1. 

   abhijeet
   Member

   #include<avr/io.h>
   #include<compat/deprecated.h>
   #include<multiutil.h>
   #include<util/delay.h>
   int x=0;
   int main(void)
   {
   DDRC=0b00001111;
   DDRD=0b00110000;
   lcd_init();
   init_adc();
   int adc_x;
   init_pwm(8);
   OCR1A=150;
   OCR1B=150;
   while(1)
   {

   adc_x=read_adc(2);
   lcd_clrscr();
   lcd_printi(adc_x);
   _delay_ms(100);

   if(420<x<=950)
   {
   PORTC=0b00000101;
   }
   if(x<=420)
   {
   PORTC=0b00000100;
   }
   if(x>950)
   {
   PORTC=0b00000001;
   }
   }
   }
   ths is da program we have writen for walle to move forward,letf n right
   whr is da problm in program as it is unable to tke decisions

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   Posted 4 months ago #
2. 

   rudr_p
   Member

   here u are taking the adc reading in "adc_x
   and if conditions has only x so x is only garbage value.i guess that might solve your problem

   Posted 4 months ago #
3. 

   kanchan dulhani
   Member

   sir, our obstacle sensor is not working ,the led is continuously glowing whether the obstacle is there or not.. even the pink reflection through the mobile camera is not visible

   Posted 4 months ago #
4. 

   pallavi_ghode
   Member

   sir, our bot is following a wall but in a shaky(like ziczac)format,so what should we do to run the bot correctly in straight line.

   Posted 4 months ago #
5. 

   pallavi_ghode
   Member

   sir,please give us solution........bot is following shaky path....what should we do

   Posted 4 months ago #
6. 

   rudr_p
   Member

   @kanchan there might be some problem with your sensors check its connection again .
   @pallavi how can anybody solve your prob if u don show us code

   Posted 4 months ago #
7. 

   Hars
   Member

   please provide your code ......

   "Embedded Kida"

   Posted 4 months ago #
8. 

   pallavi_ghode
   Member

   #include<avr/io.h>
   #include<compat/deprecated.h>
   #include<multiutil.h>
   #include<util/delay.h>
   int main(void)
   {
   DDRC=0XFF;
   DDRD=0b00110000;
   init_pwm(10);
   OCR1A=500;
   OCR1B=500;
   lcd_init();
   init_adc();
   int current=500,fact=1,err=0;
   int max=800;
   int ideal=500;
   while(1)
   {
   current=read_adc(2);
   lcd_goto(2,2);
   lcd_printi(current);
   _delay_ms(100);
   err=ideal-current;
   if(err>0)
   {
   OCR1A=max-(err*fact);
   OCR1B=max;
   }
   else if(err<0)
   {
   OCR1B=max-(err*fact);
   OCR1A=max;
   }
   else
   {
   OCR1A=max;
   OCR1B=max;
   }
   }
   }

   sir this is the code we have written in prg

   Posted 4 months ago #
9. 

   Hars
   Member

   @pallavi_ghode
   the logical flow may be write...
   Please try correct sensor position....
   Also try the algo for less MAX_SPEED..
   also try this same for different values of factor...

   Posted 4 months ago #
10. 

    aditya fuke
    Member

    sir we followed the wall by taking the iteration but
    still our bot is shaking
    what do we do....?

    Posted 4 months ago #
11. 

    pallavi_ghode
    Member

    sir,we tried the algorithem for less max speed ,but still our bot is shaking.
    bot is not following forward path it jst going right and left,sir please give us soln.

    Posted 4 months ago #
12. 

    pallavi_ghode
    Member

    sir along with above code we have added additional statement ,

    #include<avr/io.h>
    #include<compat/deprecated.h>
    #include<multiutil.h>
    #include<util/delay.h>
    int main(void)
    {
    DDRD=0b00110000;
    DDRC=0XFF;
    OCR1A=800;
    OCR1B=800;
    init_pwm(10);
    init_adc();
    int current,fact=0.8,err;
    int max=800;
    int ideal=450;
    lcd_init();
    while(1)
    {
    current=read_adc(2);
    lcd_goto(2,2);
    lcd_printi(current);
    _delay_ms(100);
    err=ideal-current;
    if(err>0)
    {
    PORTC=0b00000100; //additional statement//
    OCR1A=max-(err*fact);
    OCR1B=max;

    }
    else if(err<0)
    {
    PORTC=0b00000010;//additional statement//
    OCR1B=max-(err*fact);
    OCR1A=max;

    }
    else if(err==0)
    {
    PORTC=0b00000110;//additional statement//
    OCR1A=max;
    OCR1B=max;

    }
    }
    }

    sir ,wheather it will affect our algo...?
    we tried this code also but... not getting the soln...

    Posted 4 months ago #
13. 

    Hars
    Member

    @ pallavi
    I think additional statement may not help you out.....
    the algo is quit fine ...try a good combinations of Each variable ... its all upto you how you can make a good recipe .....

    Posted 4 months ago #
14. 

    ameyamuley
    Member

    Try Different Ranges & Most Imp. Concentrate over PWM....

    for reducing Shaking (ZIGZAC) slower the respective motor PROPORTIONALLY usig PWM which will definitely reduce or even stop ur Bot from shaking Problem.

    -Techno Criminal

    "Techno-Criminal"...!!!

    Posted 4 months ago #
15. 

    kanchan dulhani
    Member

    Sir, WE ARE MAKING THE ALGO BY USING FUNCTIONS.. AND IN IF-ELSE LADDER WHEN THE FIRST CONDITION GETS TRUE IT DOESNT CHECK THE NEXT ONE,EVEN THOUGH THE FUNCTION IS CALLED

    Posted 4 months ago #
16. 

    rudr_p
    Member

    I am sure but pwm has double buffer due to which it cannot be changed immediaty check the datasheet

    Posted 4 months ago #
17. 

    rudr_p
    Member

    I mean I am not sure

    Posted 4 months ago #
18. 

    komal Nandurkar
    Member

    #include<avr/io.h>
    #include<compat/deprecated.h>
    #include<ilabs/multiutil.h>
    #include<util/delay.>

    int main(void)
    {
    DDRC=0X0F;//to initialize port c
    DDRD=0b00110000;//to initialize port d
    init_pwm(8);
    OCR1A=50;//speed of left side motor
    OCR1B=50;//right
    lcd_init();//initialize LCD
    init_adc();//Function to init lcd ie to start display ,4 bit mode, cursor ON, etc
    int x=550,error=0;// min range for sensor
    int m=700;//maximum limit
    int ideal=550;

    while(1)
    {
    x=read_adc(2);

    lcd_clrscr();//to clear lcd screen
    lcd_printi(x);
    _delay_ms(10);
    error=ideal-x;
    if(error<0)//move right
    {
    OCR1B=m-(error);
    OCR1A=m;

    }
    else if(error>0)//move left
    {
    OCR1A=m-(error);
    OCR1B=m;

    }
    else//forward
    { OCR1A=m;
    OCR1B=m;

    }

    }
    }
    sir our motor is not responding!!!!!!!!

    Posted 4 months ago #
19. 

    rudr_p
    Member

    try changing the frequency of pwm and also check the connections. what is the display on lcd ? also write the value if OCRx on lcd so you come that u'll coming to knw whats happening.

    Posted 4 months ago #
20. 

    Anonymous
    Unregistered

    first display values of OCR1A & OCR1B on LCD display & check whether the values of OCR1A & OCR1B varies or not...??

    use some (Tolerance) Range i.e. instead of writing if(error<0) write if(error<-10) if(error>10) & if((error>-11)&(error<11))...

    The Concept is So Simple ur OCR1A & 1B values should varies in proportion with the distance from wall.

    -Techno Criminal

    Posted 4 months ago #
21. 

    Mahesh
    Administrator

    You haven't given any data on PORTC, if you will not provide any data then how will the motors work? Write PORTC=foreward, before while(1)

    Mahesh Murty
    Senior Fellow
    ilabs The Robotics and Embedded Systems Research Lab

    Posted 4 months ago #

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