How to control servo motor using Leapmotion and Arduino

<h2>Control Servomotor For Making Robotic arm with Leapmotion and Arduino </h2><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgd06Xss_hnIW8H3sG0c98jN_97T0tWPW0uIYStnznbTlXRmc35Qc9whLBG1lkCQWrhV_wfEgZfnvI1BdBj73EdvOZwxYwJwtUzjj_Hv82MmwV3_DTGieIGmcyA5AyBimKaZUQ-299Zyfsm/s1600/control+servomotor+with+arduino.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img alt="processing leapmotion arduino" border="0" data-original-height="298" data-original-width="525" height="361" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgd06Xss_hnIW8H3sG0c98jN_97T0tWPW0uIYStnznbTlXRmc35Qc9whLBG1lkCQWrhV_wfEgZfnvI1BdBj73EdvOZwxYwJwtUzjj_Hv82MmwV3_DTGieIGmcyA5AyBimKaZUQ-299Zyfsm/s640/control+servomotor+with+arduino.PNG" title="servo with leapmotion controller and arduino" width="640" /></a></div><br />Hello everyone,<br /><br />In this quick tutorial you will learn how to control servo motors with Leapmotion controller using Arduino. The technology of this 3D motion detector sensor made a great change in our projects. The world is now controlling electronic devices with the leapmotion controller.<br />The aim of this post is to show you how to control a servo motor and then leads it to control a robotic hand with the help of motion detector sensor using with arduino. In this post we will look couple of platforms that can get you to right and easiest way of control and use of 3D sensor technology.<br /><br />For getting started with it. First of all you should know about the Leap Motion technology. Its all about your hands detects in 3D frame.  It detects your hand, wrist, elbow and also worked for your shoulder while you are making an robotic arm with it. This motion sensor senses your waving hands and show it in 3D form. It tracks 200 frames per second with its cameras. it has ability to detects both hands, fingers and things look like fingers. From the hardware prospective the motion detector sensor is quite simple. It has consist of two cameras and three IR (Infra rays) leds that makes an area of detecting hand, wrist etc.<br />The charm of this Leapmotion technology increase when its join with real world hardware. These all can be done with the help of microcontrollers like Arduino, Raspberry pi etc.<br /><br /><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen="" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/_fkQL76pp6M/0.jpg" frameborder="0" height="266" src="https://www.youtube.com/embed/_fkQL76pp6M?feature=player_embedded" width="320"></iframe></div>                                                Link to video <a href="https://youtu.be/_fkQL76pp6M" target="_blank">https://youtu.be/_fkQL76pp6M</a><br /><br />For connecting hardware with leap motion sensor using arduino there will be two software used. The controlling purpose of 3d motion controller device we used Processing software. Processing is a open source computer programming language. Java based software in which we are programming in java language. It has collection of libraries that helps to control the commands of leap motion controller and then sends these all commands to arduino. Download the processing software and its libraries if you don't already have installed Click <b><a href="http://www.makeitmech.com/2017/06/how-Integrate-leapmotion-controller-with-arduino.html" target="_blank">processing software and library for leap motion and arduino</a> </b><br /><br />Here we are using Arduino as microcontroller to communicate Leap motion controller with hardware's like servomotor. The simply work is read data from leap in the form of you hand gestures in X, Y, Z axis and pass it to arduino for arduino basics<b><a href="http://www.makeitmech.com/2017/02/getting-started-with-arduino-micro.html" target="_blank"> getting-started-with-arduino </a></b>you dont't have to install any extra library in arduino software. There is builtin library in it.<br /><b><br /></b>For controlling servo motor with leapmotion and arduino we are using the y-axis of leap device to control the angles of servomotor. We are sending the commands via serial ports of processing to Arduino IDE.<br /><br />In processing you can used leap motion controller of any axis X, Y, Z but we are using x-axis to control our servo angles from 0 to 180 degree. This is seems something out of science fiction to make a movement of physical things by only gestures of your hands but we just made it in reality.<br /><br /><h4>Circuit Diagram</h4>Attach servo with pin # 9 to control it with Hand gesture recognition technology. Make sure that vcc is connected with 5volt and black wire of motor connected with Ground. After uploading the code which is given below it turns first 0 degree then tracks gestures on y-axis and changed its angles as per gestures changes. <br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipPkXiEMCHZgbSzNs-B7WDsgPyFh6NcwNwX_yuJVemHRoHdQcvjNnkOQ9Sw4PkPF_dXcklOMcHi1PyTI1RNl_ATg1SpUyH31ZQYyBUjFGRoQveublLiXuNUQQY_tl7nalzOqJ3WHE16VF3/s1600/leapmotion+with+servomotor+and+arduino.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="241" data-original-width="428" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipPkXiEMCHZgbSzNs-B7WDsgPyFh6NcwNwX_yuJVemHRoHdQcvjNnkOQ9Sw4PkPF_dXcklOMcHi1PyTI1RNl_ATg1SpUyH31ZQYyBUjFGRoQveublLiXuNUQQY_tl7nalzOqJ3WHE16VF3/s400/leapmotion+with+servomotor+and+arduino.PNG" width="400" /></a></div><br /><h3>Coding For Processing</h3><br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiIYjio468g-isM-g3mzhaA-mfYd-vG9fjpPsn-hPT44iyVT5orksGQHPPpol2l9TOF9HW-CJp_AorkCBbc_PTgkknrbYtSqzVap01YFTn__RjfRE1K561rUuCD8L7Ma4W29tbMBOW_Ghc/s1600/leap.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="22" data-original-width="285" height="24" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiIYjio468g-isM-g3mzhaA-mfYd-vG9fjpPsn-hPT44iyVT5orksGQHPPpol2l9TOF9HW-CJp_AorkCBbc_PTgkknrbYtSqzVap01YFTn__RjfRE1K561rUuCD8L7Ma4W29tbMBOW_Ghc/s320/leap.PNG" width="320" /></a></div><br />Firs of all in the coding of processing import the library of <b>leapmotionp5</b>. Remember that the library given in my previous post is only best when you are using it for led blink function. Fro servomotor you have to add new library of motion sensor name leapmotionp5. This library can used for controlling servomotor. Here i am giving you link for downloading the library for servomotor <b><a href="https://github.com/mrzl/LeapMotionP5" target="_blank">LeapMotionP5 Library </a></b><br />Download this library and add it to the inside of processing folder libraries. Note that you can use only one library at a time so remove the previous library of named leapmotion for processing. For removing the previous library open you processing software click sketch then in drop down list click add library and remove the library of leapmotion for processing.<br /><br />Here  import com.onformative.leap.LeapMotionP5; is import all the functions of 3D technology sensor.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifrKv9iSPc3HYm783f6fRtPc6QHBNlfuABwUGSm6r5f_OrhypAGq3tLyMv0nRR3MnqqInFVl1DIYpQOGgCqCORIZFpsA7X2f-wZuc0jvY76FCg2ZWEnj75qAPjtTDxHvIr3Pk5o02E27GE/s1600/leapmotion.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="19" data-original-width="224" height="27" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifrKv9iSPc3HYm783f6fRtPc6QHBNlfuABwUGSm6r5f_OrhypAGq3tLyMv0nRR3MnqqInFVl1DIYpQOGgCqCORIZFpsA7X2f-wZuc0jvY76FCg2ZWEnj75qAPjtTDxHvIr3Pk5o02E27GE/s320/leapmotion.PNG" width="320" /></a></div><b> </b>Here import command of fingers. Leapmotion can detect all fingers, wrist angles, palm, pitch, yaw, roll and waving of hands these all the process that can be used for controlling servomotors with leapmotion controller with arduino. With the help of cameras motion detector sensor captures the images and process them to see which gesture is exactly move. It can only works if gestures moving in a limit. Limit of motion control sensor is form 1 inch to 2*2 feet.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6GGsudvMUwswXnxaLopfNerRGU7fXX4Hs6lkW3LLCka-_mFeNlB2ATUDJj_pdLZwr4oCfJgHKL32j9ODS0HwE-Hb4TfDHGvtz9HUv69tVIvIgBLm63As3y4HPh4eWgOwjPRGd0wOuFFIy/s1600/leapmotion.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="65" data-original-width="170" height="122" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6GGsudvMUwswXnxaLopfNerRGU7fXX4Hs6lkW3LLCka-_mFeNlB2ATUDJj_pdLZwr4oCfJgHKL32j9ODS0HwE-Hb4TfDHGvtz9HUv69tVIvIgBLm63As3y4HPh4eWgOwjPRGd0wOuFFIy/s320/leapmotion.PNG" width="320" /></a></div><br />Making a class of leap and making an integer of name angle which is used further for storing the angles of servo motor and sens it to arduino. import processing.serial.*; used to communicate the processing software commands and sends it to arduino via serial port. At detection of gestures in motion sensor along Y-AXIS the perticular value assigned to servomotor via leapmotion controller then processing and arduino interchanged the value with each other by serial communication.<br /><br />                                          <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwKV8V0SSLKskwF_5lcEXeot9BWdZO1WVDtCMBk8GNZwuReHY65WG6cc2wUk_N_mt1kTm4XrsYdjpN-8jbC2iXUk92zCXS_qGkbnEG2Y1zBP480OAzVKhyphenhyphenYqLQaniS8KzBw01F3KtQWaOJ/s1600/leapmotion+controller.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="48" data-original-width="187" height="82" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwKV8V0SSLKskwF_5lcEXeot9BWdZO1WVDtCMBk8GNZwuReHY65WG6cc2wUk_N_mt1kTm4XrsYdjpN-8jbC2iXUk92zCXS_qGkbnEG2Y1zBP480OAzVKhyphenhyphenYqLQaniS8KzBw01F3KtQWaOJ/s320/leapmotion+controller.PNG" width="320" /></a></div>              <br />In setup when run the program in processing a new windows open. Size of new window is 720*720. In this windows you can see the 5 fingers dots. You can change the size of window its up to you. If you waving your hand gestures after recognizing the movements of gestures your gestures shown in that window.<br />           <br />                                           <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWm41ZCCHlqfBfQzoZJs8GOXH_oG_vzeIyNNv6q0EHZZ4ocrGUq7A0nf9dYUbyE6G8T1Z7ejDWDOgC48wAQh_kMRsKUwLWBZYuvuRYHW8Jip1CNTT0_kjPXAG-J2M351HKAywZYpQspiVK/s1600/leapmotion+controller.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="158" data-original-width="183" height="276" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWm41ZCCHlqfBfQzoZJs8GOXH_oG_vzeIyNNv6q0EHZZ4ocrGUq7A0nf9dYUbyE6G8T1Z7ejDWDOgC48wAQh_kMRsKUwLWBZYuvuRYHW8Jip1CNTT0_kjPXAG-J2M351HKAywZYpQspiVK/s320/leapmotion+controller.PNG" width="320" /></a></div><br />Here make thw positions of gestures and mount it on angles of servo. As mention above when you run the program a new window open which is 720 height and width. This window is used for controlling position of servo with 3D hand recognition technology. If hands at above the 720 size the servo angle move to 180 degree. If the position of hand gestures are below the zero the angle turns to 0 degree. In between the windows the angle has formula of y-axis divide by 4. <br /><br /><h3>Coding For Arduino</h3>Controlling hardware with motion control technology needed a microcontroller which controls the hardware practically. Arduino has a simplest programming that's why we called it sketch. That's easiest way to control 3D motion controller device with real world hardware. <br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi34-_PXTUPlMH9YQbDrxnIH9FA1loFBauKCPNlRQ3U_e2_Hy0yOBG4D7_1b3T1H1Q6ljIdrcmFjNYSPefUP_wg8pStCbjqBmaM26j4NO6auhyphenhyphenkAuJi0_3_QVEFXXVVGriMZEXiu0PpRBYo/s1600/1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="39" data-original-width="149" height="83" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi34-_PXTUPlMH9YQbDrxnIH9FA1loFBauKCPNlRQ3U_e2_Hy0yOBG4D7_1b3T1H1Q6ljIdrcmFjNYSPefUP_wg8pStCbjqBmaM26j4NO6auhyphenhyphenkAuJi0_3_QVEFXXVVGriMZEXiu0PpRBYo/s320/1.PNG" width="320" /></a></div>First include servo library which is already builtin its software. First check your servo with simple examples to know its working or not. Click <a href="http://www.makeitmech.com/2017/03/how-to-control-servomotor-with-arduino.html" target="_blank">how-to-control-servomotor-with-arduino</a> Hope your servomotor is running fine. Lets move further with servomotor, Leapmotion and Arduino.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEih8guHoSmsfLcmv3-4eQN9r9g4C8UnNjP3j4UmT9KXkWqkHNC38fNYa_HNve66WXdzExAk8RVAKOEI4rICZQ_jtDq2w-MEciTZZCFpR01enKnBV_H7KXniD2D-6lskgQ60K1JLZImNGv2i/s1600/2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="52" data-original-width="155" height="107" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEih8guHoSmsfLcmv3-4eQN9r9g4C8UnNjP3j4UmT9KXkWqkHNC38fNYa_HNve66WXdzExAk8RVAKOEI4rICZQ_jtDq2w-MEciTZZCFpR01enKnBV_H7KXniD2D-6lskgQ60K1JLZImNGv2i/s320/2.PNG" width="320" /></a></div><br /> In setup attach your servomotor in Pin # 9 as shown above in Circuit diagram. Communicate serially with serial.begin command with the baud rate of 9600. Baud rate can also be changed if needed.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiBgWcvLeNbjAM5w8lqgCNgj37N0SViDODCEHt4MvkKzkQ3zOmQdF3JyzMBFOpC7gwFniZ44r_DjOn1kk9VsN71XGV8ltj79WKteG-tkUKDaEqnlYHe0xEOzhidxVne340riMOvMgy-74c2/s1600/3.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="113" data-original-width="321" height="111" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiBgWcvLeNbjAM5w8lqgCNgj37N0SViDODCEHt4MvkKzkQ3zOmQdF3JyzMBFOpC7gwFniZ44r_DjOn1kk9VsN71XGV8ltj79WKteG-tkUKDaEqnlYHe0xEOzhidxVne340riMOvMgy-74c2/s320/3.PNG" width="320" /></a></div>Read serial if available means read the angle from processing or whatever values coming from processing via hand detection. Saved in variable named angle and write it to servomotor. Remember that values are within 0 to 720 range. what ever gestures comes to leapmotion controller the processing tracks and send data to arduino that moved servomotor at some particular angles. Full code and video tutorial will be uploaded soon.<br /><br /><b>Hope You like this How to tutorial (How to control servomotor using leapmotion controller and arduino).</b><br /><br /><b>There will be much more so click the Follow Button!</b><br /><br /><b>If you have any query so we are always here for your help. Thanks  </b><br />    

Arduino, Leapmotion with arduino, Projects, Robotics

How to control servo motor using Leapmotion and Arduino

Control Servomotor For Making Robotic arm with Leapmotion and Arduino Hello everyone, In this quick tutorial you will learn how to control s...

Arduino smart and fast line following Robot

<h2 style="text-align: center;"><span style="font-size: x-large;">Arduino Line following Robot</span></h2><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="Arduino line following robot with complete code files" border="0" height="426" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEif28VF7DVsrMCsUXejNEK5GjMX1MvdDr2SbVTKzLwQ7U4D6v6yLd3xADYa-wfBFA03BbYOenJbZLhZtZQ_0fNA-Z2kru5PNti9vSl9UR5cpYhZ8-4-lUGskmw9Rbq6Lc7IY0Tp8dML494/s640/received_1194292883937345g.jpg" title="advance Line following robot using arduino" width="640" /></a></div><div><span style="font-size: x-large;"><br /></span></div><div>Line Following Robots are the most common icon for building any robot.Line followers are the stepping stone towards robotics.The most basic,easy and very first part in robotics starts with line following.the most common Robot all the time.<br />Well Making line follower for the first time is not really easy as we thought.some of the things could be turned to make simple stuff into complex.i mean some times sensor calibration, comparison and other related things could be more difficult.<br />For this we have to be more smart and more tricky.we have to choose those parts that can not create any sort of disturbance for us.I'm talking about those days when there were not much revolution in Robotics.we had to make robots using circuits with LDR'S IR'S and other messy and complex things.</div><div>Now we have been blessed with Arduino and bunch of good not just good but great sensors.<br />so be smart and don't waste your time in making complex circuits with separate sensors.<br />There are bunch of sensor modules available in the market with built in comparators.</div><div>so wisely choose what you are going to do and what you have to do.</div><div>We will see some of the very common and effective ways of making line following robot.We will start from basics and in further tutorials we will follow some complex algorithms.we will see PID implemented robots and some advance techniques in making smart robots.</div><div><br /></div><div><h2>Step # 1 : Gather all the Stuff at one place</h2><h3><span style="font-size: large;">Required Components:</span></h3></div><div><ol><li>Arduino board/uno/nano/mega</li><li>3x IR sensor modules</li><li>2x Dc/servo motors</li><li>Chassis </li><li>Wheels</li><li>Battery </li><li>Caster wheel</li><li>Jumper wires</li></ol><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcOglC46tO1jWjhxCwBU6AKfXZczzaWmr7jaNcGtMLZL9GzB_ZapnOttDCwS4mwzecXqEy9eLxg29IVJ8NcklWmwPPIzSow2WxVIKUABx5lmAr80aQpfXm6-uNLD2p00mx2tEtOk43Ons/s1600/A+New+Design+%252815%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img alt="complete guide of arduino line following robot with code files" border="0" height="336" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcOglC46tO1jWjhxCwBU6AKfXZczzaWmr7jaNcGtMLZL9GzB_ZapnOttDCwS4mwzecXqEy9eLxg29IVJ8NcklWmwPPIzSow2WxVIKUABx5lmAr80aQpfXm6-uNLD2p00mx2tEtOk43Ons/s640/A+New+Design+%252815%2529.jpg" title="line following robot components" width="640" /></a></div><div><br /></div><div>These are the basic components you have to buy before making any further decision.now i will explain how to choose the right component and which one will be more suitable.<br /><br /><h3>1-Arduino board:</h3>As arduino is the main part so we have to be clear about which arduino board we are going to use.for making line followers the arduino uno is the best choice.we don't need a lot of pins or very few pins that's why we are not going for the nano and mega.<br />For arduino guidance and Example codes understanding go through these following posts.<br /><a href="http://www.makeitmech.com/2017/02/guide-of-all-arduino-boards.html" target="_blank"><br /></a> <a href="http://www.makeitmech.com/2017/02/guide-of-all-arduino-boards.html" target="_blank">GUIDE OF ALL ARDUINO BOARDS</a><br /><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><br /></div><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><span style="border: 0px; content: "["; font-family: inherit; font-stretch: inherit; font-style: inherit; font-variant: inherit; left: -0.1em; line-height: inherit; margin: 0px; padding: 0px 0.25em; transform: translatex(-100%); transition: 0.2s; vertical-align: baseline;"><a href="http://www.makeitmech.com/2017/02/getting-started-with-arduino-micro.html" target="_blank">Getting started with arduino micro-controller</a></span></div><div style="background-color: white; border: 0px; color: #444444; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><br /></div><h3 style="background-color: white; border: 0px; font-family: helvetica, arial, sans-serif; font-stretch: inherit; font-variant-numeric: inherit; line-height: normal; margin: 0px 0px 0.6em; padding: 0px; position: relative; vertical-align: baseline;"><span style="font-size: small;">2-IR Sensor Modules:</span></h3>IR sensor module is the best choice for making line following robot.instead of using IR leds we have to buy IR modules.<br />The pin out Configuration for IR modules and arduino is very simple.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg66qmruo78cVqHZY21XBVML15-WZcJLAaGYD2Jja8tylj1AE4HmbtntUYozT0liQwRPfbpcXYOieGl0KstI2VOyBzeHrjtNMVJZw-ekD8ggSThxbRireyMizaskOp9ioV_VRfWt1zgXGE/s1600/A+New+Design+%252813%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="210" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg66qmruo78cVqHZY21XBVML15-WZcJLAaGYD2Jja8tylj1AE4HmbtntUYozT0liQwRPfbpcXYOieGl0KstI2VOyBzeHrjtNMVJZw-ekD8ggSThxbRireyMizaskOp9ioV_VRfWt1zgXGE/s400/A+New+Design+%252813%2529.jpg" width="400" /></a></div>If you are using 3 sensors connect 3 in the same manner.The IR module has 1-pin for input and other 2 are vcc and ground.<br />So join all VCC and GRound seperatly at one place and then connect to the arduino.and the input pins are placed randomly on the digital pins of arduino.<br /><h3>3-DC/Servo motors:</h3>The selection of motors depends upon your choice.if you are going to  but the LFR Kit then you got the servo motors with in the package.<br />but my recomendation is to use DC geared motors.As i have used in this project we can handle more wieght and current as compared to simple motors.so there are other several benefits of using these motors.<br />DC gear motors having high rpm and high<br />torque they are PMDC typed. The advantages of these motors are constant magnetic field which<br />is uncontrolled by external source.<br /><h3><br />Line follower KIT:</h3>There are lots of LFR kits  are available in the market.buying a kit is the easiest solution for any mechanical work load or any sort of disturbance.<br /><br /><h4>Chassis:</h4>Chassis could be of any thing.I'm not going in the depth there are so many things already discussed over the internet.<br />The chassis could be of an acrylic sheet or use any home made things for robot base.<br /><h4>Wheels:</h4>There are standard size wheels are available in the market.if you are using KIT then youo don't need to worry about these things.<br /><h4>Ball caster:</h4>For making 2 wheel LFR you have to buy an extra wheel that is caster wheel the ball caster.For balancing the robot.<br /><br /><h3>Battery:</h3>Battery is the most important part in this project.we need a good and an efficient timing battery.dry lithium ion 12 volt rechargeable battery is the best choice.we can also go for other choices use simple rechargeable  two 4-volts batteries in series.<br /><br /><h3>Pin out Configuration and Assembling:</h3>Assemble all the parts.place evrything on your kit.and now wire up.<br /><br />Connect 3 IR modules with your arduino board.the vin pin of IR module will be connected on any of analog or digital pin of arduino remember these pin configurations you have to use in the code.so if you are connecting on analog pins then you have to write analog in the code.<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvl_tkZ0lwO2jsMbeYclZLQo_Xd29TedLMmhsCI7c0VepbD7XMosNSsv9bUVrYYV07vfe4-bptW17K6QZ9xAg-rMQxZnQOQsQsnm2xzUV10h05NIuaQzJkxYppv1np14Dw4GBs1gXFAuI/s1600/A+New+Design+%252814%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="336" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvl_tkZ0lwO2jsMbeYclZLQo_Xd29TedLMmhsCI7c0VepbD7XMosNSsv9bUVrYYV07vfe4-bptW17K6QZ9xAg-rMQxZnQOQsQsnm2xzUV10h05NIuaQzJkxYppv1np14Dw4GBs1gXFAuI/s640/A+New+Design+%252814%2529.jpg" width="640" /></a></div><h3>Motor Driver:</h3>The motor drivr we are using here is L298N module. This is my recommendation to use this module instead of going for any shield or downloading libraries and other stuff this one is the simplest and easy.<br />For the working principle pin out configuration and why we are using this module you have to read this following post.<br /><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html" target="_blank"><img border="0" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8oGE2c_pabpGnoxd1YSR_WpWI8DiXxEYOq-kFtHB6GoUnuu8HqCVpKd4CJqPMuXm8QrVYGaylUZEgJzTdHaXWrXiADA3Isit_jk058RTaXem7kp6Bcn76UaFaE_Ic4GP3JeIh-PcMcTw/s320/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" width="320" /></a></div><br /><a href="http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html">http://www.makeitmech.com/2017/02/motor-drivers-and-dual-h-bridge-l298.html</a><br /><br /><h3>Code Construction:</h3></div></div><div>There are three main steps in the construction of coding.</div><div>1-defining the pins according to the connecting / inputs and outputs</div><div>2-Logic for sensors / The switch case</div><div>3-functions for motor directions</div><div><br /></div><div>The very first part Before coding is to calibrate the sensor.Set a threshold for a sensor.</div><div><br /></div><div>For working principle of line follower you must have some knowledge about how we move motors according to the logic.</div><h3><br /> Logic and Sensors placement:</h3><div>We have to place all the sensor with equal distance lets say 1.5 in each.you middle sensor must be at the center of the line;</div><div><br /></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="logic of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhBfPS6DlmLOtrQHWoWitJAvtfMwxptK_IpNphyphenhyphen0j_Ifa7C4QSf5MOX-n_1p3Kqufz8fMh-A5C0fk2HobaB6mprOszXFV1XKtss-GuOsu-pwvplL6yHFl9gUAQFt86RgJF9OfEk_Xl8y6I/s400/lfr.png" title="line following robot logic" width="400" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="guide of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaT5sHs_G5Jz2zJ7XJuWZGSVuzrSPofTAsjwZCCq39Z2sDi9OdyrKeiyEHydYGOPbGsxZvZGOf3OyzJYIxJDX9T9QV6KaSWn9zixhHOid94AhnGsTBL4-OgfFwsy6-uYW1swPUdMCjB-c/s400/lfr.png" title="line following robot logic" width="400" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.makeitmech.com/2017/03/arduino-simple-and-smart-line-following-advance-LFR.html" target="_blank"><img alt="complete guide of line following robot" border="0" height="331" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8aYn3oQUpM06gtUeknP5CBtzhQF2Yv4f_uala6dCjowV8F1aJhxAfdzNZrZ0_bnhYqOXoZcUcRcZGL6crnbulTg_9JveQnNT-jXO773xil00GoEQdQCsK_bltkwBfXxpFVygvk-aEJ-U/s400/lfr.png" title="logic of line following robot" width="400" /></a></div><div><br /></div><div>This is the basic principle for line following robot.Now we will move towards arduino code.</div><div><br /></div><h3>Arduino Code:</h3><div>For three sensors the logic will be :</div><div><b>010</b>  Robot is on the line drive forward</div><div><b>100</b>  turn medium Left</div><div><b>001</b>  turn  medium Right</div><div><b>110</b>  Sharp turn left</div><div><b>011</b> Sharp turn Right</div><div><b>000</b> stop</div><div><br /></div><div><br /></div><h4>Complete Code:</h4><div><div><br /></div><div><span style="color: orange;">#define LS 2      // left sensor</span></div><div><span style="color: orange;">#define MS 3      // middle sensor</span></div><div><span style="color: orange;">#define RS 4      // right sensor</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">/*-------Outputs------*/</span></div><div><span style="color: orange;">#define LM1 5       // left motor</span></div><div><span style="color: orange;">#define LM2 7       // left motor</span></div><div><span style="color: orange;">#define LM3 6       // left motor Enable pin for controlling speed</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">#define RM1 8       // right motor</span></div><div><span style="color: orange;">#define RM2 9       // right motor</span></div><div><span style="color: orange;">#define RM3 10       // right motor Enable pin for controlling speed</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">void setup()</span></div><div><span style="color: orange;">{</span></div><div><span style="color: orange;">  pinMode(LS, INPUT);</span></div><div><span style="color: orange;">  pinMode(MS, INPUT);</span></div><div><span style="color: orange;">  pinMode(RS, INPUT);</span></div><div><span style="color: orange;">  pinMode(LM1, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(LM2, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(LM3, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM1, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM2, OUTPUT);</span></div><div><span style="color: orange;">  pinMode(RM3, OUTPUT);</span></div><div><span style="color: orange;">}</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">void loop()</span></div><div><span style="color: orange;">{</span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && digitalRead(MS) && !(digitalRead(RS)))    // Move Forward (010)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,250);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,250);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && !(digitalRead(MS)) && digitalRead(RS))     // Turn medium right (001)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,230);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,80);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(digitalRead(LS) && !(digitalRead(MS)) && !(digitalRead(RS)))     // turn medium left (100)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,80);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,230);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  </span></div><div><span style="color: orange;">  if(!(digitalRead(LS)) && !(digitalRead(MS)) && !(digitalRead(RS)))     // stop (000)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,0);</span></div><div><span style="color: orange;">    digitalWrite(RM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,0);</span></div><div><span style="color: orange;"><br /></span></div><div><span style="color: orange;">  }</span></div><div></div><div><span style="color: orange;">  if(digitalRead(LS) && (digitalRead(MS) && !(digitalRead(RS))))     // Turn Sharp left 90 degree (110)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,0);</span></div><div><span style="color: orange;">    digitalWrite(RM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,250);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">  if(digitalRead(RS) && (digitalRead(MS) && !(digitalRead(LS))) )    // Turn Sharp Right 90 degree (011)</span></div><div><span style="color: orange;">  {</span></div><div><span style="color: orange;">    digitalWrite(LM1, HIGH);</span></div><div><span style="color: orange;">    digitalWrite(LM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(LM3,250);</span></div><div><span style="color: orange;">    digitalWrite(RM1, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM2, LOW);</span></div><div><span style="color: orange;">    digitalWrite(RM3,0);</span></div><div><span style="color: orange;">  }</span></div><div><span style="color: orange;">}</span></div></div><div><br /></div><div>Upload the code and test it.Before testing check your connection and compare with your code.<br />I have skipped most of the mechanical parts in this post.you have to take them on your own.these were some common and unnecessary steps.<br />I hope you got the concept.If you have nay query comment below to notify.<br />Read the coming post about advance line following Robot and PID implemented line following Robot.<br />Follow to get the latest updates....<br /><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9CGrdvu3Jyy4yZ-aCqbzJHhatZ4AugOVawT7kF23lcePGxSARakm9Nc2XFjpXWm13UoeJDdIG7etRyay8Ejruj-AH4k_HLIjK_NjFJgJPNsu2iNGCtXc2ZKOKtlzuGOP8EOQFMBTT_sw/s1600/IMG_20160423_133045b.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9CGrdvu3Jyy4yZ-aCqbzJHhatZ4AugOVawT7kF23lcePGxSARakm9Nc2XFjpXWm13UoeJDdIG7etRyay8Ejruj-AH4k_HLIjK_NjFJgJPNsu2iNGCtXc2ZKOKtlzuGOP8EOQFMBTT_sw/s640/IMG_20160423_133045b.jpg" width="640" /></a></div><br /></div>

arduino projects, Projects, Robotics

Arduino smart and fast line following Robot

Arduino Line following Robot Line Following Robots are the most common icon for building any robot.Line followers are the stepping stone tow...

PID algorithm implementation (PID Controlled Line Following Robot)

<div class="separator" style="clear: both; text-align: center;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img alt="PID line following robot using pic complete code" border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhwzBZ16EbaCKPoo7n6Wou0l0B0tMlyuoTSh2MMtRY609WHopizsnV5OIx4Z73E8LG4LFm1LkRQQK5HbIFLqC0elCJaiOAgk9wQ8fnRzEswG0tuHrj4tMyYiJJFh950kQQCC_i2Lpc2EN8/s640/Copy+of+band+logo+%252815%2529.jpg" title="PID algorithm implementation" width="640" /></a></span></div><span style="font-family: inherit;"><br /></span> <br /><h2><span style="font-family: inherit;">Contents:</span></h2><div><ol><li><span style="font-family: inherit;">Introduction to PIC Microcontroller (PIC <span style="font-size: 12pt;">18f4550)</span></span></li><li><span style="font-family: inherit;">Introduction to PID algorithm </span></li><li><span style="font-family: inherit;">Sensor selection</span></li><li><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;">PID Controller Algorithms</span></span></li><li><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;">Code & Tuning</span></span></li><li><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;">SCHEMETIC and simulations</span></span></li><li><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;">Code</span></span></li></ol></div><div><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;">The basic purpose of this project is to develope the understanding of PID algorithm.Some of the basic things about making robot will not be covered here.For this you have to see the robotics section about making robot and other related stuff lilke motor selection motor driver etc.the core objective is to discuss the implementation of PID control system.</span></span></div><div><span style="font-size: 12pt; line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div><span style="font-family: inherit;"><span style="line-height: 115%;"></span><br /></span> <br /><div class="MsoNormal" style="font-size: 12pt; line-height: normal; margin-bottom: 0.0001pt;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 16.0pt;">COMPONENTS:<o:p></o:p></span></b></span></div><span style="font-family: inherit; line-height: 115%;"> </span><br /><div class="MsoNormal" style="font-size: 12pt; line-height: normal; margin-bottom: 0.0001pt;"><span style="font-family: inherit; line-height: 115%;"><br /></span></div><div class="MsoNormal" style="font-size: 12pt; line-height: normal; margin-bottom: 0.0001pt;"></div><span style="line-height: 115%;"><span style="font-family: inherit;">Components that we have use in building a PID base Line following Robots:<br /></span></span><br /><ol><span style="line-height: 115%;"><li><span style="font-family: inherit;">·<span style="font-size: 7pt; font-stretch: normal; font-variant-numeric: normal; line-height: normal;">       </span><span style="font-size: 12pt; text-indent: -0.25in;">PIC microcontroller 18f4550</span></span></li><li><span style="font-family: inherit;">·<span style="font-size: 7pt; font-stretch: normal; font-variant-numeric: normal; line-height: normal;">       </span><span style="font-size: 12pt; text-indent: -0.25in;">IR sensor</span></span></li><li><span style="font-family: inherit;">·<span style="font-size: 7pt; font-stretch: normal; font-variant-numeric: normal; line-height: normal;">       </span><span style="font-size: 12pt; text-indent: -0.25in;">Chesses and Motor</span></span></li><li><span style="font-family: inherit;">·<span style="font-size: 7pt; font-stretch: normal; font-variant-numeric: normal; line-height: normal;">       </span><span style="font-size: 12pt; text-indent: -0.25in;">LM 324</span></span></li><li><span style="font-family: inherit;">·<span style="font-size: 7pt; font-stretch: normal; font-variant-numeric: normal; line-height: normal;">       </span><span style="font-size: 12pt; text-indent: -0.25in;">PID algorithm</span></span></li></span></ol><span style="line-height: 115%;"> </span> <br /><h2><span style="line-height: 115%;"> <ol><li><b><span style="font-family: inherit; font-size: large;">Introduction to PIC Microcontroller (PIC 18f4550)</span></b></li></ol></span></h2><span style="line-height: 115%;"> </span> <br /><div class="MsoListParagraphCxSpLast" style="line-height: normal; margin-bottom: 0.0001pt; text-indent: -0.25in;"><div style="font-size: 12pt;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;">      There were two main alternatives regarding the choice of microcontroller: PIC18F family (specifically the PIC18F4550, due to familiarity, and it having the needed features and number of ports), or Arduino (most likely the Nano or UNO, since both have enough processing power and I/O pins for it to be unnecessary to consider the more powerful models). </span></span></div><div style="text-indent: -24px;"><span style="line-height: 115%;"><b style="font-family: inherit; text-indent: -0.5in;"><span style="font-size: 12.0pt;"><span style="font-stretch: normal; font-weight: normal; line-height: normal;">          </span></span></b></span></div><div style="text-indent: -24px;"><span style="line-height: 115%;"><b style="font-family: inherit; text-indent: -0.5in;"><span style="font-size: 12.0pt;"><span style="font-size: 7pt; font-stretch: normal; font-weight: normal; line-height: normal;">                  </span></span></b><b style="font-family: inherit; font-size: 12pt; text-indent: -0.5in;"><span style="font-size: 12.0pt;">PIC 18f4550:</span></b></span></div><div style="text-indent: -48px;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt;"><b>            </b>The PIC18F4550 is the highest performance USB-equipped model in Microchip, INC. popular PIC18 8-bit microcontroller line. It features (Microchip, Inc. 2009b, Microchip </span><span style="font-family: inherit; font-size: 12pt;">Inc. 2009a):</span></span></div></div><span style="line-height: 115%;"> </span> <br /><div class="MsoListParagraphCxSpFirst" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-add-space: auto; mso-list: l0 level1 lfo1; text-indent: -.25in;"><span style="line-height: 115%;"><br /></span> <span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">32 KB Flash Program Memories.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">A 12 MIPS CPU</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">2KB RAM.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">256 byte data EEPROM</span></span><br /><span style="line-height: 115%;"><span style="text-indent: -0.25in;">   1 x A/E/USART Port</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">     </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">1 x MSSP (SPI/I2C) Port</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">1 x CCP & 1 x ECCP</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">1 x 8-bit & 3 x 32-bit Timers</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">13 x 10-bit Analog Inputs</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">       </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">2 x Comparators.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">1 x USB 2.0.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;"><span style="font-size: 7pt; font-stretch: normal; line-height: normal;">      </span></span><span style="font-family: inherit; font-size: 12pt; line-height: 150%; text-indent: -0.25in;">35 x Digital I/O Pins</span></span><br /><ul><span style="line-height: 115%;"> </span></ul><!--[if !supportLists]--></div><span style="line-height: 115%;"> </span><br /><div class="MsoListParagraphCxSpLast" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; margin-left: .25in; margin-right: 0in; margin-top: 0in; mso-add-space: auto;"></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">This microcontroller has been used extensively. It can be programmed natively in Microchip PIC assembly, or in C18, Microchip’s implementation of the C programming language for use with their PIC18 line. Due to their popularity, there exist a great number of open-source projects developed for the PIC18F line, along with libraries, tutorials, and many articles on coding and developing using these microcontrollers. They are also used to great extent professionally.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-family: inherit;"><br /></span> </span></span><br /><h2><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-family: "times new roman" , serif;">2-</span><span style="font-family: inherit;">Sensor selection</span></span></span></h2><h2><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;">IR sensor:</span></b></span></h2><div><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"> Depending on the accuracy we have choose IR sensor.<span style="background: white;"> The basic concept of IR(infrared) is  obstacle detection by transmitting a IR signal(radiation) in a direction and  a signal is received  at the IR receiver when the IR radiation bounces back  from a surface of the object. For Ir object can be anything the IR LED transmits the IR signal on to the object and the signal is reflected back from the surface of the object. The reflected signals are received by an IR receiver. The IR receiver can be a photodiode / phototransistor or a readymade module which decodes the signal.<o:p></o:p></span></span></span></div><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-size: 12.0pt; line-height: 115%;"><span style="background: white; font-family: inherit;"><br /></span></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img alt=" ir sensor working" border="0" height="274" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiw-kt9k3k_KnvQ_RCeuMKRtevJit1EDLIVg54RIFFxX_a3x7ubF-YFeCshptlORCDAfjqUiXZVsBazrWrPl76dX8GUWJNxqxPp_o38XvPE7zURkZcJrekYzpoereMBRc-CMMXHJHFn2o0/s640/Capturebvyh.JPG" width="640" /></a></span></span></div><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-size: 12.0pt; line-height: 115%;"><span style="background: white; font-family: inherit;"><br /></span></span></span></div></div><div><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"><br /></span></b></span></div><div><span style="line-height: 115%;"><b><span style="font-family: inherit;"> IR Transmitter:<o:p></o:p></span></b></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"> IR transmitter is modulation of the information signal with carrier signal, because the receiver modules which are available off-the-shelf are made for a particular carrier frequency. So it is clear that when you chose a particular IR receiver module, you also need to transmit the modulated wave with the same carrier frequency of that of a IR receiver module. Modulating a 38 Khz carrier signal.<o:p></o:p></span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><b>IR Receiver:</b><o:p></o:p></span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 11pt; line-height: 115%;">A IR receiver with readily available off-the-shelf modules.</span><span style="font-size: 11pt;">the receiver is designed for 38 kHz carrier signal; hence the IC selected should work for the same frequency. The IC TSOP4838 will serve as a receiver module, which is compatible with both TTL and CMOS logic. This means that we can directly get digital signal from the receiver module and then connect it to the microcontroller. The Implementation of IR receiver is explained using an LED as an indicator.</span></span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-family: "calibri" , sans-serif;"><span style="font-size: large;"><br /></span></span> <span style="font-size: large;"><b><span style="line-height: 115%;">3- Introduction to PID algorithm:</span></b><span style="font-family: "calibri" , sans-serif;"> </span></span></span></span><br /><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="background: white; font-size: 12pt; line-height: 115%;">Proportional-Integral-Derivative (PID) control is the most common control algorithm used in industry and has been universally accepted in industrial control. The popularity of PID controllers can be attributed partly to their robust performance in a wide range of operating conditions and partly to their functional simplicity, which allows engineers to operate them in a simple, straightforward manner.<span class="apple-converted-space"> </span></span><span style="font-size: 12pt; line-height: 115%;"><br /><span style="background: white;">As the name suggests, PID algorithm consists of three basic coefficients; proportional, integral and derivative which are varied to get optimal response.<o:p></o:p></span></span></span></span></div><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-size: 12pt; line-height: 115%;"><span style="background: white; font-family: inherit;"><br /></span></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi-l6Fx82wDKXuXBSo6ow0jp45AUMHbaM7tC7qCXuj1uXaXEziYxqD3-9_uB7mT5H5kGiI2_GwIw5iPQfTWPtZtY34vH2ckfzvsLlnTxKuf2xDPQxDblWz9sHk1QNMZIqp6VsSK3q-tCkk/s1600/Captureaaaaa.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="color: black; font-family: inherit;"><img border="0" height="204" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi-l6Fx82wDKXuXBSo6ow0jp45AUMHbaM7tC7qCXuj1uXaXEziYxqD3-9_uB7mT5H5kGiI2_GwIw5iPQfTWPtZtY34vH2ckfzvsLlnTxKuf2xDPQxDblWz9sHk1QNMZIqp6VsSK3q-tCkk/s640/Captureaaaaa.JPG" width="640" /></span></a></span></div><div class="MsoNormal"><span style="line-height: 115%;"><b style="background-color: white; font-family: inherit;"><span style="font-size: 12pt;">Proportional Response</span></b><span style="background-color: white; font-family: inherit; font-size: 12pt;">:</span></span></div><div class="MsoNormal" style="background: white; line-height: normal; margin-bottom: 5.2pt; mso-outline-level: 3;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt;">The proportional component depends only on the difference between the set point and the process variable. This difference is referred to as the Error term. The<span class="apple-converted-space"> </span>proportional gain<span class="apple-converted-space"> </span>(K_c)<span class="apple-converted-space"> </span>determines the ratio of output response to the error signal.<o:p></o:p></span></span></div><div class="MsoListParagraph" style="background: white; line-height: normal; margin-bottom: 5.2pt; margin-left: 13.5pt; margin-right: 0in; margin-top: 0in; mso-add-space: auto; mso-outline-level: 3;"><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div class="MsoNormal" style="background: white; line-height: normal; margin-bottom: 5.2pt; mso-outline-level: 3;"><span style="line-height: 115%;"><span style="font-family: inherit;"><b><span style="font-size: 12pt;">Integral Response</span></b><b><span style="font-size: 12pt;"><o:p></o:p></span></b></span></span></div><div class="MsoNormal" style="background: white; line-height: normal; margin-bottom: 5.2pt; mso-outline-level: 3;"><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;">The integral component sums the error term over time. The result is that even a small error term will cause the integral component to increase slowly. The integral response will continually increase over time unless the error is zero, so the effect is to drive the Steady-State error to zero. Steady-State error is the final difference between the process variable and set point. A phenomenon called integral windup results when integral action saturates a controller without the controller driving the error signal toward zero</span><span style="font-size: 10.5pt;">.<o:p></o:p></span></span></span></div><div class="MsoNormal" style="background: white; line-height: normal; margin-bottom: 5.2pt; mso-outline-level: 3;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12pt;">Derivative Response:<o:p></o:p></span></b></span></div><div class="MsoNormal"><span style="line-height: 115%;"><span style="font-size: 12pt; line-height: 115%;"><span style="background: white; font-family: inherit;"> </span></span></span></div><div class="MsoNormal" style="background: white; line-height: normal; margin-bottom: 5.2pt; mso-outline-level: 3;"><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;"> The derivative component causes the output to decrease if the process variable is increasing rapidly. The derivative response is proportional to the rate of change of the process variable. Increasing the<span class="apple-converted-space"> </span>derivative time (T_d)<span class="apple-converted-space"> </span>parameter will cause the control system to react more strongly to changes in the error term and will increase the speed of the overall control system response. Most practical control systems use very small derivative time (T_d), because the Derivative Response is highly sensitive to noise in the process variable signal. If the sensor feedback signal is noisy or if the control loop rate is too slow, the derivative response can make the control system unstable</span><b><span style="font-size: 12pt;"><o:p></o:p></span></b></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img alt=" PID algorithm" border="0" height="350" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiuXThlcZuQZRWVVxu0TUS9MgHRtDsrcNEdvnMdgdcuEwDEYC5pbGtrp1YGBqctbvunPd2-FkXz4wIljlrv84uUFp_K-ipKzFSGPltx2d9sIi8-NTnJWBH_uzAWLhkGEdTb9dAiTk5RWSk/s640/Capturecccc.JPG" width="640" /></a></span></span></div><h2 style="clear: both; text-align: left;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: large;">4-PID Controller Algorithms:</span></span></h2></div><div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">1 In a case when robot is deviated to left it then pushes to move towards right<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">2. In ac case of deviation towards right it is forced to move towards left<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">       The accomplishment of this task gives our robot is following the zigzag path<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">       Using this method the speed we were giving was much less as error getting by using pid. And this technique was also not reliable for the turns. To apply this algorithm it was better to use the error calculation method after calculating error giving motor its proportional value and them it changes speed and in turn it gets back to the line.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">e.g.-the deviation ranges between -3 to +3.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijS6HhPPvd4fyNewDaf-c2CxGEy60yrf4P3THg2nIfdZYGVeJAPtEDAdp1scGc9uZUcLGJK6nkMJGjRIY4Obh7ZihBTu6nTQULn65yS1d04CSm39cxy2D8_efwOz3WBP7lZj-3Ik3GFAI/s1600/aaaaaaaaaaaaaaaa.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="color: black; font-family: inherit;"><img border="0" height="70" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijS6HhPPvd4fyNewDaf-c2CxGEy60yrf4P3THg2nIfdZYGVeJAPtEDAdp1scGc9uZUcLGJK6nkMJGjRIY4Obh7ZihBTu6nTQULn65yS1d04CSm39cxy2D8_efwOz3WBP7lZj-3Ik3GFAI/s400/aaaaaaaaaaaaaaaa.JPG" width="400" /></span></a></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">         Kp is the proportionality constant it will give negative value when robot is be towards left of the line then the right motors gets slows down.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">This is a good practical approach for many cases. But not suitable because of these reasons<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">1. It affects accuracy of the robot when the robot is not much effective it gets back to mean position very slowly.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNoSpacing"></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">2. To solve this problem we have to increase its proportionality contact but it will then overshoot when robot comes to mean position due to inertia-cross to other side then again overshoot results in deviating result.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 150%;">PID Controller Algorithms:<o:p></o:p></span></b></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">PID is a feedback mechanism.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">It has three components on which it works that are <o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">1: error<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">2: time of deviation<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">3: overshoots<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNoSpacing"></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Efficiency of the PID algorithm is based on these three parameters these helps to reach at mean position much faster</span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIQL1Q_zfBVMVjqCPMRyFF5MYgvyWGwqwmxjRecOsplIta0CA-_1D3fRNqv7KTzADl08AENz-HpY56mMpDWHNFojEGDsBvkSOCZXVtUXEjpzrWeV5J3Z7LnHwXstdMaJ8yVB28BGuRiUU/s1600/Capturebbbbbbbbbbbb.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="color: black; font-family: inherit;"><img border="0" height="123" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIQL1Q_zfBVMVjqCPMRyFF5MYgvyWGwqwmxjRecOsplIta0CA-_1D3fRNqv7KTzADl08AENz-HpY56mMpDWHNFojEGDsBvkSOCZXVtUXEjpzrWeV5J3Z7LnHwXstdMaJ8yVB28BGuRiUU/s400/Capturebbbbbbbbbbbb.JPG" width="400" /></span></a></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12.0pt;"> <o:p></o:p></span><span style="font-size: 12pt; text-indent: 0.5in;">The three constants are set by hit and trial method experimentally.</span></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none; text-indent: .5in;"></div><ol><li><span style="line-height: 115%;"><span style="font-family: inherit;">Kp</span></span></li><span style="line-height: 115%;"><li><span style="font-family: inherit;">Ki</span></li><li><span style="font-family: inherit;">Kd</span></li></span></ol><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;">Using only kp parameter the robot will be applied and give the results as the classical ine following algorithm discussed earlier.</span></span></div><div><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12pt; text-indent: 0.5in;">Ki: because of ki robot is forced to follow mean position.</span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;">Kd: kd does not allow the robot to perform any deviation</span></span></div><div><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span><br /><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEie40YybcIozNijt-7Y6R6SImhjJcgGJPbZSLAne7bfe2Hvq-N3ncOsoRNY6-pk948I_-0X78QJnyjzWKrdhVpW_1vhPJFgay-YFQzhaPsMxSP7apLcm8UX_8GNeEGFDXC_bjcCWtHtoVA/s1600/asasasa.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="68" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEie40YybcIozNijt-7Y6R6SImhjJcgGJPbZSLAne7bfe2Hvq-N3ncOsoRNY6-pk948I_-0X78QJnyjzWKrdhVpW_1vhPJFgay-YFQzhaPsMxSP7apLcm8UX_8GNeEGFDXC_bjcCWtHtoVA/s400/asasasa.JPG" width="400" /></a></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><h2><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: large;">Code:</span></b></span></h2></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Given below is the code for measuring the deviation <o:p></o:p></span></span></div><div class="MsoNoSpacing"></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">‘00000001’ this means robot is towards rightmost this code works in a manner that is robot is at right the deviation will be recorded negative<o:p></o:p></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img alt=" PID algorithm implementation" border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSdHGdh47NARQVkmr0-gYDBLQOrIL5Ot_YIc_L-OH4l3EENLW1Zkm2Vibu_CCnkd0lJvdwD4EXfGmyVL-Qf5Q_SZMILSS_lCq040IF0omM4ikCgyG6rBl_42pz37wQAuBMAC1zyZZnbUg/s1600/llo.JPG" /></a></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Getting these results PID then sums all the previous deviations and generates an integral called total error. The difference of the deviation is measured by derivative. The error calculated is then send to this code it will give the correction<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">These lines should run in each iteration.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUFOz_bKFZqufxNi2Pe-uo7r7PJzU8jCqDXzU6ZsKCnTpN2Oi090HKoRVzwEQJS5moXmVmItSLz_ZRZQ6qYg8i6jF9WmiyqL4m20yVScIBDqVMMQXpTvcS5Xf5Y8i3pvhB_grbbatPRQI/s1600/zz.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="121" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUFOz_bKFZqufxNi2Pe-uo7r7PJzU8jCqDXzU6ZsKCnTpN2Oi090HKoRVzwEQJS5moXmVmItSLz_ZRZQ6qYg8i6jF9WmiyqL4m20yVScIBDqVMMQXpTvcS5Xf5Y8i3pvhB_grbbatPRQI/s640/zz.JPG" width="640" /></a></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-align: justify; text-autospace: none;"><span style="line-height: 115%;"><br /></span><br /><h2><span style="line-height: 115%;"><span style="font-family: inherit;"><b><span style="font-size: large;">Tuning:</span></b></span></span></h2><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12.0pt;">PID tuning is greatly affected by the floor where it is going to be use and the track where robot is going be run and these physical parameters cannot be calculated mathematically. For example motor inductance, friction centre of mass etc. these quantities can be just guessed and applied by hit and trial method.<b><o:p></o:p></b></span></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-align: justify; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 150%;"> Sensor circuit:<o:p></o:p></span></b></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Sensors are the array of 7 IR sensors which are connect with operational amplifier LM324 which converting the analog output of sensor into digital by comparing the threshold level of line then the digital output of opamp are given to microcontroller.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div class="MsoNormal" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 150%;"> Main circuit:<o:p></o:p></span></b></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-align: justify; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;">The sensor array that we have made in last lab will be connected to PORT B. the motor driver IRFZ44N is a Mosfet  we have us Mosfet due to the fact that it can drive high voltage and current is per requirement we need to have a motor driver that has capability </span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-align: justify; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12.0pt;">to handle high voltage and current. For the accuracy of the robot and requirement of the algorithm we selected IRFZ44N. To control the motion of the motors and to control the speed of the motors a PWM waveform with variable duty cycle is applied on the gate of the IC. The main circuit of the robot is on 18f4550 </span><span style="font-size: 12.0pt;">which is most popular micro controller of pic micro’s having 12 bit ADC resolution 8 analog to digital pins which are used for tuning PID occupied by potentiometers 2 CCP modules which controls PWM given to motors which ultimately controls the speed of robot having 33 I/O pins in which 8 is used for reading data from sensors and 8 are used in 16x2 LCD display interface circuit. Microcontroller take decision on the base is of sensor outputs and after applying PID it controls the motion of robot by changing speed of motors accordingly.<o:p></o:p></span></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNormal" style="line-height: 150%; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 150%;">Motor driver:<o:p></o:p></span></b></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Our motors are derived by IRFZ44N.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">IRFZ44N is a motor driver made up of mosfets. Only code is not sufficient for desired results.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">By continuously hit and trials it will effect more. It is not necessary to use all three parameters P,I and D.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">If only PI is enough it is not necessary to use derivative part.<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">PID also requires settling time that is why it will also consume this time in showing accurate results.</span></span></div><h2 style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="line-height: 115%;"><span style="font-family: inherit; font-size: large;">5-SCHEMETIC:</span></span></b></span></h2><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"><br /></span></b></span></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img alt="PID line following robot circuit and complete code" border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZlFH7vDA3TcYXqaR3JQGBLwBcd5SrIzCvyCM_VecMCpM17wa_fPGqAJ-fjbC9XMYlVZToYUVhf25J1rzT_sVPXqWuTQAammad8pX4MTSGHj8RsJWXN9U_mmyLFHoByLh3pUVKLiKhC58/s640/alalala.JPG" title="PID algorithm line following robot circuit" width="640" /></a></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"><br /></span></b></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"><br /></span></b></span></div><div class="separator" style="clear: both; text-align: center;"><span style="line-height: 115%;"><span style="color: black; font-family: inherit;"><a href="http://www.makeitmech.com/2017/03/pid-algorithm-implementation-pid-linefollowing-picmicrocontroller-code.html" target="_blank"><img border="0" height="291" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQa6nkcP0wTrMDQnE0nOP6HNiWHJNzJisJ6P_MYxTRJIclz2rAulvmRMJhEG_1bZv08neuTYA9CkyR0mOR59HF5mZfutUjrnx4x5trJ54KvFDuTlKCirMvpfeJRJcpqXJvHEkbsKuVhqc/s400/Captureaaaaaaaaaaa.JPG" width="400" /></a></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt; line-height: 115%;"><br /></span></b></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><b><span style="font-family: inherit; font-size: 12.0pt;">Output:<o:p></o:p></span></b></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit;"><br /></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">The robot is successfully following the given arena.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Output is very much accurate and deviations are much reduced to very low level.<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Kp=50<o:p></o:p></span></span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: .0001pt; margin-bottom: 0in; mso-layout-grid-align: none; text-autospace: none;"></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;">Kd=4<o:p></o:p></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: inherit; font-size: 12.0pt;"><br /></span></span></div><div class="MsoNoSpacing"><span style="line-height: 115%;"><span style="font-family: "times new roman" , serif;"><span style="font-family: inherit; font-size: 12pt;">In this project our main focus was to cover the PID algorithm implementation.some of the sections about making robot are not included here.</span></span></span><br /><span style="line-height: 115%;"><span style="font-family: "times new roman" , serif;"><span style="font-family: inherit; font-size: 12pt;"><span style="color: #0000ee; font-size: large; text-decoration-line: underline;"><br /></span></span></span></span><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;">Below is the Code of PIC </span>micro-controller<span style="font-size: 12pt;">. Enter E-mail address to get complete code file and practice it.</span></span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;"><br /></span></span></span><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;">Code:</span></span></span><br /><span style="line-height: 115%;"><span style="font-family: inherit;"><span style="font-size: 12pt;"></span></span></span><br /><pre class="a-b-r-La a-b-ja-Eb-Vb" style="background-color: white; font-family: "Courier New", Courier, monospace, arial, sans-serif; font-size: 14px; user-select: text; white-space: pre-wrap; word-wrap: break-word;">All rights reserved www.makeitmech.com<br />PID line following Robot Code:<br /><br />#include <18f4550.h><br />#device adc=10<br />#fuses NOWDT,PUT,HS,PROTECT<br />#use delay(clock=20M)<br />#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)<br />#include <lcd.c><br />\\Variable Initialization <br />char c;<br />float value,pwm1,temp,pwm2,error,preverror,totalerror,kp,ki,kd,filter0;<br />intpb,speedleft,speedright,filter;<br />charch;<br /><br />void main(void)<br />{<br />enable_interrupts(INT_RDA); //Serial Interrupt Enable <br />enable_interrupts(GLOBAL); //Global Interrupt Enable<br />setup_ccp1(CCP_PWM); // CCP1 Initialization <br />setup_ccp2(CCP_PWM); // CCP2 Initialization<br />totalerror=0; // PID LOOP Variables<br />error=0; <br />preverror=0;<br />filter0=0;<br />filter=0;<br />kp=0;<br />ki=0;<br />kd=0;<br />pwm1=0;<br />pwm2=0;</pre><pre class="a-b-r-La a-b-ja-Eb-Vb" style="background-color: white; font-family: "Courier New", Courier, monospace, arial, sans-serif; font-size: 14px; user-select: text; white-space: pre-wrap; word-wrap: break-word;"></pre><br /><pre class="a-b-r-La a-b-ja-Eb-Vb" style="background-color: white; user-select: text; white-space: pre-wrap; word-wrap: break-word;"><span style="font-family: inherit; font-size: x-large;"><b><br /></b></span></pre><div class="separator" style="clear: both; text-align: center;"></div><pre class="a-b-r-La a-b-ja-Eb-Vb" style="background-color: white; user-select: text; white-space: pre-wrap; word-wrap: break-word;"><span style="font-family: inherit; font-size: x-large;"><b><br /></b></span></pre></div><div class="MsoNoSpacing"><div class="mailmunch-forms-widget-468739"></div><br /></div></div><div class="MsoNormal"><span style="line-height: 115%;"><b><span style="font-family: "times new roman" , serif; font-size: 12.0pt; line-height: 115%;"><o:p></o:p></span></b></span></div></div></div>

Electrical Concepts, Projects, Robotics

PID algorithm implementation (PID Controlled Line Following Robot)

Contents: Introduction to PIC Microcontroller (PIC  18f4550) Introduction to PID algorithm  Sensor selection PID Controller Algorithms Code...

Wireless remote control robot using nrf and arduino

<span style="font-family: inherit;">Hey everyone</span><br /><span style="font-family: inherit;">A wireless controlled Omani directional robot.a wireless controlled robot can be used in many ways.i made this for playing a soccer because there was an event of soccer playing robots in my institute.it's quit easy to communicate between two arduino's using nRF 24L01+ module.there are few simple steps to make Omani directional wireless controlled robot.First thing is to make it wireless controlled then turn it to soccer,pick and place,cleaning or any other purpose whatever you want.</span><br /><span style="font-family: inherit;"><br /></span> <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghSX3gQ9I7pBYUck9wU6zpIsJOGaKPnsZiRrleAy95hYwRV2jWRAsmJeh349oe3PbGZr42FBHGGkWmDODaAd0glK8RYj-uH7PxQsy15IKKZO5yqxoBHyIEH_4kYQsncmSPX7ojLNaEGhQ/s1600/12226583_1086849304670689_2020964523_n.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: inherit;"><img alt="soccer robot design.robot for robocup , wireless remote control robot using nrf" border="0" height="296" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghSX3gQ9I7pBYUck9wU6zpIsJOGaKPnsZiRrleAy95hYwRV2jWRAsmJeh349oe3PbGZr42FBHGGkWmDODaAd0glK8RYj-uH7PxQsy15IKKZO5yqxoBHyIEH_4kYQsncmSPX7ojLNaEGhQ/s640/12226583_1086849304670689_2020964523_n.jpg" title="Wireless remote control robot for robocup" width="640" /></span></a></div><span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><br /></span> <b><span style="font-family: inherit; font-size: large;">Getting started:</span></b><br /><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Components Required:</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6O2BcA4DU38ODNA4fLK6o692C3a4NgHYHOmfxhVGWvZ3nFxVmjNGzygtdZEjDNvhwTZXVtNjw2XsVCiaKqmpi_bJoXLjfCH2n0IUrh2-PrtLqFePVvwIyJB9DHrq0KrBJWt1TS6vTeeg/s1600/127mm-aluminum-omni-wheel-14153.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="132" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6O2BcA4DU38ODNA4fLK6o692C3a4NgHYHOmfxhVGWvZ3nFxVmjNGzygtdZEjDNvhwTZXVtNjw2XsVCiaKqmpi_bJoXLjfCH2n0IUrh2-PrtLqFePVvwIyJB9DHrq0KrBJWt1TS6vTeeg/s200/127mm-aluminum-omni-wheel-14153.jpg" width="200" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhca4NF1kVhfk9RqgmWg5CG35CxWMYr_7khvTAdlKH8-GfNutLZPnWwWJ5ULBOKNsPN1BXONQFdnjCCm01_4bm3oDfHoDS-K7s_EAvngS2H-H7-K0nuamSS7IHD-7SawpwdMlzqyIUK5L4/s1600/15149.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="150" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhca4NF1kVhfk9RqgmWg5CG35CxWMYr_7khvTAdlKH8-GfNutLZPnWwWJ5ULBOKNsPN1BXONQFdnjCCm01_4bm3oDfHoDS-K7s_EAvngS2H-H7-K0nuamSS7IHD-7SawpwdMlzqyIUK5L4/s200/15149.jpg" width="200" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgScGMCK1D0iqnNJfh16cDzTOKW21zFsewKpuF842vGwr8bx8tiU09Kf7ZAyNe5wrnL06dEYKoseGp3eFTwSv4lix6IrljucGlKY-a5Zpp7bNR-1dAs4bW9ErYAIh9td9JMXFudUwz4D7o/s1600/DC-GEARED-MOTOR-TG-38ZYJ-.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="146" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgScGMCK1D0iqnNJfh16cDzTOKW21zFsewKpuF842vGwr8bx8tiU09Kf7ZAyNe5wrnL06dEYKoseGp3eFTwSv4lix6IrljucGlKY-a5Zpp7bNR-1dAs4bW9ErYAIh9td9JMXFudUwz4D7o/s200/DC-GEARED-MOTOR-TG-38ZYJ-.jpg" width="200" /></a></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><br /></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">Mechanical:</span></strong></div><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"><li style="line-height: normal;"><span style="font-family: inherit;">An acrylic or aluminium chassis</span></li><li style="line-height: normal;"><span style="font-family: inherit;">4x DC Geared motors</span></li><li style="line-height: normal;"><span style="font-family: inherit;">4x omani wheels</span></li></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">Electronics:</span></strong></div><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"><li style="line-height: normal;"><span style="font-family: inherit;">2x arduino uno</span></li><li style="line-height: normal;"><span style="font-family: inherit;">2x nRF 24L01+ module</span></li><li style="line-height: normal;"><span style="font-family: inherit;">2x L298 H-bridge module</span></li><li style="line-height: normal;"><span style="font-family: inherit;">jumper wires</span></li><li style="line-height: normal;"><span style="font-family: inherit;">battery</span></li></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">There are three components in mechanical section.first thing is to make a base i used four aluminium sheets (28cm diameter) and these were much costly.we can also use two acrylic sheets.we can use already made robotics kits but for making soccer robot we need a little much bigger size so i will prefer you to make it your own.make a sketch design in solids works or sketch up.these are best software in 3D designing.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">The four DC Geared motors needed i used around 350 RPM,and 4 Omani wheels these were i bought from online store.I used 12 volt 5A battery .Two arduino uno boards will be used for wireless communication with each other.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">nRF24lo1+ is the best choice for wireless communication and it has a very good range.but remember it works on 3 volt.i will not explain much about the components here but you can read about it on google or Wikipedia etc.</span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b> Pin out Configuration making transmitter(TX) and receiver(RX):</b></span></span><br /><span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><br /></span> <span style="font-family: inherit;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDbo1jJw8AOFsOjMQWjTQfpRW9YGx_hpN-CHaizi2bTv2E-DmbKJOx7JQUCs6Gd1x5uGVjiAFEvAiFBOpby2G0RpPhOT8te-cdbqXd5DUG2B1OknpePP1eGy4Dnn4No6DS3hZL6foKLQw/s1600/nRF24L01%252B+Arduino+Uno_bb.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="200" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDbo1jJw8AOFsOjMQWjTQfpRW9YGx_hpN-CHaizi2bTv2E-DmbKJOx7JQUCs6Gd1x5uGVjiAFEvAiFBOpby2G0RpPhOT8te-cdbqXd5DUG2B1OknpePP1eGy4Dnn4No6DS3hZL6foKLQw/s200/nRF24L01%252B+Arduino+Uno_bb.png" width="185" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSCG72rEAY0HUmZnKb4pA2JnS1ixcGd2W8AOpi5XzmQIzOKz3RlhZI8GCpMe0rRIOUegr6G857uraFJ_YTbzeYnKUbS5Bt-ws3mKO9mO7OJSYmEQySLJw4ggqPdW970SNm-AsZzoDjOyU/s1600/NRF24L01-Receiver.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="212" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSCG72rEAY0HUmZnKb4pA2JnS1ixcGd2W8AOpi5XzmQIzOKz3RlhZI8GCpMe0rRIOUegr6G857uraFJ_YTbzeYnKUbS5Bt-ws3mKO9mO7OJSYmEQySLJw4ggqPdW970SNm-AsZzoDjOyU/s320/NRF24L01-Receiver.jpg" width="320" /></a></span></div><span style="font-family: inherit;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg29rRm20CujEByKUgGT_3esZUAKCBgTQL5B3YozV2Rh43FX-Kn8sD0777pjLIoZ99jKkjq-wWZjMnb1WLFBXcXCaixbcXR4OqkU-zysbU4QvpWxTcwzgjTiCAEKZbjt07yddm-JHbMXbI/s1600/687474703a2f2f7777772e6e6f646f2d646f6d6f746963612e6e6c2f696d616765732f622f62352f4e524632344c30315f70696e6f75742e706e67.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="139" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg29rRm20CujEByKUgGT_3esZUAKCBgTQL5B3YozV2Rh43FX-Kn8sD0777pjLIoZ99jKkjq-wWZjMnb1WLFBXcXCaixbcXR4OqkU-zysbU4QvpWxTcwzgjTiCAEKZbjt07yddm-JHbMXbI/s320/687474703a2f2f7777772e6e6f646f2d646f6d6f746963612e6e6c2f696d616765732f622f62352f4e524632344c30315f70696e6f75742e706e67.png" width="320" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-7t67w-L-5hmZIfCABSCPcbBIVJC7PkuuTPW-wXQeDJIebsGR65iRhL3TQbXoWB9clJF8sNuWFN1RYMnbQQjFKIl3e5jbaD5Bl3rsas06dzPnOP_NbxSy9j9E5dUzZdFmp0JPhom4UVM/s1600/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="133" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-7t67w-L-5hmZIfCABSCPcbBIVJC7PkuuTPW-wXQeDJIebsGR65iRhL3TQbXoWB9clJF8sNuWFN1RYMnbQQjFKIl3e5jbaD5Bl3rsas06dzPnOP_NbxSy9j9E5dUzZdFmp0JPhom4UVM/s200/L298N-Dual-H-Bridge-Stepper-Motor-Driver-Controller-Board-Arduino-Raspberry-Pi.jpg" width="200" /></a></span><br /><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">The second step is the pin out configuration of nRF24L01+ with arduino. we have to make one one nRF module TX and other Rx.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Here is the pin out of nRF24l01+ as you can see in the figure.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">1-GND</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">2-VCC</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">3-CE</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">4-CSN</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">5-SCK</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">6-MOSI</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">7-MISO</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">8-IRQ</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">First make the Transmitter part (TX):</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Before connecting with arduino don't forget to add a capacitor at both the ends of TX and RX of nRF between the pin VCC and GND.connect a 50 Uf or higher Capacitors with both modules because sometimes they will not work properly.the TX will send but RX will not recieve.</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Connect CE and CSN in 7 and 8 SCK and MOSI in 11 and 12 MOSI in 13 GND and VCC in 3V</span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><strong><span style="font-family: inherit;">See the photos for pinout of RX and H-bridge</span></strong><br /><span style="font-family: inherit;">Connect the h-bridge with motors and enable pins in pwm pins on arduino and others with any digital pin of arduino.</span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b>Assembling and Coding:</b></span></span></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTCptBnspHgzSv2TQSO7BQ2pSffvLWuxwow78HA__3ZAE04PEN4cH9kK2ji32enlQt_nt5qWVhQBlpeZgbuGV3pR_zhwGFU9qztIDFMyPAKOyBMRhul4F23mjQqfOcTo1JSRAyjJcfkw/s1600/IMG_20160116_131255.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em; text-align: center;"><span style="font-family: inherit;"><img alt="assembling of robot with chassis.remote control robot using nrf." border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFTCptBnspHgzSv2TQSO7BQ2pSffvLWuxwow78HA__3ZAE04PEN4cH9kK2ji32enlQt_nt5qWVhQBlpeZgbuGV3pR_zhwGFU9qztIDFMyPAKOyBMRhul4F23mjQqfOcTo1JSRAyjJcfkw/s320/IMG_20160116_131255.jpg" title="Robot chassis and assembling" width="320" /></span></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvI4VshHscM_-rnMcu5YZAvBMchuWtgqdsJtLmtHtSiGVH99QZflJF3dUPL06mBeYfhQAVWdB4wX31IUT7sqLlSaZT8NbP35T877IWdZ7ShrOV58hpI4w9kYi-6vZYJRjhCCzr1kg5UwU/s1600/IMG_20151107_035014.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><span style="font-family: inherit;"><img border="0" height="198" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvI4VshHscM_-rnMcu5YZAvBMchuWtgqdsJtLmtHtSiGVH99QZflJF3dUPL06mBeYfhQAVWdB4wX31IUT7sqLlSaZT8NbP35T877IWdZ7ShrOV58hpI4w9kYi-6vZYJRjhCCzr1kg5UwU/s200/IMG_20151107_035014.jpg" width="200" /></span></a></div><div style="background-attachment: initial !important; background-clip: initial !important; background-image: none !important; background-origin: initial !important; background-position: initial !important; background-repeat: initial !important; background-size: initial !important; border: 0px; box-shadow: none !important; line-height: 1.5rem; margin-bottom: 10px !important;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;"><br /></span></div><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">Once you complete assembling of parts there comes the main part that is programming.start with initializing as according to your pin out arduino board with nRF and h-bridge.don't forget to add the library for nRF.The library file is attached.</span></div><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include "nRF24L01.h"</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">#include "RF24.h"</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 13 is SCK on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 12 is MISO on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 11 is MOSI on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">// 10 is CSN on nRF</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">RF24 radio(9,10); // 9 is CE on nRF</span></b><br /><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"></ul><div style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin-bottom: 10px;"><span style="font-family: inherit;">After initialization there is a pipeline between two arduino's it should be the same on both transmitter and receiver. now initialize the radio and it will begin the conversation between two pipelines.</span></div><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void setup(void)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{Serial.begin(9600);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio_initialize();</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.println("RADIO STARTED");}</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Now in loop function it checks if receiving serial available then it will start sending data.</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">char data[] = "1";</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void loop()</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ if(millis()%1000==0)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ data[0]++;</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.print("Sending: ");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">Serial.print(data[0],DEC);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">bool ok = radio.write( data, 2 );</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">if (ok) Serial.println("ok\n\r");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">else Serial.println("failed\n\r");</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">if(data[0]=='6') data[0]='1'; } }</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">void radio_initialize(void)</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">{ radio.begin();</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.openWritingPipe(pipes[1]);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.openReadingPipe(1,pipes[0]);</span></b><br /><b style="color: #555555; font-size: 15px;"><span style="font-family: inherit;">radio.startListening(); }</span></b><br /><ul style="background-image: none; border: 0px; box-shadow: none; color: #555555; font-size: 15px; line-height: 1.5rem; margin: 0px 0px 10px; padding: 0px 0px 0px 2em;"></ul><div><span style="background-color: white; font-family: inherit; font-size: 15px;">Don't just copy and past .it will only work according to your connections.i hope you will understand the code easily if you are aware about the adruino's coding.here is the sample code for both Tx and Rx.now open the serial monitor in both Tx and Rx side and send 1 from Tx and it will receive on Rx serial monitor window.as it is for other number we initialize 1 in the code for forward function now initialize 2 for back and so on.</span></div><div><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b><br /></b></span></span></div><div><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-family: inherit; font-size: 15px;"><b>Submit your E-mail and get complete Code files:</b></span></span><br /><span style="font-family: inherit;"><span style="color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif;"><span style="font-size: 15px;"><b><br /></b></span></span></span></div><div></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">I hope you understand how to communicate between two arduino's. the main purpose is to make the wireless controlled once it's done add whatever you want.now we can use it in many ways...have fun...!!!</span></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">I have covered this topic in another post of making soccer robot so you can get the additional information from it.</span></div><div><span style="background-color: white; font-family: inherit; font-size: 15px;">See the similar posts on  <a href="http://www.makeitmech.com/2017/02/how-to-make-soccer-robot-for-robocup.html">how to make robot for robocup </a> and how to control it from keyboard or joystick.</span></div><div><span style="background-color: white; color: #555555; font-family: "arial" , "helvetica" , "verdana" , "tahoma" , sans-serif; font-size: 15px;"><br /></span></div><div class="mailmunch-forms-widget-450946"></div>

arduino projects, Projects, Robotics

Wireless remote control robot using nrf and arduino

Hey everyone A wireless controlled Omani directional robot.a wireless controlled robot can be used in many ways.i made this for playing a so...