WORKSHOP SCHEDULE

ROBO Pravesh (Basic)

• 3rd September
• 8th September
• 15th September
• 22nd September

ROBO SAMVAD (Advanced)

• 10th September

ROBO GYAN (Advanced)

• 17th September

TEAM MEMBERS:

Saiyma Fatima Raza

Aakanksha Agrawal

Aditi Kejdiwal

Apurva  Kejdiwal

REQUIREMENTS:

• Touch Screen
• ATMega16 kit
• CC2500 wireless module
• Chasis
• 150 rpm motors

ABSTRACT:

Surveillance bot can be used for viewing the conditions of surrounding from a remote place. This bot is controlled with the help of a touch screen pad which controls the motion of the bot moving it in the respective directions and the bot sends data about the surrounding via a VGA camera connected to a television.

The project is build around microcontroller ATMega16 and a touch screen is used to control the motions of the bot. The bot is controlled wirelessly using an RF module .The RF module used is CC2500.

4 WIRE RESISTIVE TOUCH SCREEN:

The  touchscreen is a 4 wire analog resistive touchscreen. This means by touching the screen at one point, a resistance between each edge is formed for both the x and y axises. As you move your finger or stylus across the screen the resistance changes between opposing sides of each axis. By applying a voltage across each axis, a changing resistance results in a changing voltage. Thus a simple ADC on a microcontroller can be used to find x and y positions.

The four pins control 4 buss bars located around the peripheral of the touchscreen. In order to read either an x or a y position, two opposing bars need to be powered and a third orthogonal bar is used to measure the divided voltage.

This configuration means that the voltage, ground, and sense bar need to be continually switched in order to quickly read x and y positions.In our code vwill need to switch between the x and y pin assignments in order to quickly read the x and y positions.

For this use 2 pins of port A as adc input and 2 pins of port D for +5V. Then write code such that it gives digital value of the x and y coordinate of the touchscreen on the lcd screen when the touchscreenscreen is touched at a particular point.

WIRELESS MODULE CC2500:

The CC2500 module is used for wireless transmission. The bot is controlled from a remote place & is controlled from another controller kit  attached to the touch screen via the CC2500 module. The transmitter as well as the receiver is connected to one CC2500 module to control the bot wirelessly.

CONNECTION  WITH  MICROCONTROLLER:

x1 and y2 are connected to   pis 2 & 3 of PORT A & x2 & y1 are connected to pins 2 & 3of PORT D.

ALGORITHM  FOR  READING  TOUCH SCREEN:

As mentioned above the pins have to be switched between +5v and ground. Terminal x1 & y2 are connected at pins 2 & 3 of the PORT  A  & x2 & y1 are connected at pins 2 & 3 of PORT D.

When x coordinate is to be read x1 is given +5 v and x2 is connected to ground & hence they are defined as outputs through Data Direction Register (DDR) & the co-ordinate is read through y2 & hence it is defined as input pin.

When y coordinate is to be read y1 is given +5 v and y2 is connected to ground & hence they are defined as outputs through Data Direction Register (DDR) & the co-ordinate is read through x1 & hence it is defined as input pin.

PROGRAMMING:

> PHASE 1:

Initially we simply read the input through the touch screen. The touch screen is connected to the PORT A

and the cordinates are displayed at the screen .

PHASE 2:

Now we calibrated the touch screen so that any region can be selected for moving the bot.

PHASE 3:

Now we moved onto moving motors i.e controlling the bot using touch screen. In this we first calibrated the touch screen ,so as to decide the four directions of the bot. then these regions where defined as per the four directions and the bot was controlled via the touch.

PHASE 4:

Then we controlled the bot wirelessly with the help of CC2500 module and  touch screen.

Description:

The world is going mobile and we want to control everything without moving an inch.The main aim of the project will be to design a SMS driven automatic display . The message to be displayed is sent through a SMS with the help of a GSM module.And the message will be displayed on LCD display.

Basic working and hardware required:

The main components include microcontroller, GSM modem. These components are integrated with the display board and thus incorporate the wireless features. The GSM modem receives the SMS. The AT commands are serially transferred to the modem . In return the modem transmits the stored message through the COM port. The microcontroller validates the SMS and then displays the
message in the LCD display board.SIM300 is used as a GSM module.In the prototype model, LCD display is used for simulation purpose.

Applications: The main application of the project is that it helps in display of the message at notice boards situated at different locations through a single sms from the mobile, thereby it eliminates the wastage of paper and ensures the immediate transfer of information

Team Members:

Sanghshree Mesharm

Sneha Parihar

Sukhada Deshkar

PHASE I:

As our project is GSM based digital notice board,the first step was to get familiar with the AT commands for SIM300 module.First we got familiar with AT commands on HYPER TERMINAL .

To check if your GSM module is working or not the most basic command is AT and then press ENTER if OK is displayed it means your module is working. Our main objective was to send and receive messages.First we practiced it on HYPER TERMINAL and after gaining confidence on all AT commands we moved on to the Micro-controller.

AT COMMANDS USED:

AT press ENTER OK signifies your module is working properly.

AT+CMGF press ENTER will convert all hexadecimal code into TEXT format.

To send message AT+CMGS=”Recievers number” press ENTER “YOUR MESSAGE ” & ctrl Z/ESC .

NOTE: Mobile number should always start with “+91″  e.g”+918922234567″

To receive message AT+CMGR is used.

GSM MODULE (SIM-COM 300)

USB TTL TO SERIAL CONVERTOR

PHASE II:

Second phase was interfacing of GSM module with Micro-controller and programming of Micro-controller using AT commands. While programming we used fixed memory location EEPROM to store the message.In which the message on second position is deleted every time when a new message is received and gets stored in same position.

AT+CMGD =”position of message” is used to delete the message.

NOTE: 1)  ‘\r’ & ‘\n’ are used as “ENTER” while writing codes in c langauge.

2) 0x1A is for ctrl+Z

PHASE III:

The third and last phase was to display message on the LCD dispaly. As we are using 16×2 LCD display only 15 character csn be dispalyed on it so to view full message scrolling the message was very important so that whole message can be read.

PROJECT : BLUEBOT

TEAM NAME : 5 ULTIMATES

MEMBERS :

1. PIYUSH AWARI

2. ABHISHEK NERKAR

3. SWAPNIL WANJARI

4. SWAPNIL SHEGAMWAR

5.  SANKET MENDULE

HARDWARE USED :

1. 200RPM MOTOR WITH HIGH TORQUE

2. SERVO MOTOR

3. BATTERY 12.6 V 6000mAh

4. BLUETOOTH MODULE RN42

5. SAMSUNG GALAXY ACE(PHONE)

6.ATMEGA 16 BOARD

7.CHASSIS

8.USB TO TTL MODULE(WHILE CONTOLLING THROUGH PC)

9. BROAD WHEELS

SOFTWARE  USED :

1. AVR STUDIO

2. iPROG

3. SMARTCAM (PC, FOR VIDEO)

4. SMARTCAM(ANDROID, FOR VIDEO)

5. BLUESTICK CONTROL (ANDROID, FOR ANALOG AND MOTION SENSOR)

APPLICATION : 1. EASILY  TO CONTROL

2. CAN BE USED AS SPY CAMERA/SURVEILLANCE CAMERA

SOFTWARE BUDDIES :

1. PIYUSH AWARI

2. SWAPNIL SHEGAMWAR

HARDWARE DESIGNED BY :

1. ABHISHEK NERKAR

2. SWAPNIL WANJARI

3. SANKET MENDULE

DISCREPTION  :  THIS IS AN BLUETOOTH CONTROLLED ROBOT WHICH CAN BE CONTROLLED THROUGH MOBILE PHONE OR LAPTOP’S BLUETOOTH. A CAMERA  IS ALSO ATTACHED ON IT, THIS WILL TRANSMIT SIGNAL THROUGH BLUETOOTH ON LAPTOP OR PC. BY ATTACHING CAMERA ON IT , THIS WILL HELP IN NAVIGATING THE ROBOT FROM LONG DISTANCE. IN THIS PROJECT , WE ARE GOING TO CONTROL THE ROBOT THROUGH MOTION SENSOR OF SAMSUNG GALAXY ACE. THE DATA OF MOTION SENSOR TRANSMITS  THROUGH BLUETOOTH OF PHONE AND THE ROBOT WILL REACT ACCORDING TO THE MOTION SENSOR DATA IT RECEIVES.

 PHASE 1 :

WE SECLECTED PROJECT BASED ON BLUETOOTH CONTROLLED ROBOT WHICH WILL BE CONTROLLED WITH THE HELP OF PHONE’S( SAMSUNG GALAXY ACE, ANDROID ) MOTION SENSOR. WE SEARCHED A LOT IN ANDROID MARKET WHICH CAN SEND MOTION SENSOR’S DATA THROUGH BLUETOOTH AND WE SUCCEDED TO GET THAT APPLICATION . DURING THIS PERIOD WE TRIED ABOUT 10 TO 15 APPLICATIONS , AT THE END WE GOT TWO APPLICATIONS WHICH SUITS OUR NEEDS.

NOW WE HAVE BEEN PROVIDED A BLUETOOTH MODULE WHICH IS OUR RECEIVER WILL BE PLACED ON OUR BOT, IT IS AN RN42 BLUETOOTH MODULE.

RN42 BLUETOOTH MODULE

USB TO TTL SERIAL CONVERTER

WE DECIDED TO SPlIT UP OUR GROUP IN TWO SECTIONS i.e SOFTWARE AND HARDWARE. SOFTWARE BUDDIES WILL HANDLE ALL SOFTWARE STUFF WHATEVER THE ROBOT NEEDED TO WORK PERFECTLY. WE WERE ALSO PROVIDED WITH AN USB TO TTL SERIAL CONVERTER .  WE  DECODED THE DATA WHICH  TRANSMITTED BY THE APPLICATION THROUGH BLUETOOTH TO CONTROL ROBOT.  WE CONNECTED RN42 TO PC USING USB TO TTL CONVERTER, WE OPENED FLASH MAGIC SOFTWARE IN WHICH WHATEVER THE DATA TRANSMITTED FROM THE APPLICATON DISPLAYD ON IT’S OUTPUT SCREEN. USING THIS SOFTWARE WE SUCCEDED IN DECODING THE APPLICATION’S DATA.

ACCORDING TO THE DATA WE  WROTE A PROGRAM IN AVR STUDIO 5 AND COMPILED IT INTO HEX FILE. WE DUMPED THE DATA INTO MICROCONTROLLER ATMEGA 16 THROUGH ISP PROGRAMMER. WE  TOOK THE TEST RIDE OF OUR BOT AND IT WORKED VERY WELL.

IN ABOVE IMAGE YOU CAN SEE OUR ROBOT DRIVEN BY TWO 150RPM MOTORS, ON BOARD THERE IS AN RN42 IS CONNECTED AND A ANDROID PHONE (CONTROLLER). WE  USED UPTO 5 CONTROLLER APPLICATION BUT WE FELT COMFORTABLE IN APPLICATION NAMED   “BLUESTICK CONTROL”.

THESE ARE THE TWO SCREENS AVAILABLE IN THIS APPLICATION 1.BUTTON MODE , 2.TILT MODE. IN BUTTON MODE WE NEED TO TOUCH ON THE SCREEN AND IN TILT MODE APPLICATION USES THE MOTION SENSOR OF PHONE TO SEND DATA THROUGH BLUETOOTH.

BELOW IMAGE SHOWS THE FLOWCHART OF HOW  BLUEBOT WORKS.

HERE IS THE SOURCE CODE OF BLUEBOT.

#define F_CPU 16000000 // DEFINING CLOCK FREQUENCY OF MICROCONTROLLER

#include <avr/io.h>

#include <util/delay.h> // FOR INTRODUCING DELAY

#include “ilabsusart.h” // FOR WIRELESS DATA PROCESSING

#include <avr/interrupt.h> // FOR INTRODUCING INTERRUPT

char x;

SIGNAL(USART_RXC_vect)

{

x=UDR; //FOR STORING DATA IN UDR

}

int main(void)

{

DDRC=0xff; // DATA DIRECTION REGISTERS

PORTC=0xf0;

init_usart(103); //CALLING USART FUNCTION

sei(); // GLOBAL INTERRUPT ENABLE

while(1)

{

if(x==’8′)// FOR FORWARD

{

PORTC=0b00001001;

_delay_ms(50);

}

else

{

if(x==’6′)//FOR RIGHT TURN

{

PORTC=0b01010101;

_delay_ms(50);

}

else

{

if(x==’4′)//FOR LEFT TURN

{

PORTC=0b00001010;

_delay_ms(50);

}

else

{

if(x==’2′) //FOR REVERSE

{

PORTC=0b00000110;

_delay_ms(50);

}

else

{if (x==’0′) //FOR STOPPING

{

PORTC=0;

_delay_ms(50);

}

}

}

}

}

}

}

ALGORITHM OF PROGRAM

/* HERE PHASE I COMPLETES*/

PHASE 2 :

WE  MADE PROTOTYPE OF OUR BLUEBOT,  FOR THIS WE COMBINED TWO ROBOT CHASSIS . IN THIS PROTOTYPE CONSISTS OF FOUR 150RPM MOTORS.

WE ASSEMBLED ALL COMPONENTS OF OUR BOT AND THE COMBINED PRODUCT OF SOFTWARE AND HARDWARE IS SHOWN BELOW.

WATCH VIDEO :  http://www.youtube.com/watch?v=sXfaofurj70&feature=youtu.be

THIS IS PROTOTYPE OF BLUEBOT HAVING 4WD.

/*PHASE 2 COMPLETES */

PHASE 3 :

NOW WE ARE WORKING ON NEW CHASSIS OF BLUEBOT IN WHICH WE ARE INTRODUCING RACK AND PINION METHOD TO TURN THE BOT. IN OUR NEW DESIGN THE BOT WILL BE 2WD INSTEAD OF 4WD.

NEW CHASSIS OF BLUEBOT UNDER-CONSTRUCTION

Topic: Swarm Robotics

Aim: One slave robot follow master robot and completes the task of tracking the object through shortest distance.

Description:

This project is based on concept of Swarm Robotics. In this project two robots communicate to complete one task. The master Robot scans the grid and send the data through XBee RF module to the slave robot and the slave robot arrives at the destination by tracking the shortest distance.

We are using ATmega16 microcontroller and XBee RF module to build ‘Master-Slave’ robots and establish communication between them. The object is placed on the grid and the master robot will follow the straight long path and find the position of object and will communicate with slave robot to tell the position of object and slave robot will opt a shortest path to the object.

In the above image we have shown you how we displayed x and y coordinates of grid nodes and the direction in which the robot is following the grid.

Application:

1. Rescue application.

3. Industrial robot team work.

4. Networking.

Features:

1. Obstacle sensing.

2. Track follower.

3. Gathering.

4. Area coverage.

5. Track recording.

Hardware Requirements:

1. Robot-  ‘Master and Slave’ bot.

2. Ilabs MCU ATmega16- “Chotu-shree”.

3. Sensors-’Obstacle Detector’ and ‘Line Follower Quad’.

4. LCD 16X2 Display.

5. ‘XBee’-RFmodule.

Project By:

Shraddha P. malewar

Tejal H. Chowhan

Yashashree S. Wase

1)    Kunal D. Gaikwad

2)    Ashish R.Polke

3)    Kunal Ashok Ghiya

PROJECT AIM:-  Motion Control Robot

DESCRIPTION:-

This is a hand controlled robot. Using our hand up down left right we can move the robot. The robot tracks the change in the hand and moves accordingly. The robot will stop or find a different path to travel. The speed of the robot will increase or decrease with the increase or decrease in the speed of the accelerometer.

Hardware Used:-

1) Accelerometer Module(MMA7660) with CC2500 Module:-

Front view

Back View

2) CC2500 Module:-

3) 16×2 LCD Screen:-

4) AtMega16 Microcontroller:-

5) Chassis

6) 2 DC Motors

 7) Obstacle sensor:-

please see the video below:

Motion Control Robot

ATMEGA16

COMPONENTS:

4 wire resistive touchscreen,

Avr developmentboard,

graphical Lcd screen.

DESCRIPTION:

      4 WIRE RESISTIVE TOUCH SCREEN      

                      The PSP touchscreen is a 4 wire analog resistive touchscreen. This means by touching the screen at one point, a resistance between each edge is formed for both the x and y axises. As you move your finger or stylus across the screen the resistance changes between opposing sides of each axis. By applying a voltage across each axis, a changing resistance results in a changing voltage. Thus a simple ADC on a microcontroller can be used to find x and y positions.

The four pins control 4 buss bars located around the peripheral of the touchscreen. In order to read either an x or a y position, two opposing bars need to be powered and a third orthogonal bar is used to measure the divided voltage.

This configuration means that the voltage, ground, and sense bar need to be continually switched in order to quickly read x and y positions.In our code v will need to switch between the x and y pin assignments in order to quickly read the x and y positions.

For this use 2 pins of port A as adc input and 2 pins of port D for +5V. Then write code such that it gives digital value of the x and y coordinate of the touchscreen on the lcd screen when the touchscreenscreen is touched at a particular point.

ALGORITHM:

FOR X-CORDINATE :

Declare x1 and x2 as output pins.

Declare y1 and y2 pins as input pins and take adc input from the pin connected to the adc port.

 FOR  Y-CORDINATE:

Declare y1 and y2 as output pins.

Declare x1  and x2 as input pins and take adc input from the pin connected

to the adc port.

INTERFACING WITH ATMEGA16 :

            In here connect x1 and y2 to the adc port of atmega16. In atmega16 full port A is adc port select any two pins as the required pins.

For x2 and y1 use pins of port D for giving high logic.

In order to read the value the DDR(direct addressing resistor) of resp. pin of port A is kept low. However while taking output the value of DDR is kept high like consider while measuring X coordinate : the DDR values of x1 and x2 are high and the value of DDR of y2 is low.

Also for PORT specifications consider while measuring X co-ordinate : the PORT  pin value of x2 is high and the value of PORT pin of x1 and y2 is low.

When code is written it is written in such a manner that it reads x value and then the y value so we have to continuously between the DDR values and the PORT values.

 PHOTOS OF LCD READING ADC VALUES:

BELOW ARE THE PICS FOR THE RESP. TOUCHS MADE ON THE SCREEN

1.

2.

3.

4.