Hello All, Welcome to the third part of the Obstacle Avoiding Robot Tutorial. Till now we have completed the mechanical construction and made the sensor for our robot. I have shown you how to control the motors and read values from sensor in last two parts of the tutorial. In this tutorial we create the master program for our robot. The job of the program is simple, to read values from the sensors, make a decision and command two motors. In this way our robot will roam about the room avoiding obstacles in its path.
In our program we define three constants, namely RTHRES,CTHRES and LTHRES in the following way :-
//Threshold Values For Sensor Triggering #define RTHRES 195 #define CTHRES 275 #define LTHRES 195
The constant value next to them is the triggering values. You can get this values as described in previous tutorial. Simply run the IR Sensor Test program and bring any obstacle near the sensor at about 15cm (6 inches) and note down these values against respective sensor threshold values. Do same for all three sensor. Now the program knows when the value comes near this threshold value, the sensor has a obstacle in front of it. Note that the value shown above is may not match with the values you obtained, that OK.
In our program, we start by Initializing the Motor Subsystem and the ADC Subsystem.
//Initialize motor subsystem MotorInit();
//Init ADCs InitADC();
Then we start moving the robot forward. This is archived using the Call to MotorA and MotorB functions. The first argument is the direction which can be
- MOTOR_STOP
- MOTOR_CW
- MOTOR_CCW
The second argument is the speed which can be between 0 and 255. We use 255 here to move at full speed.
More details on using motor with xAPI is here in xBoard v2.0’s docs.
//Start Moving Forward MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Counter Clockwise
If you are wondering how the above code drives our robo forward, then you need to understand the differential drive system which is described in details here.
Once our robot starts moving forward, we go inside an infinite loop, testing if some obstacle is in front of the sensor and if so turn the robot.
Code listing for Obstacle Avoiding Robot.
/******************************************************************************
Simple Obstacle Avoiding Robot Program.
Compiler : avr-gcc toolchain
IDE: AVR Studio from Atmel
For More Info Log On to
www.eXtremeElectronics.co.in
Copyright 2008-2010 eXtreme Electronics India
NOTICE
--------
NO PART OF THIS WORK CAN BE COPIED, DISTRIBUTED OR PUBLISHED WITHOUT A
WRITTEN PERMISSION FROM EXTREME ELECTRONICS INDIA. THE LIBRARY, NOR ANY PART
OF IT CAN BE USED IN COMMERCIAL APPLICATIONS. IT IS INTENDED TO BE USED FOR
HOBBY, LEARNING AND EDUCATIONAL PURPOSE ONLY. IF YOU WANT TO USE THEM IN
COMMERCIAL APPLICATION PLEASE WRITE TO THE AUTHOR.
WRITTEN BY:
AVINASH GUPTA
me@avinashgupta.com
*******************************************************************************/
#include <avr/io.h>
#include <util/delay.h>
#include "motor.h"
//Threshold Values For Sensor Triggering
#define RTHRES 195
#define CTHRES 275
#define LTHRES 195
//Function To Initialize the ADC Module
void InitADC()
{
ADMUX=(1<<REFS0); // For Aref=AVcc;
ADCSRA=(1<<ADEN)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); //Rrescalar div factor =128
}
/*
Function To Read ADC Channel
Argument: Channel Number between 0-7
Return Value : Between 0-1023
*/
uint16_t ReadADC(uint8_t ch)
{
//Select ADC Channel ch must be 0-7
ch=ch&0b00000111;
ADMUX&=0b11100000;
ADMUX|=ch;
//Start Single conversion
ADCSRA|=(1<<ADSC);
//Wait for conversion to complete
while(!(ADCSRA & (1<<ADIF)));
//Clear ADIF by writing one to it
//Note you may be wondering why we have write one to clear it
//This is standard way of clearing bits in io as said in datasheets.
//The code writes '1' but it result in setting bit to '0' !!!
ADCSRA|=(1<<ADIF);
return(ADC);
}
/*
Simple Wait Function
Argument: NONE
Return Value : NONE
*/
void Wait()
{
uint8_t i;
for(i=0;i<10;i++)
_delay_loop_2(0);
}
void main()
{
//Initialize motor subsystem
MotorInit();
//Init ADCs
InitADC();
//Wait
Wait();
//Start Moving Forword
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Counter Clockwise
while(1)
{
//Varriable To store sensor values
uint16_t sensor_l,sensor_c,sensor_r;
//Read Sensor Values
sensor_r=ReadADC(0);//Right Sensor
sensor_c=ReadADC(1);//Center Sensor
sensor_l=ReadADC(2);//Left Sensor
if(sensor_c > CTHRES)
{
//Start Rotating Left
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CW,255); //Motor B (left motor) moves Clockwise
//Now Rotate till Path is NOT Clear
while((sensor_r >(RTHRES-10)) || (sensor_c>(CTHRES-10)))
{
//Read Sensor Values
sensor_r=ReadADC(0);//Right Sensor
sensor_c=ReadADC(1);//Center Sensor
_delay_loop_2(30000);
}
//Now Path is Clear So Move Forword
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Counter Clockwise
}
if(sensor_r > RTHRES)
{
//Start Rotating Left
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CW,255); //Motor B (left motor) moves Clockwise
//Now Rotate Until Path is Clear
while(sensor_r >(RTHRES-10))
{
//Read Sensor Values
sensor_r=ReadADC(0);//Right Sensor
_delay_loop_2(30000);
}
//Now Path is Clear So Move Forword
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Counter Clockwise
}
if(sensor_l > LTHRES)
{
//Start Rotating Right
MotorA(MOTOR_CCW,255); //Motor A (right motor) moves Counter Clockwise
MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Clockwise
//Now Rotate Until Path is Clear
while(sensor_l >(LTHRES-10))
{
//Read Sensor Values
sensor_l=ReadADC(2);//Left Sensor
_delay_loop_2(30000);
}
//Now Path is Clear So Move Forword
MotorA(MOTOR_CW,255); //Motor A (right motor) moves Clockwise
MotorB(MOTOR_CCW,255); //Motor B (left motor) moves Counter Clockwise
}
_delay_loop_2(0);
}
}
Downloads
- Complete AVR Studio Project File For ATmega16 Platform.
- Complete AVR Studio Project File For ATmega32 Platform.
- HEX File for ATmega16
- HEX File for ATmega32
<< Go To "Obstacle Avoiding Robot Part II"
By
Avinash Gupta
www.AvinashGupta.com
me@avinashgupta.com
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very nice work sir………..!!!!
Hello, congratulations for the tutorial, very good!
Help me with a question: I set up and works ok, cool.
I use this project to a maze, he already put in the maze, but sometimes he repeats a certain sector of the maze, because it just depends on the obstacle in front right? Is to do something for him to repeat it two times and take different path if it occurs? I’m not good at programming yet, if you can help me with this, I am very grateful.
Att Andrew giovanni
Some memory of course, where it is repeated two times, he will change this course automatically within the program. Is it possible? help and thanks. Andrew
Pingback: suggest about making robot
dear sir, I beni in Aceh – Indonesia.
Your tutorials are very helpful for me, but I am a beginner in programming avr, can you give me a list of codes in basic BASCOM. please…
Hello,
I set up the project using servants as reductants for
wheels. See how it was here: http://v2reletrico.blogspot.com/p/downloads.html
It worked 100%. Thank extreme
electronics, has ever posted a better design.
Sincerely,
André Giovanni
@André Giovanni
Thanks you very much for sharing your experience with us!
-The Admin
sir can i make obstacle avoidence robot from line follower robot…….
sir, can i use atmega 32 for 3 purposes like obstacle detecting, line tracing,pit sensing.
@Bobby, yes you can.
sir can you give the fuse bit setting Obstacle Avoiding Robot program
@Uttam,
Fuse bits already comes programed in the board
SIR please help me out, its urgent, i got my project demonstration on 22th may.
can i use your digital stop watch code of atmega8 in atmega32 ? will it work ?? please help
please reply me
pranablhkr@gmail.com
@Pranab,
You are asking about “digital stop watch code” then why have you posted in “Obstacle Avoiding Robot using AVR ATmega32 – Part”?
because sir you havn’t replied to the last few comments in that ‘digital stop watch’ posts.
I saw your recent reply in this post, and as i needed it urgently, so i thought of commenting here.
I know its wrong but i can’t stop myself commenting here.
please help me sir
sir can you please guide me to built a obstacle avoiding and line following robot using pic micro-controllers…. i couldn’t find any circuitry or coding guide for this project online….. i am new to robotics and this project is my 1st micro-controller project assigned by my teacher…. plz help me out sir…. i shall be thankful to you….
Hello Sir,
please provide the schematic diagram. thank you