C2ws Workshop

1. INTRODUCTION Robotic is a fascinating subject more so, if you have to fabricate a robot yourself. The field of robotic encompasses a number of engineering disciplines such as electronic (include electrical), structural, pneumatics and mechanical. The structure part involves use of frames, beams, linkages, axels, etc. the mechanical part/accessories comprise various type of gears (spurs, crowns, bevels, worms and differential gear system),pulleys and belts, drive systems(differential, castors, wheels and steering),etc. pneumatics plays a vital role in generating specific pushing and pulling movement such as those simulating arms or leg movement. Pneumatic gripper are also used with advantage in robotics because of their simplify and cost-effectiveness. The electrical items include DC and stepper motors, actuators, electrical grips, clutches, and their control. The electronic part involves remote control, sensor (touch sensor, light sensor.Collision sensor, etc). Their interface circuitry and a microcontroller for over all control function. As technology is growing day by day there is increasing demand to update the existing process and to make a single unit which can be able to control the multiple processes through single device. Soas to reduce the human risk factor in modern technological era. Robotics is playing a major role right from manufacturing to application unit in coming feature robotics will take charge for controlling any of the application where the human risk of life is involved. So we visited the industries and trying to find out the existing problem having the discussing with employee and manager. We came to conclusion that we should build A.G.V. control through computer automated guided vehicle to PC. This vehicle will perform various tasks for carrying a load fromone place to another without any manual control it can be controlled from remote through a computer. Where Software has been developed in C.

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2. SYSTEM ANALYSIS 3.1 Project Team Structure: The project entitled “WORLD WIDE CONTROLLED ROBOT” was undertaken by the team consisting of five members. The project was complete within a time span of three months. The project has Front end as Visual Basic and back end as Turbo “c”Coding.

3.2 Problem Definition: The project “COMPUTER CONTROLLED ROBOT” the machine `containing two actuators wireless communication to the PC and one camera for front feedback` can controlled through the computer and work as per the computer instructions. And give the feedback to the computer through the camera view.

3.3 Requirement Definition: In this project we require following hardware and software. Hardware Requirements: •

POWER SUPPLY

•

RF TRANSMITTER

•

RF RECIVER

•

CAMERA

•

HT12 E

•

HT12D

•

MICROCONTROLLER

•

L293D

•

ACTUATOR’S

Software Requirements:

• Simple “c” coding. • Visual basic For Visual Impression. 2

3. SYSTEM DESIGN A photograph of the working prototype of the land rover including remote. the entire project is split into section is explained in sufficient details to enable you not only to fabricate the present design but also exploit these principle for evolving your own design with added function/features

Fig.4.1 Function design We design a Machine which control through computer, by the L.P.T. port Attached a RF module (Transmitter), which send 4 bit data to the receiver side, Which is attached on the main robot? The decoder being used for the project has latched output and as such you do not have to keep the buttons on remote control pressed for more than a few milliseconds. This helps prolong the battery life for remote. The coding of the each bit be done in simple c coding, and modified in Visual Basic Hardware Requirements: •

POWER SUPPLY

•

RF TRANSMITTER

•

RF RECIVER 3

•

CAMERA

•

HT12 E

•

HT12D

•

MICROCONTROLLER

•

PROCESSOR

•

L293D

•

ACTUATOR’S

Software Requirements: • Simple “c” coding. • Visual basic For Visual Impression. VISUAL BASIC is the super set of BASIC LANGUAGE. BASIC is windows, it provides graphical user interface (GUI). Since it is GUI application build in VB are more attractive.

VB was

launched in 1997 in which local database and remote data base connectivity is possible.

VISUAL BASIC is the fastest and

easiest way to create applications for Microsoft windows programming VISUAL BASIC provides with a complete set of tools to simplify rapid application development. One of the most significant changesin visual basic. 6.0 are the Integrated Development Environment (IDE).IDE is a term commonly used in the programming world to describe the interface

and

environment

that

we

use

to

create

our

application. It is called integrated because we can access virtually all of the development tools that we from one screen called an interface. The IDE is also commonly referred to as the design environment, or the program. Visual basic programs are builds around events. are various things that can happen in a program.

Events This will

becomes clearer when studies in contrast to procedural programming. In procedural languages, an application written 4

is executed by checking for the program logically through the program statement, one after another. For a temporary phase, the control may be transferred to some other point in program.

While n an event driven

application, the program statement is executed only when a particular event calls a specific part of the code that is assigned to the event. The code entered in the change event fires when there is a change in the contents of the text box • The click event fires when the text box control is clicked. • The mouse move event fires when the mouse is move over the text box.

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4. SYSTEM IMPLEMENTATION The whole system work’s as shown in the above diagram. The transmitter which is attached with the system transmits the signal in the channel, (there are various types of transmitter and receiver, they can be infrared, radio frequency, or ultrasonic, etc. we are here using radio frequency of 27 MHz’s).

Fig: 4.1 System diagram This signal carries the encoded data with them which is converted from parallel to serial by the encoder. At the BOT side the signal is receive by the receiver and then the data is decoded and send to the motor driver. That makes the operator to control the robot far away. We can get the feedback by attaching a wireless camera. 6

Parallel Port: Parallel Port is same as the printer port in the back side of computer. Parallel Port Interfacing is the simplest method of interfacing. Now parallel port interfacing is used for programming microcontrollers and hobby circuit. Here I am going to explain how .To interfaces it in Windows (all versions), Linux in C and Java.For programming microcontrollers and hobby circuit.

Fig.4.2 Parallel port Introduction of parallel port: Parallel Port interfacing is the simplest method of interfacing. So it is widely used. The main problem with parallel port interfacing is that it has data transfer speed up to 1Mbytes/sec. USB interfacing are Available having speed near to 12MBytes/sec.

Fig.4.3 Pin diagram of L.P.T. port Parallel port is basically the 25 pin Female connector (DB-25) in the back side of the computer (Printer Port). It has 17 input Lines for input port and 12 pins for output port. Out of the 25 pins most pins are Ground and there is data

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register (8 bit), control register (4 bit) and status We can input port through all the three registers and can output port only through Data and control registers only. Each of these register have their own addresses. By Using that addresses we can program the port. Parallel Port’s are standardized Under the IEEE 1284 standard first released in 1994. The main problem with parallel port interfacing is that it has data transfer speed up to 1Mbytes/sec. USB interfacing are available having speed near to 12MBytes/sec. Parallel port is basically the 25 pin Female connector(DB-25) in the back side of the computer(Printer Port). It has 17 input lines for input port and 12 pins for output port. Out of the 25 pins most pins are Ground and there is data register (8 bit), control register (4 bit) and status register (5 bit). We can input port through all the three registers and can output port only through data and control registers only. Each of these register have their own addresses. By using that addresses we can program the port. Parallel Port’s are standardized under the IEEE 1284 standard first released in 1994. This standard defines 5 modes of Operation, which are as follows,

Fig: 4.4 Parallel port pin view 8

1. Compatibility Mode. 2. Nibble Mode. 3. Byte Mode. 4. EPP Mode (Enhanced Parallel Port). 5. ECP Mode (Enhanced Capabilities Mode).

Transmitter: At the transmitter side we use HT12E encoder IC. Here we have the pin diagram and data sequence of the IC.

Fig.4.5 IC HT12E Address/Data sequence The following provides the address/data sequence table for various models of the 212 series of Encoders. The correct device should be selected according to the individual address and data requirements. Part No. Address/Data Bits 0 1 2 3 4 5 6 7 8 9 10 11 HT12A A0 A1 A2 A3 A4 A5 A6 A7 D8 D9 D10 D11 HT12E A0 A1 A2 A3 A4 A5 A6 A7 AD8 AD9 AD10 AD11 9

Transmission enable For the HT12E encoders, transmission is enabled by applying a low signal to the TE pin. For the HT12A encoders, transmission is enabled by applying a low signal to one of the data pins D8~D11.

Receiver: At the Receiver side we use HT12D encoder IC. Here we have the pin diagram and data sequence of the IC.

Fig.4.6 IC HT12D

The 212 decoders are a series of CMOS LSIs for remote control system applications. They are paired with Holtek_s 212 series of encoders (refer to the encoder/decoder cross reference table). For proper operation, a pair of encoder/decoder with the same number of addresses and data format should be chosen. The decoders receive serial addresses and data from a programmed 212 series of encoders that are transmitted by a carrier using an RF or an IR transmission medium. They compare the serial input data three times continuously with their local addresses. If no error or unmatched codes are 10

found, the input data codes are decoded and then transferred to the output pins. The VT pin also goes high to indicate a valid transmission. The 212 series of decoders are capable of decoding information’s that consist of N bits of address and 12_N bits of data. Of this series, the HT12D is arranged to provide 8 address bits and 4 data bits, and HT12F is used to decode 12 bits of address information. DTMF DECODER:

Fig: 4.7 D.T.M.F. DECODER MOTOR DRIVER: At receiver side we use HT12D Decoder IC, This is the serial in and Parallel out Configuration. The out pin of the decoder directly connects to the INPUT pin of the L293D Motor driver IC.

The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are

designed to drive inductive loads such as relays, solenoids, dc and 11

bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3, 4 EN.

Fig.4.8 MOTOR DRIVER IC L293D

When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor application. On the L293, external high-speed output clamp diodes should be used for inductive transient suppression. A VCC1 terminal, separate from VCC2, is provided

for the logic inputs conf here we see the two part of the IC. CHANNEL1 and CHANNEL2, to drive the motor from the each signal from the transmitter side. And drive the motor as

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.

CONNECTOR: Here is the different connector cable available of IEEE standard.

Fig 4.9 Different L.P.T. connectors

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5. TESTING In general we use windows ‘xp or windows ‘vista, the parallel port highlighted with the command prompt or directly compatible with windows 98, 95. To use the parallel port on the system in the access of the window’xp we have to do interfacing as below. There are bios setting before starting parallel port interfacing. This Is the most important step.

Fig: 6.1Bios setting in the computer SOFTWARES USED IN WINDOWS

All operating systems of Windows up to Window ME (included) require no driver software for parallel port. It can interface by a simple program in Turbo C. But operating systems after Windows ME have a security to parallel port. So we have to break it in order to interface with outside circuits. This is done by using USERPORT.

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Installing USERPORT: Userport.sys

to

WINDOWS\SYSTEM32\DRIVERS

then

runs

USERPORT.EXE Will get a message driver started. Click Start two times then it will get the Following message. This is the next step after BIOS Settings.

Fig: 5.2 User port Installation Now do programming in C/C++/JAVA and interface in XP or other version of Windows. USERPORT is necessary software to install. USING LPT.EXE: This is a small VB program which shows the status of the parallel port registers you can get it with this book or yahoo group-parallel port or from the link http://neil.fraser.name/software/lpt/ After BIOS settings and user port installation next step is to check whether your Parallel port will work or not and which ports will work well. Run lpt.exe

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Fig: 5.3 User port terminals Window Select your port address first as you set on the BIOS. The above diagram shows how to check port. You 'tick' indicates high on that port.

So change tick on the port. Make it low and high. If it is changing for data register and control register then your parallel port is working fine and will work fine. But if the 'tick' is not changing then you won't be able to use it. You won't be able to use the ports in which 'ticks' are not changing. In the above diagram we can see that Pin1 (strobe C0) is not having tick (i.e. is low), but if you connect an LED then it will glow because C0' is there and the port get's 16

HIGH. Suppose if you input LOW on pin1 then the Strobe will get HIGH in the software. So remember this when you do troubleshooting circuits with L.P.T. Data structure (language used): • For operating the L.P.T. Port drive we can use “c”, “c++”,”V.B.” And here we use “c “coding. • We can also use assembly language programming, for giving extra intelligence to our robot. • “Visual display window” for camera view. • “Visual basic Command button” for giving operating modes. See the simple basics for the parallel port programming. #include<stdio.h> #include #include<math.h> #include<dos.h> #include<process.h> #include<stdio.h> #include void main ( ) { const int PORT=0x0378; outport (PORT,255 ); getch (); //

// TO ENABEL ALL THE DATA

PORT HIGH

}

TROUBLESHOOTING PARALLEL PORTS:

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This is the most important section which normally unavailable in internet. Here I am saying about my own experiences. 1.) First of all your system has not attacked by any WORM or any other type of virus like shutdown virus (remember that this problem only comes after when a shutdown virus given you shutdown message and you run shutdown -a). This problem occurred with me recently. Then your parallel port won't work. 2.) You must install UserPort.zip for working in Windows operating systems above Windows ME 3.) For out porting: check the BIOS settings 4.) Check the connector or connector configuration connected be wrong (connector can be bad but rare condition) 5.) Compiler (Turbo C <dos.h>) VB then apply suitable dell’s , if you are using any software Or program see its format to apply (If you are using any software driver for port) 6.) Check proper tightness of the connector to the port. Insert the connector properly to the port. 7.) Test the buffer you are using whether it is bad or good and it is of 74LS family. If you are using 74HC which takes the high impedance state as logic LOW where 74LS take as HIGH. 8.) Power Supply should be correct and check whether the LED's are good or not. 9.) You can connect LED directly to port by taking one data pin as the positive Terminal and ground as –ve terminal. The wire should be properly inserted to the Breadboard and the Centronics cable 10.) The ground of the port and the circuit should be short circuited. 11.) Don’t try to connect without any buffer although no serious problem (you can connect but the voltage level below) 12.) See any motor or relay connected to the port without power transistor or any Buffer.

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13.) See whether the pin number of Centronics is correct. See whether that the bit is inverted or non-inverted. 14.) proper delays must be used in out porting sequentially. 15.) For inputting the port: It is better to apply input the port using a buffer (the advantage is that if overvoltage occurs the buffer will get damaged first, port is secured) 16.) While importing data port then make sure that C5=1In inputting status port there is no problem occurs mostly. 17.) If your data port reading of Turbo C gives a reading 170(in decimal) and the input you had given is a different one, but lpt.exe is reading the input correctly, then reboot the system. This problem occurring with Turbo C in hardware interfacing. Important points to be noted for interface: 1 .You have to make the port bidirectional before applying the external voltage to the data port because it can cause problem to your port (C5=1) 2 .Don't remove the covering of the cable. If you are using Centronics pin as Female pin then take wire out of the pins shown above. Don't try to remove covering to take the wires out, because it can create problem of short-circuiting or you can solder the wires to a PCB. 3 .proper delays must be used in in porting/out porting sequentially delay functions are defined in delay(value); will halt the program execution for 'value' milliseconds, or you can apply looping by keeping it in a loop to produce delay. The need of delay is that Parallel Port has a speed of only 1MB/s, but your program execution speed is comparable to processor speed, so you should apply some delay between two port access commands. But sometimes there is no need ( I got positive result by doing without delay better to put it). Usually we use parallel port speed about 1KB/sec (delay (1) ;) 4 .don't try to draw power from parallel port. This cause damage to port. So it is necessary to use external power supply

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.5. Use only 74LS series IC's to interface between port and the other IC's because the Parallel Port is LS TTL outputs and inputs. This is valid for inputting or outputting also. 6. Switch on the circuit first then only connect the connector to the port 7. First disconnect the port then only switch off the circuit 8. Don't forget to connect the ground of the port from the connector to the ground of the circuit. 9. Connect the output of the port to the input of the buffer and use the output of the buffer as the output of the port.

. 6. FUTURE SCOPE

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SPY BOT: This project can use as a “spy bot” that can be used in unreachable states and can be send updates form the particular states with its camera. We can modify the hardware part that it can climb in the rough area like mud, send, marbles etc.

•

UAV

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Mine detecting: In army it can be used and mine detecting machine, it cannot possible to detect the mine every where the mine by the man power, by using special technique it can be easily possible by this machine,

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Controlling home Appliances:-It can be possible to control the home appliances through the world with the help of this machine.

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Earthquake survivors:-Needy people caught in the earthquake, it can be serving as inhuman helper for them.

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Robotic Surgery: A specialist cannot serve everywhere so they can serve through the robot from anywhere through the computer.

• Detecting the fault line •

Security system

•

agriculture

•

war’s

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