wirelesspccontrolledmaneuveringusing8051microcontrollerandparallelportprogramming

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Mini Project Report on

WIRELESS PC CONTROLLED

ROBOT MANOEUVRING

By

ARSH ARAFAAT (200412025)

ARUNABH MISHRA (200412026)

SAURABH SAH (200412109)

SHASHANK SHEKHAR (200412114)

In partial fulfillment of the requirements for the award of the degree

Bachelor of Technology in Electronics and Communication (2008)

Under the guidance of

Prof. Dr. R N Bera (HOD)

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGG.

SIKKIM MANIPAL INSTITUTE OF TECHNOLOGY

MAJITAR, RANGPO, EAST SIKKIM 737132


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(A Constituent College of Sikkim Manipal University of Health, Medical & Technological Sciences)

CERTIFICATE

This is to certify that Mr. Arsh Arafaat (Regd. No. 200412025), Mr. Arunabh Mishra (Regd. No.

200412026), Mr.Saurabh Sah (Regd. No. 200412109) and Mr. Shashank Shekhar (Regd. No. 200412114)

students of Bachelor of Technology, VII Semester, Department of Electronics and Communication of

Sikkim Manipal Institute of Technology, have pursued the project titled Image compression using Discrete

Cosine Transformationunder the guidance and supervision of Prof. Dr. R N Bera (HOD) and the report

has been submitted in partial fulfillment of requirements for the award of the degree, Bachelor of

Technology in Electronics and Communication by Sikkim Manipal University of Health, Medical &

Technological Sciences in the Year 2008.

Prof. Dr. R N Bera Prof. Dr R. Bera

Project Guide Head of the department

Dept of E&C, SMIT.


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vii) DC Motor

viii) DC Power Supply

ix) Voltage Regulator(7805)

x) Robot Body

9) Softwares Used

i) Keil C

ii) Dev C++

10) Programs and Flow Charts

i) User Terminal

ii) Transmitting Microcontroller

iii) Receiving Microcontroller

11) Conclusion

12) Bibliography

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ACKNOWLEDGEMENT

We take this opportunity to express great sense of gratitudeto Brig. Dr. S.N.

Mishra (Director, Sikkim Manipal Institute of Technology) and Prof. Dr. R.N.

Bera (HOD, Electronics and communication Engineering, Sikkim Manipal

Institute of Technology) for providing us the opportunity to carry out this

project.

Now we also extend our heartiest thanks to our project guide, Prof Dr. R.N.

Bera, for his invaluable guidance, support and encouragement during working

on the project wireless controlled Robot. His effective planning, coordination,

skill, knowledge and experience have made it possible to successfully

complete the project within the stipulated time. We are also indebted to all the

faculty members of ECE and SMIT as a whole and everything we got from

here.

Arsh Arafaat (200412025)

Arunabh Mishra (200412026)

Saurabh Sah (200412109)

Shashank Shekhar (2004120114)

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Introduction

In a laymans word, a robot is a body which performs a task which one wants

it to do. According to dictionary we can say :

A robot is a mechanical or virtual, artificial agent. It is usually an

electromechanical system, which, by its appearance or movements, conveys

a sense that it has intent or agency of its own.

While there is still discussion about which machines qualify as robots, a typicalrobot will have several, though not necessarily all of the following properties:

is not 'natural' i.e. artificially createdcan sense its environment, and manipulate or interact with things in it

has some degree of intelligence or ability to make choices based onthe environment, often using automatic control or a preprogrammedsequence

is programmable

moves with one or more axes of rotation or translation

makes dexterous coordinated movementsappears to have intent or agency

What about a robot which reaches the destination which you want it to reach

following the directions which you give it while comfortably sitting on your

computer terminal! That surely would be some relief to you. The system which

we have planned to design is meant for the same task.

This system can receive commands from the PC directly wherein the

commands are fed by the user specifying the directions in which the robot is to

move to reach its destination without bumping into any obstacle on its way.

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http://en.wikipedia.org/wiki/Machinehttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Artificialhttp://en.wiktionary.org/wiki/agenthttp://en.wikipedia.org/wiki/Electromechanicalhttp://en.wikipedia.org/wiki/Systemhttp://en.wikipedia.org/wiki/Intentionhttp://en.wiktionary.org/wiki/agencyhttp://en.wikipedia.org/wiki/Naturalhttp://en.wikipedia.org/wiki/Sensorhttp://en.wiktionary.org/wiki/environmenthttp://en.wiktionary.org/wiki/manipulationhttp://en.wikipedia.org/wiki/Interactionhttp://en.wikipedia.org/wiki/Intelligencehttp://en.wikipedia.org/wiki/Computer_programhttp://en.wikipedia.org/wiki/Axis_of_rotationhttp://en.wikipedia.org/wiki/Translation_%28geometry%29http://en.wikipedia.org/wiki/Dexterityhttp://en.wikipedia.org/wiki/Motion_%28physics%29http://en.wikipedia.org/wiki/Motion_%28physics%29http://en.wikipedia.org/wiki/Dexterityhttp://en.wikipedia.org/wiki/Translation_%28geometry%29http://en.wikipedia.org/wiki/Axis_of_rotationhttp://en.wikipedia.org/wiki/Computer_programhttp://en.wikipedia.org/wiki/Intelligencehttp://en.wikipedia.org/wiki/Interactionhttp://en.wiktionary.org/wiki/manipulationhttp://en.wiktionary.org/wiki/environmenthttp://en.wikipedia.org/wiki/Sensorhttp://en.wikipedia.org/wiki/Naturalhttp://en.wiktionary.org/wiki/agencyhttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Systemhttp://en.wikipedia.org/wiki/Electromechanicalhttp://en.wiktionary.org/wiki/agenthttp://en.wikipedia.org/wiki/Artificialhttp://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Machine


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BASIC BLOCK DIAGRAM

BASIC CONCEPT

The basic concept is just the overview of the above basic block diagram. As

we can see in the above block diagram we take the the commands from the

user through a computer and generate some signals. We send these signals

to the transmitter through a microcontroller. Transmitter sends these signals to

the receiver. The receiver receives the signal and sends it serially to the

receiving microcontroller. The receiving microcontroller interprets the signal

and generates respective commands. These commands are sent to the motor

driving circuit. The motor driver circuit consists of two motors and two H-

Bridges connected to each motor. H-Bridge is a circuit used to drive the motor

in both directions without reversing the polarity.

So this way we are trying to control the motion of the robot. This a basic way

by which we can control the motion.

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ALGORITHM

1. START

2. Get the input from the user.

3. Compare the user input with the respective command.

4. According to the command, generate a signal.

5. Send the generated signal to the parallel port of the computer.

6. Receive the signal from the parallel port of the transmitting

microcontroller.

7. According to the input generate signals to be transmitted in the

microcontroller.

8. Send the generated signal to the transmitter from the serial port of the

microcontroller.

9. Receive the signal from the serial port of the receiving microcontroller.

10. Check the signals according to the transmitted data and generate

commands for the motor.

11. Send generated signal to the motor driving circuit from the

microcontroller.

12. If command is to exit go to STEP 14 else go back to the STEP 2.

13. STOP

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BASIC BLOCKS

Mother controller(Pentium 4) In the computer

Transmitter unit

1) Transmitting Microcontroller

2) Transmitter

Receiver unit

1) Receiving Microcontroller

2) Reciever

Motor unit

1) H-Bridge

2) DC Motors

On-board power supply

1) DC Battery

2) Voltage Regulator

Robot body

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DETAILED BLOCK DIAGRAM:

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DETAILS OF THE COMPONENTS

1) Mother controller (Pentium 4)

Produced:From 2000 to2008

Manufacturer: Intel

CPU speeds:1.3 GHz to3.8 GHz

FSB speeds: 400 MT/s to1066 MT/s

Instruction set: x86 (i386),x86-64

Microarchitecture:

Net Burst

The Pentium 4 brand refers to Intel's single-core mainstream desktop andlaptop CPUs introduced on November 20, 2000 (August 8, 2008 is the date oflast shipments of Pentium 4s). They had the 7th-generation architecture -called NetBurst - which was the company's first all-new design since 1995,when the Intel P6 architecture of the Pentium Pro branded CPUs had beenintroduced. The NetBurst differed from the preceding Intel P6 - of CPUs

branded Pentium III, II, etc. - by featuring a very deep instruction pipeline toachieve very high clock speeds (up to 4 GHz) limited only by max. powerconsumption (TDP) reaching up to 115 W in 3.63.8 GHz Prescotts andPrescotts 2M (a high TDP requires an additional cooling that can be noisy orexpensive). In 2004, the initial 32-bit x86 instruction set of the Pentium 4branded microprocessors was extended by the 64-bit x86-64 set.

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2) 8051 Microcontroller

Intel 8051 is CISC architecture which is easy to program in assembly

language and also has a good support for High level languages. The memory

of the microcontroller can be extended up to 64k. This microcontroller is one

of the easiest microcontrollers to learn.

The 8051 microcontroller is in the field for more than 20 years. Intel 8051 is

CISC architecture which is easy to program in assembly language and also

has a good support for High level languages. The memory of the

microcontroller can be extended up to 64k.

Architecture of 8051

Architecture is must to learn because before learning new machine it is

necessary to learn the capabilities of the machine. This is some thing like

before learning about the car you cannot become a good driver. The

architecture of the 8051 is given below.

The 8051 doesnt have any special feature than other microcontroller. The

only feature is that it is easy to learn. Architecture makes us to know about the

hardware features of the microcontroller.

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The features of the 8051 are

4K Bytes of Flash Memory

128 x 8-Bit Internal RAM

Fully Static Operation: 1 MHz to 24 MHz

32 Programmable I/O Lines

Two 16-Bit Timer/Counters

Six Interrupt Sources (5 Vectored)

Programmable Serial Channel

Low Power Idle and Power Down Modes

The 8051 has a 8-Bit CPU that means it is able to process 8 bit of data at a

time. 8051 has 235 instructions.

Some of the important registers and their functions are

ACCUMULATOR- All logical & arithmetical operations

B-Mainly used in Multiplication & Division

Program Status Word (PSW)- Keeps current status of ALU

Stack Pointer (SP) -Points the Stack

Program Counter (PC)- Location of the next instruction

Data Pointer (DPTR) -Points the Location of the Data

Every microprocessor & microcontroller uses clock signals. The clock signals

are used to synchronize CPU with other peripherals in the CPU. Clock signals

are very much important for a time critical jobs. If the oscillator used is not of

good quality we will be surely loosing lots of data in serial communication.

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Pin diagram

(12)


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Power supply

8051 can handle power supply of 3.5 volts to 7 volts with no problem. Always

use a Decoupling Capacitor between the Power supply and the Ground.

Decoupling capacitors are used to avoid the spikes. Pin 40 is for VCC and Pin

20 is for Gnd.

Reset Circuitry

As soon as you give the power supply the 8051 doesnt start. You need to

restart for the microcontroller to start. Restarting the microcontroller is nothing

but giving a Logic 1 to the reset pin at least for the 2 clock pulses. So it isgood to go for a small circuit which can provide the 2 clock pulses as soon as

the microcontroller is powered.

This is not a big circuit we are just using a capacitor to charge the

microcontroller and again discharging via resistor.

CrystalsCrystals provide the synchronization of the internal function and to the

peripherals. Whenever ever we are using crystals we need to put the

capacitor behind it to make it free from noises. It is good to go for a 33pf

capacitor.

We can also resonators instead of costly crystal which are low cost and

external capacitor can be avoided. But the frequency of the resonators varies

a lot. And it is strictly not advised when used for communications projects. The8051 operates based on an external crystal. This is an electrical device which,

when energy is applied, emits pulses at a fixed frequency. One can find

crystals of virtually any frequency depending on the application requirements.

When using an 8051, the most common crystal frequencies are 12 megahertz

and 11.059 megahertz--with 11.059 being much more common.

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3) Parallel port

We have used the parallel port of the computer to send the signal from

the mother controller(Pentium 4) to the transmitter unitThe pins from 2-9 were used to send the signal to the transmitter and18-25 pins were grounded

The pin configuration and register orientation of parallel port is givenbelow:

Parallel communication

In telecommunications and computer science,parallel communications is amethod of sending several data signals over a communication link at one time.It contrasts with serial communication; this distinction is one way of severalways of characterizing a communications channel.

The basic difference between a parallel and a serial communication channel is

the number of distinct wires or strands at the physical layer used forsimultaneous transmission from a device. Parallel communications impliesmore than one such wire/strand, in addition to a ground connection.

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http://en.wikipedia.org/wiki/Telecommunicationshttp://en.wikipedia.org/wiki/Computer_sciencehttp://en.wikipedia.org/wiki/Serial_communicationhttp://en.wikipedia.org/wiki/Channel_%28communications%29http://en.wikipedia.org/wiki/Physical_layerhttp://en.wikipedia.org/wiki/Physical_layerhttp://en.wikipedia.org/wiki/Channel_%28communications%29http://en.wikipedia.org/wiki/Serial_communicationhttp://en.wikipedia.org/wiki/Computer_sciencehttp://en.wikipedia.org/wiki/Telecommunications


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Amplitude modulation (AM) is a technique used in electroniccommunication, most commonly for transmitting information via a radio carrierwave. AM works by varying the strength of the transmitted signal in relation to

the information being sent.

In its basic form, amplitude modulation produces a signal with powerconcentrated at the carrier frequency and in two adjacent sidebands.

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http://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Sidebandhttp://en.wikipedia.org/wiki/Sidebandhttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Radio


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5) Reciever

The RX3310A is a fully integrated, amplitude-shift-keying (ASK) modulation,

single chip receiver. It is designed to operate in a variety of low power radio

applications. All popular radio frequencies from 250 MHz to 450 MHz may be

supported by simply choosing the appropriate external components. Particular

emphasis has been placed on low current consumption. Average current

consumption is 2.6 mA in normal operation mode and 25 mA in power down

mode under VCC=3.0volts.

Features

Wide frequency range: 250 MHz to 450 MHz

High sensitivity

Low power consumption

Automotive temperature range

High integration level requiring few and inexpensive externalcomponents

SOP 18L package or SSOP 20L package

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Pin diagram

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6) H-Bridge

To control a dc motor we have to first convert digital output to a signal whichcan run motors so we have used the H-bridge. Here we have a simple H-bridge circuit. The motor is denoted by M and the input signals are provided at

A and B respectively.

An H-bridge is an electronic circuit which enables DC electric motors to berun forwards or backwards. These circuits are often used in robotics. H-bridges are available as integrated circuits, or can be built from separatecomponents.

Structure of a H-bridge (highlighted in red)

The two basic states of a H-bridge.

The term "H-bridge" is derived from the typical graphical representation ofsuch a circuit. An H-bridge is built with four switches (solid-state ormechanical). When the switches S1 and S4 (according to the first figure) areclosed (and S2 and S3 are open) a positive voltage will be applied across themotor. By opening S1 and S4 switches and closing S2 and S3 switches, this

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voltage is reversed, allowing reverse operation of the motor. Using thenomenclature above, the switches S1 and S2 should never be closed at thesame time, as this would cause a short circuit on the input voltage source. Thesame applies to the switches S3 and S4. This condition is known as shoot-through. A solid-state H-bridge is typically constructed using reverse polarity

devices (i.e., PNP BJTs or P-channel MOSFETs connected to the highvoltage bus and NPN BJTs or N-channel MOSFETs connected to the lowvoltage bus).

The most efficient MOSFET designs use N-channel MOSFETs on both thehigh side and low side because they typically have a third of the ONresistance of P-channel MOSFETs. This requires a more complex designsince charge pump circuits must be used to drive the gates of the high sideMOSFETs. However, integrated circuit MOSFET drivers like the HarrisSemiconductor HIP4081A make this easy.

Often 2 transistors are connected together in a similar configuration as the 2transistors connected to one end of the motor. Such a configuration is called a"half bridge". A half bridge is used in some switched-mode power supply thatuse synchronous rectifier, in switching amplifiers -- and of course, 2 halfbridges are used to make a whole H-bridge.

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http://en.wikipedia.org/wiki/PNP_transistorhttp://en.wikipedia.org/wiki/Bipolar_junction_transistorhttp://en.wikipedia.org/wiki/MOSFEThttp://en.wikipedia.org/wiki/Charge_pumphttp://en.wikipedia.org/wiki/Switched-mode_power_supplyhttp://en.wikipedia.org/wiki/Synchronous_rectifierhttp://en.wikipedia.org/wiki/Switching_amplifierhttp://en.wikipedia.org/wiki/Switching_amplifierhttp://en.wikipedia.org/wiki/Synchronous_rectifierhttp://en.wikipedia.org/wiki/Switched-mode_power_supplyhttp://en.wikipedia.org/wiki/Charge_pumphttp://en.wikipedia.org/wiki/MOSFEThttp://en.wikipedia.org/wiki/Bipolar_junction_transistorhttp://en.wikipedia.org/wiki/PNP_transistor


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7) DC Motor

We have used two DC geared motors with power ratings 5-12V.

The two motors are placed opposite to each other in a straight alignmentwhich means we will have to provide them with opposite polarity to movethe body in a straight line.

To turn the body we have to provide power to one of the motor at a timedepending on the left or the right turn

8) DC Battery

Lead Rechargeable BatteryWorking Voltage : 12V

1.3 Ampere (less than 0.99amp at startup)

20 Hours Backup

Approximate weight : 500 gms (feasible to be mounted on the body).

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9) Voltage regulator(IC 7805)

IC 7805 is a voltage regulator which gives us constant 5V provided it is givena voltage more than 5V. It is a three terminal device with one pin ground oneas input voltage and one as output voltage i.e. 5V.

A voltage regulator is an electrical regulator designed to automaticallymaintain a constant voltage level.

It may use an electromechanical mechanism, or passive or active electroniccomponents. Depending on the design, it may be used to regulate one ormore AC or DC voltages.

Electronic symbolfor Voltage regulator

With the exception of shunt regulators, all modern electronic voltageregulators operate by comparing the actual output voltage to some internalfixed reference voltage. Any difference is amplified and used to control theregulation element. This forms a negative feedback servo control loop. If theoutput voltage is too low, the regulation element is commanded to produce ahigher voltage. For some regulators if the output voltage is too high, theregulation element is commanded to produce a lower voltage; however, many

just stop sourcing current and depend on the current draw of whatever it isdriving to pull the voltage back down. In this way, the output voltage is heldroughly constant. The control loop must be carefully designed to produce thedesired tradeoff between stability and speed of response.

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http://en.wikipedia.org/wiki/Electricityhttp://en.wikipedia.org/wiki/Regulator_%28automatic_control%29http://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Alternating_currenthttp://en.wikipedia.org/wiki/Direct_currenthttp://en.wikipedia.org/wiki/Electronic_symbolhttp://en.wikipedia.org/wiki/Negative_feedbackhttp://en.wikipedia.org/wiki/Control_theoryhttp://en.wikipedia.org/wiki/Control_theoryhttp://en.wikipedia.org/wiki/Negative_feedbackhttp://en.wikipedia.org/wiki/Electronic_symbolhttp://en.wikipedia.org/wiki/Direct_currenthttp://en.wikipedia.org/wiki/Alternating_currenthttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Regulator_%28automatic_control%29http://en.wikipedia.org/wiki/Electricity


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10) Robot Body

It is a three wheel body with two wheels attached to two DC Motors at the

posterior of the body and a castor wheel in the front. The three wheels are

attached to a polyacrlic sheet. Polyacrlic sheet is a light plastic sheet with high

tensile strength which makes it advantageous to use to make robot bodies.

The motors used are DC Motors with specifications as mentioned above. The

wheels attached to the motors are plastic wheels which are light and tough.

The can be easily attached to the motors shaft using a adhesive. The wheel in

the front is a castor wheel. The castor wheel is a free rotating wheel with two

dimensional degree of freedom i.e. it can move in any direction depending on

the direction of force on a plane.

The body of the robot should be levelled with respect to a plane surface andwheels should placed according to the centre of the mass of the body. So that

the robot can move in a specified direction with optimum speed without

changing its direction due to imbalance.

Below is a diagram how a robot body will look like:

Fig: ROBOT BODY

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SOFTWARES

Softwares used:

1. KEIL C

Keil development tools for the 8051 Microcontroller Architecture support every

level of software developer from the professional applications engineer to the

student just learning about embedded software development.

The industry-standard Keil C Compilers, Macro Assemblers, Debuggers, Real-

time Kernels, Single-board Computers, and Emulators support all 8051

derivatives and help you get your projects completed on schedule.

The Keil 8051 Development Tools are designed to solve the complex

problems facing embedded software developers.

When starting a new project, simply select the microcontroller you usefrom the Device Database and the Vision IDE sets all compiler,assembler, linker, and memory options for you.

Numerous example programs are included to help you get started withthe most popular embedded 8051 devices.

The Keil Vision Debugger accurately simulates on-chip peripherals(IC, CAN, UART, SPI, Interrupts, I/O Ports, A/D Converter, D/AConverter, and PWM Modules) of your 8051 device. Simulation helpsyou understand hardware configurations and avoids time wasted onsetup problems. Additionally, with simulation, you can write and testapplications before target hardware is available.

When you are ready to begin testing your software application withtarget hardware, use the MON51, MON390, MONADI, or FlashMON51Target Monitors, the ISD51 In-System Debugger, or the ULINK USB-

JTAG Adapter to download and test program code on your targetsystem.

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2. DEV C++

Dev-C++is a full-featured Integrated Development Environment (IDE) for the

C/C++ programming language. It uses Mingw port of GCC (GNU Compiler

Collection) as it's compiler. It can creates native Win32 executables, either

console or GUI, as well as DLLs and static libraries. Dev-C++ can also beused in combination with Cygwin or any other GCC based compiler.

Dev-C++ features are:

Support GCC based compilers (Mingw included)

Integrated debugging (with GDB)

Support for multiple languages (localization)

Class and Debug variable Browser

Code Completion

Function Listing

Project Manager

Customizable syntax highlighting editor

Quickly create Windows, console, static libraries and DLL

Support of templates for creating your own project types

Make file creation

Edit and compile Resource file

Tool Manager

Find and replace facilities

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PROGRAMS USED:

USER TERMINAL PROGRAM

RECEIVING MICROCONTROLLER PROGRAM

TRANSMITTING MICROCONTROLLER PROGRAM

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1) USER TERMINAL

Flow Chart:

YES YES YES YES

NO

YES

DELAY

SEND X TO PARALLEL PORT

X= 1000 X= 0100 X= 0010 X= 0001

EXIT

INPUT

BACKWARD

INPUT

FORWARD

INPUT

LEFT

INPUT

RIGHT

START

GET THE INPUT

FROM USER

STOP

NO

NO

NONO


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Program:

#include

#include

#include "pt_ioctl.c"

int __cdecl main()

{

OpenPortTalk();

char input;

printf("start");

while(1){

input=getch();

if(input=='w')

{

outportb(0x378,128);

sleep(100);

outportb(0x378,255);}

if(input=='z')

{

outportb(0x378,64);

sleep(100);


}

if(input=='a')

{

outportb(0x378,32);

sleep(100);


}

(29)


32/38

if(input=='d')

{

outportb(0x378,16);

sleep(100);outportb(0x378,255);

}

if(input=='s')

break;

}

ClosePortTalk();

}

(30)


33/38

2) TRANSMITTING MICROCONTROLLER

Flow Chart:START

GET THE INPUT

FROM USER

INPUT

0100?

INPUT

1000?

INPUT

0010?

INPUT

0001?

SBUF=l SBUF=a SBUF=h SBUF=z

SEND SBUF TO SERIAL PORT

YES YES YES YES

NO

NO

NONO


34/38

Program:

#include

#include

Main ()

{

TMOD = 0x20;

TH1=0xFD;

SCON=0x50;

TR1=1;

while(1)

{

if(P0_0==1)

{

SBUF='1';

while(TI==0);

}

TI=0;

if(P0_1==1)

{

SBUF='a';

while(TI==0);

}

TI=0;

if(P2_0==1)

{

SBUF='h';

while(TI==0);

}

TI=0;

if(P2_1==1)

{

SBUF='z';

while(TI==0);

}

TI=0;

}

}

(32)


35/38

3) RECEIVING MICROCONTROLLER

Flow Chart:

SBUF=h

SBUF=a

SBUF=z?SBUF=l?

START

GET I/P FROM

SERIAL PORT

YES YES YES YES

NO

NO

NONO

PORT2=0X0D PORT2=0X07PORT2=0X0APORT2=0X05


36/38

Program:

#include

#include

void main(){

unsigned char mybyte;

long int i;

TMOD=0x20;

TH1=0xFD;

SCON=0x50;

TR1=1;

while(1)

{

P2=0xFF;

while(RI==0);

mybyte=SBUF;

P1=mybyte;

RI=0;

if(mybyte == '1')P2=0x05;

else if(mybyte == 'a')

P2=0x0A;

else if(mybyte == 'h')

P2=0x0D;

else if(mybyte == 'z')

P2=0x07;

}}

(34)


37/38

CONCLUSION

The system was working properly and ninety percent was implemented. The

user interface at the computer successfully generated the signals according to

the user commands. These signals were successfully transmitted and

received at the robot end and checked at the oscilloscope. The received

signal was interpreted by the microcontroller at the receiving end and

corresponding commands were sent to the motors.

The problems faced were in the serial communication at the microcontrollersat both receiving and transmitting side. As the signal was to be synchronized

and proper baud rate was to be set.

And secondly since we did not include any signal amplification or signal

processing block at the receiving side. The signal we received had some

noise and more importantly was weak. Due to this there was interrupted

motion and it also caused some delay in processing at the receiver side.

(35)


38/38

BIBLOGRAPHY

BOOKS

1. The 8051 microcontroller and embedded system.M.A. Mazidi and J.G.

Mazidi

2. Electronic devices and circuit theory.Boylsted and Nashelsky

3. Electronic Communication Systems.Kenedy and Davis

4. Linear integrated circuits and systems.Gaykwad

5. The 8051 Microcontroller.K.J. Ayala

6. C and 8051.T.W. Schulz

INTERNET

1. http://en.wikipedia.org

2. http://www.ieee.org

3. http://www.atmellabs.com

4. http://www.appinlabs.com

5. http://www.smartdata.com

6. http://www.vegakit.com

7. http://www.smartdata.com

(36)
http://en.wikipedia.org/http://en.wikipedia.org/http://www.ieee.org/http://www.ieee.org/http://www.atmellabs.com/http://www.atmellabs.com/http://www.appinlabs.com/http://www.appinlabs.com/http://www.smartdata.com/http://www.smartdata.com/http://www.vegakit.com/http://www.vegakit.com/http://www.smartdata.com/http://www.smartdata.com/http://www.smartdata.com/http://www.vegakit.com/http://www.smartdata.com/http://www.appinlabs.com/http://www.atmellabs.com/http://www.ieee.org/http://en.wikipedia.org/

wirelesspccontrolledmaneuveringusing8051microcontrollerandparallelportprogramming

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