LINE FOLLOWER IS EASY TO MAKE
Specification:
Microcontroller ATmega16 with 16 kbyte flash, 512 byte EEPROM and 1kbyte SRAM or ATmega8535 with 8 kbyte flash, 512 byte EEPROM and 1 kbyte SRAM have 8 channel 10 bit A/D converter
12 Mhz or 16 Mhz crystal ( the ATmega experience is good on 16 Mhz )
4 push on are connected on PD 4-7 as input pull-up
LCD LM016 2x16 display characters is connected on PB as output set to LCD configuration are there too.
Microcontroller ATmega16 with 16 kbyte flash, 512 byte EEPROM and 1kbyte SRAM or ATmega8535 with 8 kbyte flash, 512 byte EEPROM and 1 kbyte SRAM have 8 channel 10 bit A/D converter
12 Mhz or 16 Mhz crystal ( the ATmega experience is good on 16 Mhz )
4 push on are connected on PD 4-7 as input pull-up
LCD LM016 2x16 display characters is connected on PB as output set to LCD configuration are there too.
Pin LCD number 15 is connected to VCC or 5 volt and number 16 is connected to PORTB 3 as output set on high.
LED LCD on if PORTB.3 = 0
LED LCD off if else it
Photodiodes and infrareds are connected with PINA as ADC.
ADC value are gotten from reading photodiode as H/L on white/black on track. A/D converters are activated too with thick ADC ENABLE and USE 8 bit then chose clock to 750 Khz and ADC reference (V.ref ) on AVCC or AREF pin, therefore AVCC and AREF is connected with power high logic.
Read_ADC(); is already to use.
Reading sensor:
You have to insert a ADC variable to reverence of reading sensors 8 bit an example X variable. Cause x use 8 bit so you must set to unsigned char.
Unsigned char x;
Being easy and simple take this var on array.
Unsigned char x[8];
Building the C codes
n=0;
While (n==8){
n++;
sample=read_adc[n];
if (sample<255){ l="sample;}">0){
H=sample;}
x[n]=(((H[n]-L[n])/2)+L[n]);
delay_ms(10);}
Then saving ADC ref value on EEPROM or on SRAM
The values keep better in EEPROM than SRAM because with just 1 time to looks for reference ADC values and not necessary any time here to update values ADC reverence.
Making bit or scan sensors bit manipulation
n=0;
While(n==8){
n++;
If (read adc(n)>x[n]){sensor=sensor+2n;}
delay _us(50);}
sprint(buff,”<%x>”,sensor)
lcd_gotoxy(0,1);lcd_puts(buff);
Motor drivers is connected on PORTD 0-3. Motor drivers contain of two H-bridge transistor set in IC ld298 or make yourself this H-bridge from FET / TR. You must necessary to chose FET / TR so it works not better expected. Chose the FET or TR with low resistance , that can constrain current leave to motors.
The motors can run CW or CCW from generating PWM on timer set. Generating PWM can use time 0 / 2 interrupt overflow or time 1 16 bit too.
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{/*xcount++;
if (xcount<=lpwm) //on gedex blog ( gedex PID ) enki=1; //6 pin include ENABLE L&R else enki=0; if (xcount<=rpwm) enka=1; else enka=0; TCNT0=0xFF;*/ counter++; if (counter>=L){ //good performance
Lback=1;} //4 pin without ENABLE
else{ Lback=0;}
if (counter>=R){
Rback=1;}
else{ Rback=0;}
OCR0=0xff;}
H bridge FET driver search on this ( using keywords ).
ISP PROGRAMER.
PORTC is unused , you can configure to other control function such as sensors affix with comparator, wheel encoder, sensors ON/OFF control with super bright led can allowed you want.
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