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University of Southern Mindanao Kabacan, Cotabato Department of Electronics and Computer Engineering College of Engineering and Computing

This document describes a mobot, which is an automatic machine capable of movement. It uses a radio-controlled car as its base and adds light dependent resistors (LDRs) as sensors and a PIC microcontroller. The LDRs allow the mobot to sense and follow a black line or curve by detecting brightness levels. The microcontroller receives input from the sensors and controls motors to move the mobot forward, left or right along the path. A program is loaded onto the microcontroller to execute these movements. A block diagram and list of materials used to build the mobot are also included.

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HPManchester
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37 views

University of Southern Mindanao Kabacan, Cotabato Department of Electronics and Computer Engineering College of Engineering and Computing

This document describes a mobot, which is an automatic machine capable of movement. It uses a radio-controlled car as its base and adds light dependent resistors (LDRs) as sensors and a PIC microcontroller. The LDRs allow the mobot to sense and follow a black line or curve by detecting brightness levels. The microcontroller receives input from the sensors and controls motors to move the mobot forward, left or right along the path. A program is loaded onto the microcontroller to execute these movements. A block diagram and list of materials used to build the mobot are also included.

Uploaded by

HPManchester
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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University of Southern Mindanao

Kabacan, Cotabato
Department of Electronics and Computer Engineering
College of Engineering and Computing

Mobot

Rizza A. Unabia
5BSECE-A

Engr. Jeannalen P. Lunod


Instructor

October 2012
Introduction

Mobot is an automatic machine that is capable of movement in a given


environment. It has the capability to move around in their environment and
are not fixed to one physical location. Radio-controlled (or R/C) cars which is
a self-powered model car trucks that can be controlled from a distance using
a specialized transmitter, is used to form this mobot together with its sensor.
Sensors are essential parts of mobots, without such devices it co
uld not gather information about the environment in which it activates
and navigation would not be possible. Light dependent resistor (LDR) is used
for its sensor. It is a resistor whose resistance decreases with increasing
incident light intensity; in other words, it exhibits photoconductivity. This
sensor will able the mobot to sense and follow black line or curve. Together
with the sensor circuit, PIC microcontroller is used. A program that is coded
to move forward, left and right is loaded in it.

Block Diagram

SENSOR-This mobot uses Light


dependent resistors (LDR) in its
sensors. The LDRs sense the
brightness of the area being
sensed and directing the mobot
to the right path.
Switch

PIC-16F84A
This microcontroller receives input
from the sensor and controls the
driver to move in line with the
pathleft, right, forward. It this
then outputted to the driver.

DRIVER

List of Materials

(1)PIC 16F84A
(1) 18-PIN DIP IC Socket
(1) RC Car w/ motor drivers
(2) 470/6V
(2) 220/6V
(7) 10k, W
(3)330 , W
(1) 22pF, ceramic capacitor
(1) LM324 Op Amp Transistor
(1) 14 PIN DIP IC socket
(4) 1K, W
(4) LED-white
(4) LDR (Light dependent resistors)
(4) LED (as indicators)
(4) Trimmers 10k, 1/4W
(4) 100, W
Jumpers
Connecting wires
PCB
Soldering lead
Ferric Chloride
(2)1.5V rechargeable batteries
(1)9V battery

J2

J4

J6

PIN

PIN

PIN

U3

U2

RA0
RA1
RA2
RA3
RA4/T0CKI

MCLR

RB0/INT
RB1
RB2
RB3
RB4
RB5
RB6
RB7

R8

C1

1k

22p

7805

17
18
1
2
3

FOR

LEFT

RYT

680R

680R

680R

VI

C2

6
7
8
9
10
11
12
13

47u

R6

R7

R4

R5

1k

1k

1k

1k

VO

GND

10k

OSC1/CLKIN
OSC2/CLKOUT

16
15

R9

C3

R10

47u

100R

J9
J12

PIC16F84A

J8

J7

J11
1

J17
4

J5

J14
3

RV1

RV2

RV3

RV4

10K

10K

10K

10K

R3

1k

1k

12

13

10

11

11

14

R2

1k

R1

1k

11

R0

11

J1

J3

J10

J13

J15

J16

Schematic Diagram

Sensor
Source Code

goto testbb
btfsc porta,3

porta

equ

0x05

goto right

portb

equ

0x06

goto right

org

0x00

test3 btfsc porta,3


goto forward

start movlw
tris

0xff

goto

right

porta

movlw 0x00
tris
clrf

portb
portb

testaa

btfsc porta,0
goto left
goto left

test1 btfsc porta,1


goto test2

testbb

btfsc porta,0

btfsc porta,2

goto test3

goto testaa

goto left

goto forward
test2 btfsc porta,2

forward

movlw

0x01

movwf
goto
right

end

test1

movlw

0x03

movwf

portb

goto
left

portb

test1

movlw

0x05

movwf

portb

goto

test1

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