/DSCN5067.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" sca="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZ5zSbXmQqSW9VLJaB4dVGQ6WqW0uwq__gP51_oT8LaFivA_E-KAniXRlKenKbi-YL7UP_BKocYqEmi7XCqIjdkGUItSNDiURt62A78fGYn_z7AV5Z-hUloEWfglnhRVIOUMFR3hc3fpQ/s400/DSCN5067.JPG" width="400" /></a></div>
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CODE:<br />
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#include<avr/io.h><br />
#define F_CPU 12000000<br />
#include<util/delay.h><br />
void main()<br />
{<br />
DDRC=0xc0;//input for sensors make sure that all sensors are active high<br />
//( high for wight)<br />
PORTC=0xff;//internal pull up<br />
DDRD=0xff;//motor control pins<br />
PORTD=0x00;//motor halt<br />
unsigned char sensor;<br />
while(1)<br />
{<br />
sensor=PINC & 0x03;//masking for lower 2 bits<br />
if(sensor==0x03)// both are on white<br />
PORTD=0xaa;//forward<br />
else if(sensor==0x01)//left sensor on black line<br />
PORTD=0x66;//left turn<br />
else if(sensor==0x02)//right sensor on black line<br />
PORTD=0x99;//right turn<br />
else <br />
PORTD=0x00;//robot stop<br />
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}<br />
}</div>
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similarly for 8051 the code will be:<br />
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#include<reg51.h><br />
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void main()<br />
{<br />
P1=0xff;//input for sensors make sure that all sensors are active high <span style="background-color: white;">( high for Wight)</span><br />
//sensors are connected to lower two pins <br />
//in 8051 to make a port input you need to write one's to the respected pins<br />
unsigned char sensor;<br />
//assume that motor control pins are connected to either upper or lower 4 bits of PORT2<br />
while(1)<br />
{<br />
sensor=P1&0x03;<br />
if(sensor==0x03)// both are on white<br />
P2=0xaa;//forward<br />
else if(sensor==0x01)//left sensor on black line<br />
P2 =0x66;//left turn<br />
else if(sensor==0x02)//right sensor on black line<br />
P2 =0x99;//right turn<br />
else<br />
P2 =0x00;//robot stop<br />
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}<br />
}</div>
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</div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com41tag:blogger.com,1999:blog-1935044069554993811.post-42469557526864355082012-07-04T07:30:00.006-07:002012-07-04T07:33:09.348-07:00TV remote controlled robot<div dir="ltr" style="text-align: left;" trbidi="on">
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<span style="color: black;">The most cheapest way of controlling </span>the devises through wireless is IR remote.Every one in the world will have a TV remote which works based on RC5 protocol or some equivalent protocol.I searched over the internet for a perfect TV remote signal decoder compatible with all sensor like TSOP and other cheep TV sensor.I all ways thought of making such TV remote signal decoder.<br />
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But recently i found a TV signal decoder in Hyderabad.compatible with all most all TV remotes except for DVD,AC remotes.Actually it is a handmade one.I found it in a hobby shop.I bought for 295 Rs. i made some modifications regarding the power supply for direct 5V Vcc to the decoder module.<br />
This one outputs a 5 bit address,6 bit data,a toggle bit and a valued data bit.<br />
One important thing is the output form the decoder module will produce active low logic<br />
if we press "2" on the remote the 6 bit data will be"111101"<br />
if we press "4" on the remote the 6 bit data will be"111011"<br />
if we press "0" on the remote the 6 bit data will be"111111" <br />
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I made a robot using that module. <br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/l2Rj8ycHK7w?feature=player_embedded' frameborder='0'></iframe></div>
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I used a ATmega8 development board with ob board programmer for driving the motors as per the logic.<br />
I removed the address pins on the decoder module and i connected the 6 bit address to the PORTC of ATmega8 and an L293D is used for driving motors which is internally connected to PORTD higher nibble on the development board.</div>
</div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com3tag:blogger.com,1999:blog-1935044069554993811.post-16508657723508085882012-07-03T08:10:00.002-07:002013-02-01T10:48:11.471-08:00home made 8051training board<div dir="ltr" style="text-align: left;" trbidi="on">
Every beginner of microcontrollers all ways think of buying a prototyping board for practicing.Why don't you make your own board for working on your projects.I made a simple 8051 development board for prototyping my projects.You can make one by just spending less then 100 rupees.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizxKR3_NurWNxL5_0ThjXEtFiaiQV39GXlCbtmHnQhntq3lQSXevVqtNNZK4S-8C9xf2A9h4silP2Fw_RB2Wzbs3i0DdDQDGB4IX3S4uOy-OeGHpdsiLQYWiFDpMrEK1vuZ1qvdfXgGGA/s1600/DSCN4986.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizxKR3_NurWNxL5_0ThjXEtFiaiQV39GXlCbtmHnQhntq3lQSXevVqtNNZK4S-8C9xf2A9h4silP2Fw_RB2Wzbs3i0DdDQDGB4IX3S4uOy-OeGHpdsiLQYWiFDpMrEK1vuZ1qvdfXgGGA/s640/DSCN4986.JPG" width="640" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTm57nonFMcTyp8RDRhTb1gWH5yYp02MGyUbmfZXeAlJkDuEKFfdA9BXZF2-lqepQ-yh33ktSY42xWrG8LmO8Vn7XilHk1GN2OWmTdJ82BHI6byOx3kuEeUzBAh_SmsZJX-VU7HDQg0y0/s1600/stright+8051+with+mcu.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTm57nonFMcTyp8RDRhTb1gWH5yYp02MGyUbmfZXeAlJkDuEKFfdA9BXZF2-lqepQ-yh33ktSY42xWrG8LmO8Vn7XilHk1GN2OWmTdJ82BHI6byOx3kuEeUzBAh_SmsZJX-VU7HDQg0y0/s640/stright+8051+with+mcu.JPG" width="480" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIYO4lrv2RYcYezpKUS7Q2d46nCBOoNw4MSBCh5lqSyTvZwuZCun75w6-jLd-A_68b_uSTpfeW5GB7rvXYPa_HAve8yvuJY7y9Yz_OZUFquFDxa2VCwKZ74wdo3QrDOk18p_lIsGL75Uc/s1600/stright+8051+board.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIYO4lrv2RYcYezpKUS7Q2d46nCBOoNw4MSBCh5lqSyTvZwuZCun75w6-jLd-A_68b_uSTpfeW5GB7rvXYPa_HAve8yvuJY7y9Yz_OZUFquFDxa2VCwKZ74wdo3QrDOk18p_lIsGL75Uc/s640/stright+8051+board.JPG" width="480" /></a></div>
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For that you need very little equipment.<br />
<ul style="text-align: left;">
<li>pin heads </li>
<li>40 pin IC base(i didn't get a 40 pin so i used a 42 pin) </li>
<li>a 7805 voltage regulator </li>
<li>crystal (11.0592Mhz or 12.0Mhz as per your requirement)</li>
<li>10kohm resistor</li>
<li>10kohm resistor 9 pin array</li>
<li>10uF electrolytic capacitor </li>
<li>33pF disc capacitors </li>
<li>some connecting wires</li>
<li>a special PCB that consists of all row holes will be connected</li>
</ul>
<h3 style="text-align: left;">
<u><b><span style="color: red;">PROCEDURE </span></b></u></h3>
first take a PCB with all its row holes connected as shown in the figure<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2m7FJ9mX13hKZwOnuBn1lwHjon5k6TISKVvZvN49e7aboGzGQhy8fKjjbP_aJECs-wlNqiXEBmz6AyhxSRM_kGElkhT3t7PV4nYVpboEhTZjLwqOXI1WRoJyBDM0dMpdjILsCob6num0/s1600/row+connected+pcb.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2m7FJ9mX13hKZwOnuBn1lwHjon5k6TISKVvZvN49e7aboGzGQhy8fKjjbP_aJECs-wlNqiXEBmz6AyhxSRM_kGElkhT3t7PV4nYVpboEhTZjLwqOXI1WRoJyBDM0dMpdjILsCob6num0/s640/row+connected+pcb.JPG" width="480" /></a></div>
Cut the PCB as per the need of your size of board.First of all take a look at the pin diagram of AT89S52 microcontroller. The EA/VPP(pin 31) must be connected to VCC. The PORT0 must be pulled up through external pullups.So use the 9 pin 10K resistor array for pull up such that common pin to VCC and remaining 8 pins to PORT0 pins. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWt21RMtfdJN1fTheHsQtAw51Yb1QL_riM0b1CaHioMANZpds91r5hv8mzIDAW3_-vaYmKhlilaWkVtgEN7C87D5rYSM4_oqbjKNlj9Rkuycgf-7oSYYJvin1HvqzKwVVmUdar4_UNanA/s1600/AT89S52.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWt21RMtfdJN1fTheHsQtAw51Yb1QL_riM0b1CaHioMANZpds91r5hv8mzIDAW3_-vaYmKhlilaWkVtgEN7C87D5rYSM4_oqbjKNlj9Rkuycgf-7oSYYJvin1HvqzKwVVmUdar4_UNanA/s640/AT89S52.bmp" width="448" /></a></div>
The power on reset circuit for 8051 will be as shown in the figure<br />
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Connection of external ceramic crystal to the AT89S51 <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1hXfuQRWqfykNyQiYV7QmPEaKC65geNUhz7v-sVfsV5LTISYsDKuAWvNy0yj_t9W2uvJlDIgCdlclHrjIplEiTdxhjtIaBYEh6LQsgEWC8B7F4_7EcUrWZtLN-knCDW-V87gLFvw2Ly8/s1600/crystal+connection.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="258" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1hXfuQRWqfykNyQiYV7QmPEaKC65geNUhz7v-sVfsV5LTISYsDKuAWvNy0yj_t9W2uvJlDIgCdlclHrjIplEiTdxhjtIaBYEh6LQsgEWC8B7F4_7EcUrWZtLN-knCDW-V87gLFvw2Ly8/s320/crystal+connection.jpg" width="320" /></a></div>
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arrange all the components as shown in the figure below. step by step<br />
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cut the PCB like this<br />
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place the 40 pin IC base(i used 42 pin as 40 pin is out of stock)<br />
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take some pin heads<br />
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place them as per the port pins<br />
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and place the remaining required components like crystal,reset circuit,7805 voltage regulator for supply<br />
<br />
your home made prototyping board for AT89S51.<br />
for programing the MCU you need a separate ISP programmer.<br />
so many of them are available in the market. <br />
if you use P89V51RD2 microcontroller you just need a max232 IC and a serial cable to program it<br />
<br />
<span id="goog_1108089506"></span><span id="goog_1108089507"></span></div>
VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com6tag:blogger.com,1999:blog-1935044069554993811.post-11999717095755611782012-06-13T07:47:00.000-07:002012-06-23T02:12:32.693-07:00capacitor value identification<div dir="ltr" style="text-align: left;" trbidi="on">
Identifying the capacitor value is a bit difficult compared to that of resistor.At the beginning i felt a lot of trouble.<br />
first let us discuss the working of a capacitor.<br />
<span style="background-color: #f1c232; color: red;">INSIDE THE CAPACITOR</span><br />
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt;">A simple capacitor consists of two parallel plates. When the two plates are connected </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">to a dc voltage source (e.g., a battery), electrons are “pushed” onto one plate by the </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">negative terminal of the battery, while electrons are “pulled” from the other plate by </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">the positive terminal of the battery. If the charge difference between the two plates </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">become excessively large, a spark may jump across the gap between them and discharge </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">the capacitor. To increase the amount of charge that can be stored on the </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">plates, a non-conducting dielectric material is placed between them. The dielectric </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">acts as a “spark blocker” and consequently increases the charge capacity of the capacitor.</span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">Other factors that affect capacitance levels include the capacitor’s plate surface </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">area and the distance between the parallel plates. Commercially, a capacitor’s dielectric </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">may be either paper, plastic film, mica, glass, ceramic, or air, while the plates may </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">be either aluminium disks, aluminium foil, or a thin film of metal applied to opposite </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">sides of a solid dielectric. The conductor-dielectric-conductor sandwich may be left </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">flat or rolled into a cylinder. The figure below shows some examples.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhP1RPFaQ-Ae5yy1cqpYn4XjAa9nGJc5XFdXResTQDwfRE7gIK5WCvVLxn1kbX24_dGtWbeoCXFrty1mfgsct30t06UMfW9mQ-hknH3HqcdB6mSRVhRKxhr5tVtg7mNdSFoPS9C50Dfq5Y/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhP1RPFaQ-Ae5yy1cqpYn4XjAa9nGJc5XFdXResTQDwfRE7gIK5WCvVLxn1kbX24_dGtWbeoCXFrty1mfgsct30t06UMfW9mQ-hknH3HqcdB6mSRVhRKxhr5tVtg7mNdSFoPS9C50Dfq5Y/s640/New+Bitmap+Image.bmp" width="520" /></a></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">Here’s the best thing I could come up with in terms of a water analogy for a capacitor. Pretend that electrons are water molecules and that voltage is water pressure. The water capacitor is built from two balloons. Normally, the two balloons are filled with the same amount of water; the pressure within each one is the same (analogous to an uncharged capacitor). In the figure, a real capacitor is charged by a battery, whereas the water capacitor is “charged” using a pump or pressurized water source. The real capacitor has a voltage across its plates, whereas in the water capacitor there is a difference in pressure between the two balloons. When the real capacitor is removed from the battery, it retains its charge; there is no conductive path through which charges can escape. If the water capacitor is removed from the pressurized water source—you have to pretend that corks are placed in its lead pipes—it too retains its stored-up pressure. When an alternating voltage is applied across a real capacitor, it appears as if an alternating current (displacement current) flows through the capacitor due to the changing magnetic fields. In the water capacitor, if an alternating pressure is applied across its lead tubes, one balloon will fill with water and push against the other semi filled balloon, causing water to flow out it. As the frequency of the applied pressure increases, the water capacitor resembles a rubber membrane that fluctuates very rapidly back and forth, making it appears as if it is a short circuit (at least in ac terms). In reality, this analogy is overly simplistic and does not address the subtleties involved in a real capacitor’s operation. Take this analogy lightheartedly.</span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">KINDS OF CAPACITORS</span> </h4>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">There are a number of different capacitor families available, each of which has defining </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">characteristic features. Some families are good for storing large amounts of </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">charge yet may have high leakage currents and bad tolerances. Other families may </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">have great tolerances and low leakage currents but may not have the ability to store </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">large amounts of charge. Some families are designed to handle high voltages yet may </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">be bulky and expensive. Other families may not be able to handle high voltages but</span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">may have good tolerances and good temperature performance. Some families may </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">contain members that are polarized or nonpolarized in nature. Polarized capacitors, </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">unlike nonpolarized capacitors, are specifically designed for use with dc fluctuating </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">voltages (a nonpolarized capacitor can handle both dc and ac voltages). A polarized </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">capacitor has a positive lead that must be placed at a higher potential in a circuit and </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">has a negative lead that must be placed at a lower potential. Placing a polarized </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">capacitor in the wrong direction may destroy it. (Polarized capacitors’ limitation to </span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">use in dc fluctuating circuits is counterbalanced by extremely large capacitances.) </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">Capacitors also come in fixed or variable forms. Variable capacitors have a knob that </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">can be rotated to adjust the capacitance level. The symbols for fixed, polarized, and </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt;">variable capacitors are shown below</span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt;"></span><span style="color: red;">CAPACITOR PACKAGES</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDb1gK9-XDOb36T3VHONaae6cW-BsyHsp27X_VaCW46F89snbKghowEBVEdleuvhdvLr_22x1Nvf1cl2xb4pOELB6A0c7NeNn9iJodDAr3_Zs2UseSP12lT_Jjk_euz-4SBpu-KYUhX4s/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" dba="true" height="426" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDb1gK9-XDOb36T3VHONaae6cW-BsyHsp27X_VaCW46F89snbKghowEBVEdleuvhdvLr_22x1Nvf1cl2xb4pOELB6A0c7NeNn9iJodDAr3_Zs2UseSP12lT_Jjk_euz-4SBpu-KYUhX4s/s640/New+Bitmap+Image.bmp" width="640" /></a></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">These capacitors include both aluminum and tantalum electrolytic. They are manufactured by an electrochemical formation of an oxide film onto a metal (aluminum or tantalum) surface. The metal on which the oxide film is formed serves as the anode or positive terminal, the oxide film acts as the dielectric, and a conducting liquid or gel acts as the cathode or negative terminal. Tantalum electrolytic capacitors have larger capacitance per volume ratios when compared with aluminum electrolytic. A majority of electrolytic capacitors are polarized. Electrolytic capacitors, when compared with non electrolytic capacitors, typically have greater capacitances but have poor tolerances (as large as +_100 percent for aluminum and about +_5 to +_20 percent for tantalum), bad temperature stability, high leakage, and short lives. Capacitances range from about 1 μF to 1 F for aluminum and 0.001 to 1000 μF for tantalum, with maximum voltage ratings from 6 to 450 V.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjH1OwQTAvNsNjTHGkawray0zIR3LmGw7nDf2vYUqft5x0F5wICMHFJpPZIwDqccVlRsg6g2LcEoAah6f_pM4NCnulllFL9dU0XetA2ylNNmIURfO_0VqwrW679MF45wxzLClXXZaTyr3E/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" dba="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjH1OwQTAvNsNjTHGkawray0zIR3LmGw7nDf2vYUqft5x0F5wICMHFJpPZIwDqccVlRsg6g2LcEoAah6f_pM4NCnulllFL9dU0XetA2ylNNmIURfO_0VqwrW679MF45wxzLClXXZaTyr3E/s1600/New+Bitmap+Image.bmp" /></a></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">This is very popular non polarized capacitor that is small and inexpensive but has poor temperature stability and poor accuracy. It contains a ceramic dielectric and a phenolic coating. It is often used for bypass and coupling applications. Tolerances range from +</span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">_5 to+ _100 percent, while capacitances range from 1 pF to 2.2 μF, with maximum voltages rating from 3 V to 6 kV.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglOFEUE3FDFYbXq5SZ4o7AhRRMUipG0IFfCxHPA5DOmcMSwin-QQhnb3H4htpQktIKt_Hz4OhIeHWpco2d5XNGQLWpBsUP9mCln8WGidCj965A0SZy58b7UyMO2biZvnsE35StG5Q_X_0/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" dba="true" height="298" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglOFEUE3FDFYbXq5SZ4o7AhRRMUipG0IFfCxHPA5DOmcMSwin-QQhnb3H4htpQktIKt_Hz4OhIeHWpco2d5XNGQLWpBsUP9mCln8WGidCj965A0SZy58b7UyMO2biZvnsE35StG5Q_X_0/s400/New+Bitmap+Image.bmp" width="400" /></a></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">This is a very popular nonpolarized capacitor that is reliable, inexpensive, and has low leakage current but poor temperature stability. Capacitances range from 0.001 to 10 </span><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">μF, with voltages ratings from 50 to 600 V.</span></span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">This is an extremely accurate device with very low leakage currents. It is constructed with alternate layers of metal foil and mica insulation, stacked and encapsulated. These capacitors have small capacitance and are often used in high-frequency circuits (e.g., RF circuits). They are very stable under variable voltage and temperature conditions. Tolerances range from +_0.25 to +_5 percent. Capacitance range from 1 pF to 0.01 μF, with maximum voltage ratings from 100 V to 2.5 KV</span></span></span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjPAtZoQ3vJZfFvmCwVoHqqnjBRPYTinJZ1nAbh3bxo8d8i5O9jaUGrkUvMq2ZZQno7D_do8pdWnw_BUNvAO9l0LYqbjrKdgN2t8DDeV6NODdmPIo79nThNcAYi1pxAQ_g5ecyD-_WxilI/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="451" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjPAtZoQ3vJZfFvmCwVoHqqnjBRPYTinJZ1nAbh3bxo8d8i5O9jaUGrkUvMq2ZZQno7D_do8pdWnw_BUNvAO9l0LYqbjrKdgN2t8DDeV6NODdmPIo79nThNcAYi1pxAQ_g5ecyD-_WxilI/s640/New+Bitmap+Image.bmp" width="640" /></a></span></span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">Variable capacitors are devices that can be made to change capacitance values with the twist of a knob. These devices come in either air-variable or trimmer forms. Air variable capacitors consist of two sets of aluminum plates (stator and rotor) that mesh together but do not touch. Rotating the rotor plates with respect to the stator varies the capacitor’s effective plate surface area, thus changing the capacitance. Air variable capacitors typically are mounted on panels and are used in frequently adjusted tuning applications (e.g., tuning communication receivers over a wide band</span></span></span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">of frequencies). A trimmer capacitor is a smaller unit that is designed for infrequent fine-tuning adjustments (e.g., fine-tuning fixed-frequency communications receivers, crystal frequency adjustments, adjusting filter characteristics). Trimmers may use a mica, air, ceramic, or glass dielectric and may use either a pair of rotating plates or a compression-like mechanism that forces the plates closer together.</span></span></span><br />
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj3kS_F4vdsZpXexnn-Ifc4075HJGlVLCjfc4CvF9335AaavLGwdn3CoYt8B0XdDt46i1j72QS6cuxEQm9HKF7tAOHInoNF1ydiVQyTG4XI9ndcHsCOgiSoQV_QtT3Cw22gkIy8FSunHkA/s1600/capacitpr+valur.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="577" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj3kS_F4vdsZpXexnn-Ifc4075HJGlVLCjfc4CvF9335AaavLGwdn3CoYt8B0XdDt46i1j72QS6cuxEQm9HKF7tAOHInoNF1ydiVQyTG4XI9ndcHsCOgiSoQV_QtT3Cw22gkIy8FSunHkA/s640/capacitpr+valur.bmp" width="640" /></a></span></span></div>
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<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"> <span style="font-size: small;">Important Things to Know about Capacitors</span></span></span></span></h4>
<span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;"><span style="font-family: 'Times New Roman',serif; font-size: 12pt; line-height: 150%;">Even though two capacitors may have the same capacitance values, they may have different voltage ratings. If a smaller-voltage capacitor is substituted in place of a higher-voltage capacitor, the voltage level across the replacement may “zap” its dielectric, turning it into a low-level resistor. Also remember that with polarized<br />capacitors, the positive lead must go to the more positive connection; otherwise, it may get zapped as well.<br />As a practical note, capacitor tolerances can be atrocious. For example, an aluminum electrolytic capacitor’s capacitance may be as much as 20 to 100 percent off the actual value. If an application specifies a low-tolerance capacitor, it is usually safe to substitute a near-value capacitor in place of the specified one. </span></span></span></div>
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</span></span></div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com0tag:blogger.com,1999:blog-1935044069554993811.post-17881561689308873062012-05-12T12:06:00.000-07:002014-09-15T12:47:55.874-07:00434MHz RF modules with encoders and decoders<div dir="ltr" style="text-align: left;" trbidi="on">
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To make any wire less circuit with less cost we all ways go for RF modules and encoders and decoders .i'm working on HT12E and HT12D.</div>
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<span style="background-color: yellow; color: red;">RF MODULE </span></div>
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<span style="background-color: white; color: black;">As we know that RF communication is better than IR.Range of RF is more than that of IR at the avilable power. Generally an RF module is used for such wireless communication.</span>This <b>RF module</b> comprises of an <b>RF Transmitter</b> and an <b>RF Receiver</b>. The transmitter/receiver (Tx/Rx) pair operates at a frequency of <b>434 MHz</b>.Other frequencies are also available (but not in the local Indian market). An RF transmitter accepts serial data and transmits it wireless through RF through its antenna connected at pin4. The transmission occurs at the rate of 1Kbps - 10Kbps.The transmitted data is received by an RF receiver operating at the same frequency as that of the transmitter.</div>
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We can establish a serial communication between the modules or we can go for encoders at the Tx unit and a decoder at the Rx unit</div>
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These are 12 bit encoder and decoder pair available .8bits are assigned for address and 4 bits are for data.There are other pairs available like HT640 encoder ,HT648L decoder(10 bit for address and 8 bit for data).but in Indian market it is hard to find these two.but (HT12E & D) are available every ware.</div>
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the pin diagram of the ICs will be as follows</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgcUEC2nCDoGRbNdXEEaQT6RKVyZo8lYtCet8dBdvV4y3W1AaptDhuQ35cIP1jDGp7AjLfU2Xjlbor49NoWNfI5tRSjnXtDeVQ5oiToNzw1sgC8ktMongn_KtklqpImp7_U5AgLbHZ_7pI/s1600/Slide1.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgcUEC2nCDoGRbNdXEEaQT6RKVyZo8lYtCet8dBdvV4y3W1AaptDhuQ35cIP1jDGp7AjLfU2Xjlbor49NoWNfI5tRSjnXtDeVQ5oiToNzw1sgC8ktMongn_KtklqpImp7_U5AgLbHZ_7pI/s400/Slide1.JPG" dba="true" height="300" width="400" /></a></div>
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A0 to A7 bits are used for address bits.To achieve proper communication the 8 bit address at the HT12E of transmitter must match with the HT12D at the receiver an external resistor must be connected between "OSC1 & OSC2" for rc oscillator.750Kohm at HT12E and 33Kohm for HT12D.</div>
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HT12E has a transmission enable pin (pin 14)which is active low.which must be kept low during transmission.in a similar manner HT12D consisting of <span style="font-family: Arial;">Valid transmission pin</span>(pin 17). which goes high on reception of a valid signal from the transmitter.so better to connect an LED for indication but the voltage at this pin may not sufficient to drive an led.so a BC548 transistor can be used. For configuring the address a DIL switch is used.it is an array of switches.</div>
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<h2 style="text-align: center;">
<span style="color: red;">THE CIRCUITS </span></h2>
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RF TRANSMITTER: the R2 resistor in the transmitter circuit is of 750Kohm. As this particular value is not available i prefer to use 680Kohm+68Kohm = 748Kohm</div>
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PCB LAYOUT OF RF Tx</h4>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIwfUonYe0Eh2p45P2EfO0JsKkf4w2oXPCfclgLRRRihyFM7se6xNoTjHUpMuGBMyYbAtVzanjywaxt2IxL7GTLClDb2izxwbOUYveG9bdZL7SFF9mBIaeL3NWaWjBYYC0RdkiL8VdSJo/s1600/Slide3.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIwfUonYe0Eh2p45P2EfO0JsKkf4w2oXPCfclgLRRRihyFM7se6xNoTjHUpMuGBMyYbAtVzanjywaxt2IxL7GTLClDb2izxwbOUYveG9bdZL7SFF9mBIaeL3NWaWjBYYC0RdkiL8VdSJo/s640/Slide3.JPG" dba="true" height="480" width="640" /></a></div>
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RF RECEIVER CIRCUIT</div>
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RF Rx PCB LAYOUT<br />
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ANTENNA</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhejiKr3-TGahYQ-_KY3-GYp9ftU55PgEKsZGrXzhnLAfpDKnwVd6gvEqEiT7V6fNv8XsPFiS-sikkTPCR8N4FQ2l_59vPJ6Z0sNnaCQozXNoklAfjndj9fIizRrL688tYCx6Q2KZTRALc/s1600/Slide9.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhejiKr3-TGahYQ-_KY3-GYp9ftU55PgEKsZGrXzhnLAfpDKnwVd6gvEqEiT7V6fNv8XsPFiS-sikkTPCR8N4FQ2l_59vPJ6Z0sNnaCQozXNoklAfjndj9fIizRrL688tYCx6Q2KZTRALc/s640/Slide9.JPG" dba="true" height="480" width="640" /></a></div>
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I prefer to use an old model TV antenna.which is very cheep.i bought it for</div>
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38 rupees in an electronics store.it consist two antenna poles.remove the plastic holder and separate the two antennas.so that one can be used at transmitter and other can be used at receiver</div>
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while using the RF modules better not to go for supply voltage more than 5v.though for some it may be around 12V.as voltage increases heat desipated fby the module increases.that may cause improper function.<br />
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<span style="color: red; font-family: Georgia, Times New Roman, serif;"><b>working video of robot racer without microcontroller</b></span></h3>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com30tag:blogger.com,1999:blog-1935044069554993811.post-46969662873262876332012-03-30T09:21:00.000-07:002012-06-13T08:17:10.320-07:00RESISTOR color coding<div dir="ltr" style="text-align: left;" trbidi="on">
Every newbie of electronics must be aver of some fundamental.Knowing the "resistor" is one of that.<br />
the question is"<span style="color: red;">what is resistor ?what is getting resisted?</span><br />
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Every one knows that "current" is nothing but flow of electrons just like water flow through a pipe.<br />
here pipe means any conducting wire.The operation of pump is similar to that of a battery.Tap is nothing but a switch in the circuit<br />
look at the following image<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhSSr7ZD6jZ_te436pkUN6mdmFpHfRk-cRYiAA6bHloTg5Ir0nA4BaaFt8pBUiCNiUq7kTdmIH2GjBSjmhKL3Do6cy8VCuCqd4WH_sfrxobiGje21CmzlZx2oPQ1r67Dmak1E40zJUlamU/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="260" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhSSr7ZD6jZ_te436pkUN6mdmFpHfRk-cRYiAA6bHloTg5Ir0nA4BaaFt8pBUiCNiUq7kTdmIH2GjBSjmhKL3Do6cy8VCuCqd4WH_sfrxobiGje21CmzlZx2oPQ1r67Dmak1E40zJUlamU/s400/New+Bitmap+Image.bmp" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi1ybvqtiG51Pis4nhBrU6MarIKMQ9PjkZFD7zgq7Hn55AS6TkPpRjLC2b3TppU9vx2R1XKvxh-Pd7LSDMn3uia1fSFtlW64XagEw460Ey1_6gDeqW_KisG41i7izL9eUy-X1lJMn7EQ14/s1600/resistor+water.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="295" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi1ybvqtiG51Pis4nhBrU6MarIKMQ9PjkZFD7zgq7Hn55AS6TkPpRjLC2b3TppU9vx2R1XKvxh-Pd7LSDMn3uia1fSFtlW64XagEw460Ey1_6gDeqW_KisG41i7izL9eUy-X1lJMn7EQ14/s400/resistor+water.jpg" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhSSr7ZD6jZ_te436pkUN6mdmFpHfRk-cRYiAA6bHloTg5Ir0nA4BaaFt8pBUiCNiUq7kTdmIH2GjBSjmhKL3Do6cy8VCuCqd4WH_sfrxobiGje21CmzlZx2oPQ1r67Dmak1E40zJUlamU/s1600/New+Bitmap+Image.bmp" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"></a><br />
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<span style="color: red;">measure of resistance:</span></div>
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In the water pipeline the narrow neck opposes the water flow.Similarly the resistor opposes the flow of current in the conducting wire.</div>
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The resistance(R) of a material will be proportional to it's length(L)</div>
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and inversely proportional to it's cross sectional area(A).</div>
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Considering the constant of proportionality (p) called resistivity.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJkyCc8IBZ-INm7U_7YVWgvhMrVxUHFuGLFyUQqLMlFoCauqRCA41VnRKCymM7ARrIx_GQ0A7IUEWjDLibtEn5L7uvQeUfBFm1MHOdwqh0BOtGUR7uMhRuRc9KmfOBOQcd9hEv8gqmG_E/s1600/resist.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJkyCc8IBZ-INm7U_7YVWgvhMrVxUHFuGLFyUQqLMlFoCauqRCA41VnRKCymM7ARrIx_GQ0A7IUEWjDLibtEn5L7uvQeUfBFm1MHOdwqh0BOtGUR7uMhRuRc9KmfOBOQcd9hEv8gqmG_E/s1600/resist.gif" /></a></div>
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In this formula, length and area are geometric properties of the cylinder; the ratio L/A has dimensions of reciprocal length. The Greek symbol "rho" above stands for resistivity, a property of the material making up the cylinder, usually reported in ohm-cm. The separation of the dependence of a physical quantity into geometric and material parts is typical.<br />
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we cannot use a resistor of more length in our circuits so we use resistors of different materials are available in several sizes.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMl7yPq6Q4JV_QL89bwJaU7EdoJ1RrMi9ASV8TzIUPqPvTNaYrdxsVNMXv28NAXtRI7KHWXyhmu1gdkhaxXWOJb8NgsV7PJp46QAQOiuC5BwfvjVPVecqHXq8kOd9yLlGzkM-67OmyXKQ/s1600/RESISTOR.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMl7yPq6Q4JV_QL89bwJaU7EdoJ1RrMi9ASV8TzIUPqPvTNaYrdxsVNMXv28NAXtRI7KHWXyhmu1gdkhaxXWOJb8NgsV7PJp46QAQOiuC5BwfvjVPVecqHXq8kOd9yLlGzkM-67OmyXKQ/s320/RESISTOR.gif" width="320" /></a></div>
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<span style="color: red;"><br /></span></div>
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<span style="color: red;">how to find the resistance of a resistor?</span><br />
the ordinary resistor we use in the laboratory consist of a color coding on it.depending upon the color band pattern printed on it we can find the resistance.look at the figure below<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipIHhw76L8HitNhKo5cuIQTXDy6vn1vTEg78fjtnPZ5geH7MfkRiIHvPzZU_HJC4rSHfH95RODB0AjHkqoctoMbGY9f4lCX_JcTk4EUGRREMpZd9n8Ez_9v4Z882LyiEDY59W-uBvybe4/s1600/resistorchart.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"> <img border="0" height="496" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipIHhw76L8HitNhKo5cuIQTXDy6vn1vTEg78fjtnPZ5geH7MfkRiIHvPzZU_HJC4rSHfH95RODB0AjHkqoctoMbGY9f4lCX_JcTk4EUGRREMpZd9n8Ez_9v4Z882LyiEDY59W-uBvybe4/s640/resistorchart.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDTABChBgP2uCN-Eqmr8bynE_7pVBtgZLpn1utcEg13Y_j6sjcX2rpGARLhLerTIP_-wjrFK-og1gnhzHJFexcKt0Zvl6UPTVBTrM2ryS25HHGvBWFvh5EPvy7-oR_UGBW7ntrEMhr64Y/s1600/resistorcolorcode1.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" dba="true" height="393" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDTABChBgP2uCN-Eqmr8bynE_7pVBtgZLpn1utcEg13Y_j6sjcX2rpGARLhLerTIP_-wjrFK-og1gnhzHJFexcKt0Zvl6UPTVBTrM2ryS25HHGvBWFvh5EPvy7-oR_UGBW7ntrEMhr64Y/s640/resistorcolorcode1.gif" width="640" /></a></div>
<br />
consider the following example:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL2TLCbN7d2zug5l8NORPTesUeTNfnr_FaWII_MgsBM8QTbtuw0OzquVXJD2xL9eMFhuGfQjDdYvVqpNSTCSXFBfS1OyLGIkK4dCIzFcInY728aVUG0xz2V3WKip3vrxrBt7NR-URHlcw/s1600/4_7K_350x350_1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL2TLCbN7d2zug5l8NORPTesUeTNfnr_FaWII_MgsBM8QTbtuw0OzquVXJD2xL9eMFhuGfQjDdYvVqpNSTCSXFBfS1OyLGIkK4dCIzFcInY728aVUG0xz2V3WKip3vrxrBt7NR-URHlcw/s320/4_7K_350x350_1.jpg" width="320" /></a></div>
above resistor is of 4-band color type.so the resistance calculation will be as follows<br />
<br />
yellow violet red gold<br />
4 7 10^2 +-5%<br />
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R= 4700 ohm = 4.7 K ohm<br />
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<br /></div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com2tag:blogger.com,1999:blog-1935044069554993811.post-54145739426902277712012-03-28T18:28:00.004-07:002013-10-06T09:22:38.614-07:00HEAVY DUTY ROBOT RACER WITH WIRELESS CONTROL<div dir="ltr" style="text-align: left;" trbidi="on">
we all participate in robotic competitions even i did<br />
i lost my first racing competition because of lesser power motor and in efficient driver circuit.<br />
i worked on it a lot and finally found some solutions.<br />
<br />
<b>solution1:</b> use metal geared motor instead of plastic gear (i lost my match because of plastic motors)<br />
and wheel of maximum possible grip.<br />
<br />
<b>solution 2:</b> use proper motor driving technique.<br />
<br />
<b>solution3: </b>make strong chases with light weight with maximum possible ground clearance.<br />
<br />
<b>solution4: </b>use proper battery with less size and more power that works for longer period.<br />
<br />
<b>solution5: </b>better to be wireless<br />
<br />
i made a prototype of my own racer.this racer can reach 15Km/h<br />
it can carry up to 4kg of load<br />
actually i made it for carrying a robot arm, gun platform and a video camera<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOhA1OMZAnwCRbV8i01qeBqIqE-_hirzr8G_uyt2tWnUHMl_kh_5LpIlrsCmoUSboboOLxI_RIs3uKDhl2Q4VciptLNnUIlpO3sGUt6fMx-2ZOjbd0E_fmQnEBhYhJ1Bs1hB32R-0p67Y/s1600/DSCN4370.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOhA1OMZAnwCRbV8i01qeBqIqE-_hirzr8G_uyt2tWnUHMl_kh_5LpIlrsCmoUSboboOLxI_RIs3uKDhl2Q4VciptLNnUIlpO3sGUt6fMx-2ZOjbd0E_fmQnEBhYhJ1Bs1hB32R-0p67Y/s400/DSCN4370.JPG" height="296" width="400" /></a></div>
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<span style="font-size: small;"><span style="font-family: "Times New Roman","serif"; line-height: 150%;">Using this platform i made a robot gun tank.</span></span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbUx22ZfE5heM39qUDXCIWm8MEor77ZybYlSB0gN2swQAe2mMeh6BvcgfBIsUmpoEDP3KVucum1UOcWTBoyo1gRLbwc_pMT5khSarAhuO72_K48c1vsvZNKtLPjaG1V1nmPfT3cGE4awU/s1600/DSCN4605.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbUx22ZfE5heM39qUDXCIWm8MEor77ZybYlSB0gN2swQAe2mMeh6BvcgfBIsUmpoEDP3KVucum1UOcWTBoyo1gRLbwc_pMT5khSarAhuO72_K48c1vsvZNKtLPjaG1V1nmPfT3cGE4awU/s400/DSCN4605.JPG" height="300" width="400" /></a></div>
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<span style="font-size: small;"><span style="font-family: "Times New Roman","serif"; line-height: 150%;">Now a day’s security plays crucial
role in any country. So many soldiers are sacrificing their lives for the sake
of the country. But the technology is changing day by day. A new area began in
the field of science. That is ROBOTICS. Several researches were under taken in
the field of robotics. Robots are being used in different fields where there is
a difficulty to the humans. Robots can be used even in the field of defense. If
we lose a robot we can replace it with another one but we cannot replace a soldier
with another.</span><span style="font-family: "Georgia","serif"; line-height: 150%;"></span></span></div>
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<span style="font-size: small;"><span style="font-family: "Times New Roman","serif"; line-height: 150%;">Many countries started using robots
in the wars. For example USA recently developed a robot called SWARD which can
carry a rifle and fire at the destined targets. We tried to make a robot that
will be faster enough to serve the soldiers in the battle field.</span><span style="font-family: "Georgia","serif"; line-height: 150%;"></span></span></div>
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<span style="font-size: small;"><span style="font-family: "Times New Roman","serif"; line-height: 150%;">We implemented this
project using two micro controllers 8051 at the transmitter and ATmega16L at the
receiver. The robot platform is based on the high performance Jonson-H motors.
This robot can be operated through remote through RF communication by using
encoder and decoder at the transmitter and receiver with 8bit secured address.
This kind of robots helps the soldiers by making some modifications in the
robot we can make it to carry the goods at the battle fields to help the
soldiers.</span></span></div>
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<span style="color: black;">for base motors high power metal gear motors are
used </span><br />
<span style="color: black;"><br /></span>
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<object class="BLOGGER-youtube-video" classid="clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" codebase="http://download.macromedia.com/pub/shockwave/cabs/flash/swflash.cab#version=6,0,40,0" data-thumbnail-src="https://ytimg.googleusercontent.com/vi/M_vvC9pAKVM/0.jpg" height="266" width="320"><param name="movie" value="https://www.youtube.com/v/M_vvC9pAKVM?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" /><param name="bgcolor" value="#FFFFFF" /><param name="allowFullScreen" value="true" /><embed width="320" height="266" src="https://www.youtube.com/v/M_vvC9pAKVM?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" type="application/x-shockwave-flash" allowfullscreen="true"></embed></object></div>
<span style="color: black;"><br /></span>
<span style="color: red; font-size: x-large;">Motor ratings:</span><br />
<span style="color: red; font-size: x-large;"><br /></span></div>
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<b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;"><span style="font-size: 16px;">1000RPM 12V DC</span> geared motors for robotics
applications. It gives a massive torque of 12Kgcm. The motor comes with metal
gearbox and off-centered shaft. Shaft has a metal bushing for wear Resistance.</span></b></div>
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<b><span style="color: navy; font-family: 'Verdana','sans-serif'; font-size: 12pt;">Features</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"></span></div>
<ul style="margin-top: 0in;" type="disc">
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">1000RPM 12V DC
motors with Metal Gearbox</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"></span><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">18000 RPM base
motor</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">6mm shaft
diameter</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">Gearbox diameter
37 mm.</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">Motor Diameter
28.5 mm</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">Length 63 mm
without shaft</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">Shaft length
15mm</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">300gm
weight</span></b>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">12kgcm
torque</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"> </span>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;">No-load current
= 800 mA(Max),</span></b>
</li>
<li class="MsoNormal" style="line-height: normal; margin-bottom: 0pt;"><b><span style="font-family: 'Verdana','sans-serif'; font-size: 10pt;"> Load current =
upto 9.5 A(Max)</span></b><span style="font-family: 'Times New Roman','serif'; font-size: 12pt;"></span>
</li>
</ul>
a special motor driver circuit is designed using relays for
driving motors at high currents<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEip8MRClm5aPpLm0peMdN9AkV8TdVAjPwcvSWdFo63TYpRAU8RurKpy_tEA6uX22CZa7bkU6EcsJ1EiBIftV72JhDHdeSXkzLiFXERq24mzt4Syncp3PtzuICOI23ElO3IQO0O8riQDSbk/s1600/dpdt_nl_relay.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEip8MRClm5aPpLm0peMdN9AkV8TdVAjPwcvSWdFo63TYpRAU8RurKpy_tEA6uX22CZa7bkU6EcsJ1EiBIftV72JhDHdeSXkzLiFXERq24mzt4Syncp3PtzuICOI23ElO3IQO0O8riQDSbk/s400/dpdt_nl_relay.gif" height="298" width="400" /> </a></div>
when there is no current flowing in the coil the switch will be as shown in the figure.that means in normal state there will be connection between "common" and "contact". when ever current is flowing in the coil the core is magnetized and attracts the switch.so the switch will be moved towards "non contact". so a connection will be established between "NC" and "CM".<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgx1b8JoHbMZn2jHpYP0j9YCHjjTQqOSmcFM2UP8mMwC0HJnhPpnzP8Wyre6GghxFVupexKbWu-DNjwbNTJfQimnSp0RkOgtB0BzEjtH7QfbSHG3J_u9fISzDcTnRU5zA_F9lAuyBXYA5Y/s1600/dpdt_nl_relay.GIF" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgx1b8JoHbMZn2jHpYP0j9YCHjjTQqOSmcFM2UP8mMwC0HJnhPpnzP8Wyre6GghxFVupexKbWu-DNjwbNTJfQimnSp0RkOgtB0BzEjtH7QfbSHG3J_u9fISzDcTnRU5zA_F9lAuyBXYA5Y/s320/dpdt_nl_relay.GIF" height="239" width="320" /></a></div>
for driving a motor we need two relays<br />
the circuit for connecting relays will be as follows.<br />
the following circuit is a high current motor driver using relays. <br />
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actually we are implementing a H-bridge using the relays. when ever a logic "1" is applied to the transistor base then the corresponding relay will be activated .it will be very simple mechanism. if you are using more than one motor i prefer you to use a ULN2003 IC for driving relays.one ULN2003 can drive "7" relays.<br />
so that you can control "3" motors with still one left.if you use two ICs you can control "7" motors.<br />
these relays can drive very large currents compared to L293D and L298 <br />
<br />
i made a perfect robot that will help you in racing..... take a look at it<br />
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for wireless circuit refer the <a href="http://homemaderobo.blogspot.in/2012/05/434mhz-rf-modules-with-encoders-and.html" target="_blank">434 MHz RF modules circuit</a></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com6tag:blogger.com,1999:blog-1935044069554993811.post-39765678595455350342012-03-26T01:30:00.000-07:002012-06-13T08:16:42.524-07:00STEPPER MOTOR basic<div dir="ltr" style="text-align: left;" trbidi="on">
<b><span style="color: red;">STEPPER MOTOR</span></b><br />
Stepper motors, or steppers, are digitally controlled brushless motors that rotate a specific number of degrees (a step) every time a clock pulse is applied to a special translator circuit that is used to control the stepper. The number of degrees per step (resolution) for a given stepper motor can be as small as 0.72° per step or as large as 90° per step. Common general-purpose stepper resolutions are 15 and 30° per step.<br />
Unlike RC servos, steppers can rotate a full 360° and can be made to rotate in a continuous manner like a dc motor (but with a lower maximum speed) with the help of proper digital control circuitry. Unlike dc motors, steppers provide a large amount of torque at low speeds, making them suitable in applications where low-speed and high-precision position control is needed. For example, they are used in printers to<br />
control paper feed and are used to help a telescope track stars. Steppers are also<br />
found in plotter- and sensor-positioning applications. The list goes on. To give you a<br />
basic idea of how a stepper works, take a look at the Figure.<br />
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Here is a simple model depicting a 15° per step variable-reluctance stepper.The stationary section of the motor, called the stator, has eight poles that are spaced 45° apart. The moving section of the motor, called the rotor, is made from a ferromagnetic material (a material that is attracted to magnetic fields) that has six teeth spaced 60° apart.To make the rotor turn one step, current is applied, at the same time, through two opposing pole pairs, or coil pairs.The applied current causes the opposing pair<br />
of poles to become magnetized. This in turn causes the rotor’s teeth to align with the poles, as shown in the figure.To make the rotor rotate 15° clockwise from this position, the current through coil pair 1 is removed and sent through coil pair 2.To make the rotor rotate another 15° clockwise from this position, the current is removed from coil pair 2 and sent through coil pair 3.The process continues in this way.To make the rotor spin counterclockwise, the coil-pair firing sequence is reversed.<br />
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<span style="color: red;"><b>TYPES OF STEPPER MOTORS</b></span><br />
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The model used in the last example was based on a variable-reluctance stepper. As it turns out, this model is incomplete—it does not show how a real variable-reluctance stepper is wired internally. Also, the model does not apply to a class of steppers referred to as permanent-magnet steppers. To make things more realistic, let’s take a look at some real-life steppers<br />
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This figure shows a physical model and schematic diagram of a 30° per step variable reluctance stepper. This stepper consists of a six-pole<br />
(or three-coil pair) stator and a<br />
four-toothed ferromagnetic rotor. Variable-reluctance steppers with higher angular resolutions are constructed with more coil pairs and/or more rotor teeth. Notice that<br />
in both the physical model and the schematic, the ends of all the coil pairs are joined together at a common point. (This joining of the coil ends occurs internally within the<br />
motor’s case.) The common and the coil pair free ends are brought out as wires from the motor’s case. These wires are referred to as the phase wires. The common wire is connected to the supply voltage, whereas the phase wires are grounded in sequence according to the table shown below.<br />
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<span style="color: lime;"><b>UNI-POLAR STEPPER MOTOR</b></span><br />
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These steppers have a similar stator arrangement as the variable-reluctance steppers, but they use a permanent-magnet rotor and different internal wiring arrangements.Figure shows a 30° per step unipolar stepper. Its consists of a four-pole (or two coil pair) stator with center taps between coil pairs and a six-toothed permanent magnetic rotor. The center taps may be wired internally and brought out as one wire<br />
or may be brought out separately as two wires. The center taps typically are wired to the positive supply voltage, whereas the two free ends of a coil pair are alternately grounded to reverse the direction of the field provided by that winding. As shown in the figure, when current flows from the center tap of winding 1 out terminal 1a, the top stator pole “goes north,” while the bottom stator pole “goes south.” This causes the rotor to snap into position. If the current through winding 1 is removed, sent through winding 2, and out terminal 2a, the horizontal poles will become energized, causing the rotor will turn 30°, or one step. In Fig , three firing sequences are shown. The first sequence provides full stepping action (what I just discussed). The second sequence, referred to as the power stepping sequence, provides full stepping<br />
action with 1.4 times the torque but twice the power consumption. The third sequence provides half stepping (e.g., 15° instead of the rated 30°). Half stepping is made possible by energizing adjacent poles at the same time. This pulls the rotor in between the poles, thus resulting in one-half the stepping angle. As a final note,<br />
unipolar steppers with higher angular resolutions are constructed with more rotor teeth. Also, uni polars come in either five- or six-wire types. The five-wire type has the center taps joined internally, while the six-wire type does not.<br />
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<b style="color: lime;">BIPOLAR STEPPER MOTOR</b><br />
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<br />
These steppers resemble unipolar steppers, but their coil pairs do not have center taps. This means that instead of simply supplying a fixed supply voltage to a lead, as was<br />
the case in unipolar steppers (supply voltage was fixed to center taps), the supply voltage must be alternately applied to different coil ends. At the same time, the opposite end of a coil pair must be set to the opposite polarity (ground). For example, in<br />
Figure, a 30° per step bipolar stepper is made to rotate by applying the polarities shown in the firing sequence table to the leads of the stepper. Notice that the firing sequence<br />
uses the same basic drive pattern as the unipolar stepper, but the “0” and “1” signals are replaced with “+” and “−” symbols to show that the polarity matters. As you will see in the next section, the circuitry used to drive a bipolar stepper requires an<br />
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzgxbpM5Uug-BkOia3f1pwHnk4IpnrSfnzxz5W6JWoD3FcH6NzpSVZ6ys7nR6LbPj1gXl8ron15QaPyvtP4HtJp3cCDG-y86Kv5YIdMwq3YmoWJ1jLneHz2uv8rEBYgB1p3QOrLGbbO5k/s1600/bipolar.jpg" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"><img border="0" height="293" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzgxbpM5Uug-BkOia3f1pwHnk4IpnrSfnzxz5W6JWoD3FcH6NzpSVZ6ys7nR6LbPj1gXl8ron15QaPyvtP4HtJp3cCDG-y86Kv5YIdMwq3YmoWJ1jLneHz2uv8rEBYgB1p3QOrLGbbO5k/s400/bipolar.jpg" width="400" /></a>H-bridge network for every coil pair. Bipolar steppers are more difficult to control than both uni polar steppers and variable-reluctance steppers, but their unique polarity-shifting feature gives them a better size-to-torque ratio. As a final note, bipolar<br />
steppers with higher angular resolutions are constructed with more rotor teeth.<br />
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<b style="color: lime;">UNIVERSAL STEPPER MOTOR</b><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgInQa8smmaxMYr6TzGnv6gsz5PAK0yKqxZ612eBZd99CwYl8CrbGLtsDnhyphenhyphenFURh0uv_BI2ibFYTrZLuGbIb-4zlVKUbfd8VRipCG1j77lHAxwHH6ESdekNGetGbFZFL6Ay7qPDNOrBMC0/s1600/universal.jpg" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"><img border="0" height="297" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgInQa8smmaxMYr6TzGnv6gsz5PAK0yKqxZ612eBZd99CwYl8CrbGLtsDnhyphenhyphenFURh0uv_BI2ibFYTrZLuGbIb-4zlVKUbfd8VRipCG1j77lHAxwHH6ESdekNGetGbFZFL6Ay7qPDNOrBMC0/s400/universal.jpg" width="400" /></a>These steppers represent a type of unipolar-bipolar hybrid. A universal stepper comes with four independent windings and eight leads. By connecting the coil windings in parallel, as shown in Figure, the universal stepper can be converted into a<br />
unipolar stepper. If the coil windings are connected in series, the stepper can be converted into a bipolar stepper.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQdybE-2eKNOPDWudRZ4ZKcEGA6mlJjNv82vhBfuX_oJtkQXD2R-r2n3n2Shl2aiUz3gDfRbZi39xNECqTvk0N-E1RW0OPLly7mnhZHYTNN54ZVfHIG5E3Yzm_giEru3V0cBO7D1H2XYw/s1600/universal2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="472" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQdybE-2eKNOPDWudRZ4ZKcEGA6mlJjNv82vhBfuX_oJtkQXD2R-r2n3n2Shl2aiUz3gDfRbZi39xNECqTvk0N-E1RW0OPLly7mnhZHYTNN54ZVfHIG5E3Yzm_giEru3V0cBO7D1H2XYw/s640/universal2.jpg" width="640" /></a></div>
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<u><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxgPmXHjaSD0EVmCy5MWf2dyIvh8CBT4NsnN6V0r6_ntL9jkSUsHr_UmXzwzqeczrmWwWL-lcYK-I17CG_MbcwM2UIZk1AWsmIV2ELF_AUmoOQtVU8CjNbuKpfddObYq_OwYARFmGSbfs/s1600/universal3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="297" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxgPmXHjaSD0EVmCy5MWf2dyIvh8CBT4NsnN6V0r6_ntL9jkSUsHr_UmXzwzqeczrmWwWL-lcYK-I17CG_MbcwM2UIZk1AWsmIV2ELF_AUmoOQtVU8CjNbuKpfddObYq_OwYARFmGSbfs/s400/universal3.jpg" width="400" /></a></u></div>
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<u><br /></u><br />
<u><span style="color: lime;">"WHAT EVER THE TYPE OF STEPPER IS TO ROTATE IT THE BASIC LOGIC IS TO</span></u><br />
<u><span style="color: lime;"><br /></span></u><br />
<u><span style="color: lime;"> CONNECT THE CENTER TAPS OF THE COILS TO POSITIVE TERMINAL OF SUPPLY </span></u><br />
<u><span style="color: lime;"><br /></span></u><br />
<u><span style="color: lime;">AND THE REMAINING ENDS OF COILS MUST BE GROUNDED(CONNECTED TO </span></u><br />
<u><span style="color: lime;"><br /></span></u><br />
<u><span style="color: lime;">NEGATIVE TERMINAL OF THE SUPPLY) IN THE ORDER DISCUSSED ABOVE"</span></u><br />
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<span style="color: lime;"><b> </b></span><span style="color: black;"> </span><br />
<span style="color: orange;">for this "grounding" several techniques are used.but the main role of such devise will be"SWITCHING" the motor coils</span><br />
<span style="color: black;">the arrange ment will be</span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj9tTMQg2p-77k3xQnq6bVFlzuVobO9-DmjYGD7kSq6SP8OaZbbFJlStvfK-pwYSdNSKn2k2dfzSarkl95FKilUFnEuuKDBSColl8v0O_KMZOz_2-_YSx2yB6OxtqkrnPWd3Qxm5XvyPjg/s1600/Slide3.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" mea="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj9tTMQg2p-77k3xQnq6bVFlzuVobO9-DmjYGD7kSq6SP8OaZbbFJlStvfK-pwYSdNSKn2k2dfzSarkl95FKilUFnEuuKDBSColl8v0O_KMZOz_2-_YSx2yB6OxtqkrnPWd3Qxm5XvyPjg/s400/Slide3.JPG" width="400" /></a></div>
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but we need a devise to perform the switching operation for that i prefer the following ULN2003 it consists of 7 darlington array.refer the data sheet for more</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvDqfE-_dn48LF-2kAczLXf3FdxiQGuuFJRRoaj6U_G-98rufGtFd3y1rAiBaz8T3STrhuGwqde6o5KPo-ymbU0LW1ODN2Cbixxb32HNpsEkCjNfSi-kGhfxY6UwubkHhkuxOqXTeXEeM/s1600/Slide1.JPG" imageanchor="1" style="clear: left; cssfloat: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="400" mea="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvDqfE-_dn48LF-2kAczLXf3FdxiQGuuFJRRoaj6U_G-98rufGtFd3y1rAiBaz8T3STrhuGwqde6o5KPo-ymbU0LW1ODN2Cbixxb32HNpsEkCjNfSi-kGhfxY6UwubkHhkuxOqXTeXEeM/s400/Slide1.JPG" width="300" /></a></div>
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the over all arrangement will be as follows</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIy_byvMZRola_dbxpOC3Nx_YZisNyiSrRkcKKyM8ZAqpqVx4fHl3spRxykBKJCItmawoCEEwzCjwRA7tp_1TZnD1oCeGPwG_uhYgluq4EQiu9cKst5PdJXcvSOhQfsAbriUp7fVfaR7k/s1600/stepper+2003.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="480" mea="true" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIy_byvMZRola_dbxpOC3Nx_YZisNyiSrRkcKKyM8ZAqpqVx4fHl3spRxykBKJCItmawoCEEwzCjwRA7tp_1TZnD1oCeGPwG_uhYgluq4EQiu9cKst5PdJXcvSOhQfsAbriUp7fVfaR7k/s640/stepper+2003.jpg" width="640" /></a></div>
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connect the in1,in2,in3,in4 pins of 2003 to the control logic<br />
and follow the algorithm as per the type of motor<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEja-evHwktC9AJ0E6_WhSyGvgrsZxe0_5eAb4DStNkvLFi5RjU9p97vjzgKxcbtFnNmtPAlsBq574fPwSFk1Z5CcXo_S3F2jaFP2SYhdkoieFcnmjHB0t91ruG7b_kATDGgKrDqIH_A6vc/s1600/stepper+2003+logic+control.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" dba="true" height="303" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEja-evHwktC9AJ0E6_WhSyGvgrsZxe0_5eAb4DStNkvLFi5RjU9p97vjzgKxcbtFnNmtPAlsBq574fPwSFk1Z5CcXo_S3F2jaFP2SYhdkoieFcnmjHB0t91ruG7b_kATDGgKrDqIH_A6vc/s400/stepper+2003+logic+control.JPG" width="400" /></a></div>
</div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com7tag:blogger.com,1999:blog-1935044069554993811.post-87577418903728394922012-03-25T01:25:00.004-07:002012-07-03T08:11:17.088-07:00PCB designing with EAGLE<div dir="ltr" style="text-align: left;" trbidi="on">
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if you are a beginner in PCB designing i prefer EAGLE </div>
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this is the best software that helps to design PCB s for beginners</div>
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this is my first schematic of 8051 board </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXzpeGjMYBAAVD3F4pL3bcJjazWKWgMIJjV1Saq7H9Qytg5P4uiKjwF0-T4WWQNSTTsWRo3HXid7LEsxD8N-7ryAFKCB-yIpjvtf0_iN-CxyiM7sfsrUZ5vNuMaDPL3gVS8Do5_zcb2eU/s1600/8051+scematic+.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="293" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXzpeGjMYBAAVD3F4pL3bcJjazWKWgMIJjV1Saq7H9Qytg5P4uiKjwF0-T4WWQNSTTsWRo3HXid7LEsxD8N-7ryAFKCB-yIpjvtf0_iN-CxyiM7sfsrUZ5vNuMaDPL3gVS8Do5_zcb2eU/s400/8051+scematic+.bmp" width="400" /></a></div>
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PCB layout of above schematic </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjofh8Je0hoLhFJNdkumh7H5Vm2-GWN3kLBb-f7MjSmXhSBFWEP9MDbqJE4p67uzjV292K-5gK818W_UrBgC0cdDJuzLc4U4kjSbU4ZfFbJZc82XIBMJI1ZvJa2-ml4Uy3ELl9ob2v0uUs/s1600/8051+bord.bmp" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="295" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjofh8Je0hoLhFJNdkumh7H5Vm2-GWN3kLBb-f7MjSmXhSBFWEP9MDbqJE4p67uzjV292K-5gK818W_UrBgC0cdDJuzLc4U4kjSbU4ZfFbJZc82XIBMJI1ZvJa2-ml4Uy3ELl9ob2v0uUs/s400/8051+bord.bmp" width="400" /></a></div>
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main motto of any PCB designer will be:<br />
<span style="color: red;"><b>TO DESIGN A PCB WITH LEAST POSSIBLE SIZE</b></span><br />
<span style="color: red;"><b><br /></b></span><br />
<span style="color: red;"><b><br /></b></span><br />
<span style="color: red;"><b> </b></span><br />
<span style="color: red;"><b> </b></span> <br />
<br /></div>VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com1tag:blogger.com,1999:blog-1935044069554993811.post-5991232177381084802012-03-24T04:10:00.000-07:002014-02-24T19:21:51.058-08:00how to work with keil<div dir="ltr" style="text-align: left;" trbidi="on">
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<h2 style="text-align: center;">
<span style="color: blue; text-align: left;">video on working with keil</span> </h2>
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<br /><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/kBYJsaJpNy8?feature=player_embedded' frameborder='0'></iframe></div>
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VAMSI DANDAhttp://www.blogger.com/profile/17170631500471590515noreply@blogger.com0