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T102-remote controlled tracked vehicle (Robo-platform) Print
Created by Damian Szymański ( treker (at) dioda (dot) com (dot) pl )

More BASCOM related projects can be found here (in Polish language):
The project show that it is possible to build modules for remote control of long-range (a minimum of 5-8km max - global), while remaining within the amount 15PLN (electronics) and many parts are available in the home. For this purpose were used the following things: 

  • Steering-receiver module (ATtiny2313, MT8870, L293D) 
  • 2 converted model servomechanisms
  • Spent bicycle chain and sprocket. 
  • 2 PMR (private mobile radio [shortwave]) 
  • 4xAA 2700mAh 
  • 4xAAA 900mAh 
  • Body made of aluminum and steel bolts 






Electronics. 

A control system: 


DTMF Decoder: 


H-bridge:



A few words about the principle of action. 

To send DTMF commands is using MFSK modulation (called Multiple frequency-shift keying).

DTMF signal is designed to transmit as audio track - so that is ideally suited for the transmission of all audio equipment (telephones, walkie-talkies, CB radios, VoIP, etc.) In my platform I used two walkie-talkies, which practically do not lend themselves to talk (a terrible quality of the call). In this way, they got a new life, because they send a DTMF tone perfectly. 

Transmitter operates as a set of two devices - shortwave and DTMF generator - phone nokia 6120. These outputs are connected to headsets (jack2.5-jack2.5 cable connected to the speaker of the Nokia and the microphone from the walkie-talkies) 

Using all the audio device, among other things, we can record the robot's path for editing etc, etc. 

For decoding DTMF (Nokia keyboard sound) is using MT8870 
At the output of StD MT8870 high state occurs when is received and decoded the correct DTMF code, and at the terminals q1-q4 is decoded state.. 
Example: 
If you press the button on the phone - at the tip of StD at the terminals q1-q4 appears 1001 
if you release the button on the phone, on StD 0 at the terminals q1-q4 appears 1001 

Processing of these five zeros/ones and decoding deals ATtiny 2313 
Example of program:: 

$regfile = "2313def.dat"
$crystal = 8000000                                          'okreslenie uC
'$noramclear

Config Portb.= Input
Config Portb.= Input
Config Portb.= Input
Config Portb.= Input
Config Portd.= Input
Config Portd.= Output
Config Portd.= Output
Config Portd.= Output
Config Portd.= Output


Motor_lp Alias Portd.2                                      'Okreslenie portów sterujacych silnikami przez mostek
Motor_lt Alias Portd.3
Motor_pp Alias Portd.4
Motor_pt Alias Portd.5
 'Okreslenie portów wejsciowych (dekoder)
Sygnal Alias Pinb.3
Alias Pinb.2
Alias Pinb.1
Alias Pinb.0
Alias Pind.6

 'Polecenia wydawane na podstawie stanów wejsciowych:
Do

 If Sygnal = 1 And A = 0 And B = 0 And C = 1 And D = 0 Then
 Gosub Prosto

 Elseif Sygnal = 1 And A = 0 And B = 1 And C = 1 And D = 0 Then 'Skrec w lewo
 Gosub Prawo


 Elseif Sygnal = 1 And A = 0 And B = 1 And C = 0 And D = 0 Then 'Skrec w lewo
 Gosub Lewo



 Elseif Sygnal = 1 And A = 1 And B = 0 And C = 0 And D = 0 Then 'Skrec w prawo
 Gosub Tyl



 Elseif Sygnal = 0 Then
 Gosub Stopp

 End If
Loop


Prosto: 'Tryby pracy silników dla poszczególnych ruchów
Motor_lt = 0
Motor_pt = 1
Motor_pp = 0
Motor_lp = 1
Return

Lewo:
Motor_lt = 1
Motor_pt = 1
Motor_pp = 0
Motor_lp = 0
Return

Prawo:
Motor_lt = 0
Motor_pt = 0
Motor_pp = 1
Motor_lp = 1
Return

Stopp:
Motor_lt = 0
Motor_pt = 0
Motor_pp = 0
Motor_lp = 0
Return

Tyl:
Motor_lt = 1
Motor_pt = 0
Motor_pp = 1
Motor_lp = 0
Return



In future there is a plans to include communications platform in the other direction, using RC5 and infrared - the platform is a guinea pig for telecommunications. Soon it will be the robot - with Sharp sensors for the front and back using RC5 and it will send information about the distance of objects from the vehicle and after a long inactivity he try to leave the maze.