03 Motion Control

Motion Control Of Firebird-V Robot
E-Yantra Team
Embedded Real-Time Systems Lab
Indian Institute of Technology-Bombay
IIT Bombay
October 16, 2012
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Firebird ATmega2560 Robotics Research Platform
1/1
Agenda for Discussion
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2/1
Various Motion
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3/1
Various Motion
Various Motion
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3/1
Various Motion
Forward
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3/1
Various Motion
Forward
Various Motion
Forward
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3/1
Various Motion
Forward
Backward
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3/1
Various Motion
Forward
Backward
Various Motion
Forward
Backward
Various Motion
Left
Forward
Backward
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3/1
Various Motion
Forward
Backward
Left
Various Motion
Left
Forward
Backward
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3/1
Various Motion
Forward
Left
Backward
Right
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3/1
Various Motion
Forward
Left
Backward
Right
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3/1
Various Motion (Contd..)
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4/1
Soft-Right
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4/1
Soft-Right
Soft-Right
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4/1
Soft-Right
Soft-Left
Soft-Right
Soft-Left
Soft-Right
Soft-Left
Backward Left
Soft-Right
Soft-Left
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4/1
Soft-Right
Soft-Left
Backward Left
Backward Left
Soft-Right
Soft-Left
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4/1
Backward Left
Soft-Right
Backward Right
Soft-Left
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4/1
Backward Left
Soft-Right
Backward Right
Soft-Left
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4/1
Direction Control of DC Motor
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5/1
Anti-Clockwise Motion
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5/1
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5/1
Clockwise Motion
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5/1
L293D IC
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6/1
L293D IC
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6/1
Motor Pin Connection
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7/1
Four Pins for Direction control is connected at PORT A
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7/1
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7/1

a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
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7/1

c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
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7/1

Two Pins for Enabling Motor Driver IC is connected at PORT L
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7/1

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7/1


a. PL3 - Left Channel Enable
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7/1


b. PL4 - Right Channel Enable
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7/1


b. PL4 - Right Channel Enable
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7/1
Logic Table
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8/1
Logic Table
Direction
PA(0)
LB
PA(1)
LF
PA(2)
RF
PA(3)
RB
Forward
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8/1
Logic Table
Direction
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
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PA(3)
RB
0
8/1
Logic Table
Direction
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
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PA(3)
RB
0
8/1
Logic Table
Direction
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Direction
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Direction
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Direction
Left
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Direction
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Direction
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Direction
Right
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Direction
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Direction
Soft Left
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Direction
Soft Right
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Soft Right
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Soft Right
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Soft Right
Direction
Stop
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8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Soft Right
Stop
Direction
www.e-yantra.org
8/1
Logic Table
Forward
PA(0)
LB
0
PA(1)
LF
1
PA(2)
RF
1
PA(3)
RB
0
Backward
Left
Right
Soft Left
Soft Right
Stop
Direction
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8/1
Syntax for C-Program
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9/1

#include
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9/1

#include
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
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#include
#include <avr/io.h>
Pin Configuration
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9/1

#include
#include <avr/io.h>
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL =
// Enable Pin
PORTL =
// Initally low
}
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9/1
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10/1

Main-Program
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10/1

Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
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10/1

Main-Program
int main (void)
{
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
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10/1

Main-Program
int main (void)
{
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
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10/1

Main-Program
int main (void)
{
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
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10/1
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11/1
Define All related motion functions and include in main function
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11/1

1
Backward();
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11/1

1
Backward();
Right();
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11/1

1
Backward();
Right();
Left();
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11/1

1
Backward();
Right();
Left();
Soft Right();
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11/1

1
Backward();
Right();
Left();
Soft Right();
Soft Left();
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11/1
Thank You!
Post your queries on: http://qa.e-yantra.org/
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12/1

03 Motion Control

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03 Motion Control

Enviado por

Direitos autorais:

Formatos disponíveis

Motion Control Of Firebird-V Robot

Firebird ATmega2560 Robotics Research Platform

Agenda for Discussion

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Various Motion (Contd..)

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Various Motion (Contd..)

Various Motion (Contd..)

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Various Motion (Contd..)

Firebird ATmega2560 Robotics Research Platform

Direction Control of DC Motor

Firebird ATmega2560 Robotics Research Platform

Direction Control of DC Motor

Firebird ATmega2560 Robotics Research Platform

Direction Control of DC Motor

Firebird ATmega2560 Robotics Research Platform

Direction Control of DC Motor

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A

Two Pins for Enabling Motor Driver IC is connected at PORT L

Firebird ATmega2560 Robotics Research Platform

Motor Pin Connection

Four Pins for Direction control is connected at PORT A