GreyRobotics GREYBOT V.1 User Manual Download | Manualshive

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GREYBOT V.1

ATMEGA 16 BASED ROBOTIC PLATFORM

USER MANUAL

Designed by:

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Summary of Contents for GREYBOT V.1

Page 1: ...www greyrobotics in 1 www greyrobotics in GREYBOT V 1 ATMEGA 16 BASED ROBOTIC PLATFORM USER MANUAL Designed by ...

Page 2: ...tional Modes 3 8 Communication 3 9 Dimensions 3 10 Software Support 6 4 Block Diagram 8 5 Using GreyBot V1 0 5 1 Powering Up GreyBot 5 2 Power Management System on GreyBot 5 3 Regulated Supply for onboard payload 5 4 Battery Charging Procedure 5 5 Motion Control 5 6 PWM for Velocity Control 5 7 Micocontroller Pin Connections 5 8 Infrared Proximity Sensor 5 9 Line Follower Sensor 5 10 LCD Interfaci...

Page 3: ...LED s 5 11 2 Buzzer 5 11 3 Swi0tches 5 12 Battery Voltage Swing 6 Optional Interfaces 6 1 Servo Motor 6 2 Ultrasonic Sensor 6 3 Combination of Servo Motor and Ultrasonic Sensor 6 4 Magnetometer Interface 6 5 Bluetooth Module Interface 18 7 Contact 21 ...

Page 4: ...ormance rechargeable Lithium Ion battery of 3 7V 2 5A rating Auto cut off battery charger is provided for charging the robot It comes along with our easy to use Line Follower Sensor Array which can be used for developing the path following algorithm for the bot Long distance Infrared Proximity Sensor is provided High speed motors help you to give the robot its locomotion Motor control is achieved ...

Page 5: ...ED s Two user programmable Switches User programmable buzzer as audio output device LCD display for easy user access On board motor driver User accessible PWM pins for speed control of motor Lithium Ion battery with auto cut off charger ISP port for programming Direct plugin HC 05 Bluetooth facility optional Pins available for interfacing of Magnetometer Servo Motor and Ultrasonic Sensor optional ...

Page 6: ...ing Using USB ASP Programmer via ISP port 3 3 Indicators 16x2 Character LCD 2x User Programmable LED 1x Power Indicator LED Buzzer 3 4 Locomotion Two DC geared motors 200 300 RPM Caster wheel as support Top Speed 0 5m second 3 5 Power Single 3 7V Li On battery Smart charger with indicators On board power boost module ...

Page 7: ...onic range sensors Optional Magnetometer Optional 3 7 Operational Modes Test Mode Line follower mode Standalone Autonomous Control Distributed multi robot communication 3 8 Communication Bluetooth module USB to TTL for serial communication 3 9 Dimensions 140x130x100 mm 3 10 Software Support Compiler ATMEL Studio WINAVR Burner AVRDudess ...

Page 8: ...www greyrobotics in 8 www greyrobotics in 4 Block Diagram Figure 1 System Block Diagram of Greybot ...

Page 9: ...www greyrobotics in 9 www greyrobotics in 5 USING GREYBOT V1 0 Figure 2 Top View Figure 3 Bottom View ...

Page 10: ...nt system on the Greybot Greybot is powered by using a single cell li ion rechargeable battery When it is fully discharged voltage drops to about 3V Battery pack should not be discharged below 2 8V Power management block on the Greybot performs following functions 1 Regulated supply for onboard payload 2 Battery charging when robot is powered off and when external battery charger is connected 5 3 ...

Page 11: ...he supply from the charger GreyBot is now ready to run 5 5 Motion control Greybot comes with 250 RPM DC geared motors in differential drive configuration along with a caster wheel for support Robot has a top speed of about 0 5m per second Using this configuration the robot can turn with zero turning radius by rotating one wheel in clockwise direction and other in counterclockwise direction Robot s...

Page 12: ...ount of power delivered to the load without power losses which generally occur in resistive methods of power control Figure 4 Pulse Width Modulation PWM Above figure shows the PWM waveforms for motor velocity control In case A ON time is 90 of time period This wave has more average value Hence more power is delivered to the Motor In case B the motor will run slower as the ON time is just 10 of tim...

Page 13: ...otor direction control Table 1 Motor Pin functionality DIRECTION LEFT PC4 LEFT PC5 RIGHT PC6 RIGHT PC7 PWM PB3 PD7 FORWARD 1 0 0 1 As per velocity requirement REVERSE 0 1 1 0 As per velocity requirement LEFT Left Motor Forward Right Motor Stop 0 0 0 1 As per velocity requirement RIGHT Left Motor Stop Right Motor Forward 1 0 0 0 As per velocity requirement HARD LEFT Left Motor Reverse Right Motor F...

Page 14: ...www greyrobotics in 14 www greyrobotics in ACTION MOVEMENT ACTIOPN MOVEMENT FORWARD SOFT LEFT REVERSE SOFT RIGHT HARD LEFT STOP HARD RIGHT Table 3 Directions of Motor ...

Page 15: ...r developed by GreyRobotics are used for detecting white line on the ground surface White lines are used To give robot sense of localization White line sensor consists of a highly precise IR photo Trans receiver module for line sensing and IR LED for the illumination Due to the directional nature of the photodiode it does not get affected with ambient light unless it is very bright When the robot ...

Page 16: ... Outs To interface LCD with the microcontroller in default configuration requires 3 control signals and 8 data lines This is known as 8 bit interfacing mode which requires a total of 11 I O lines To reduce the number of I O ports required for LCD interfacing we can use 4 bit interfacing mode which requires 3 control signals with 4 data lines In this mode higher nibble and lower nibble bits of comm...

Page 17: ...tting up the jumper pins user can select buzzer or else ultrasonic sensor It can be used for debugging purpose or as attention seeker for a particular event The buzzer is connected to PD5 pin It is configured in ACTIVE HGH mode Ref fig 6 Figure 6 Buzzer Ultrasonic sensor selection jumper 5 11 3 Switches Two user programmable switches have been provided as inputs They can be used as external hardwa...

Page 18: ...DC6 pin of the microcontroller Voltage divider network will give half of the Battery voltage value to the ADC6 of the microcontroller If ADC is used with 10 bit resolution use the following formula for getting the battery voltage level Battery voltage 2 x ADC 6 value of 10 bit resolution x 5V 1024 6 OPTIONAL INTERFACES Figure 7 Additional Interfaces of Greybot ...

Page 19: ...ous directions 6 2 Ultrasonic sensor HS 04 Ultrasonic sensor can be interfaced on GreyBot PIND5 PIND6 are used to connect the sensor It provides long distance obstacle detection to find out obstacles in the travel path of the robot 6 3 Combination of servomotor and ultrasonic sensor Ultrasonic sensor can be mount on a top of a servo motor and by rotating servo motor as well as simultaneous scan of...

Page 20: ...e HC 05 Bluetooth module can be interfaced with GreyBot That is used to communicate with laptop cellphone and other robots User can test SWARM algorithm using this feature Bluetooth module is directly connected to UART section PD0 RX PD1 TX of GreyBot Figure 8 GreyBot V1 0 ...

Page 21: ...mbai India Visit us at www greyrobotics in Mail us at greyrobotics gmail com For more updates connect with us https www facebook com greyrobotics1501 https www instagram com grey_robotics https www youtube com channel UCAHPFIXMrRD0IOKjdPTFpnw https greyrobotics wordpress com ...

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