CSC-2700 – (3) Introduction to Robotics

Robotics Research LaboratoryLouisiana State University

Microcontroller

AVR-C

What we learned in last class

Atmel- ATMega128 – 8bit - PIN : 64 - Speed: 16 Mhz - Memory: 128KB-ISP, 4KB-EEPROM - Power Consumption : 0.2 W

Variable Type - uint8_t, uint16_t, uint32_t, Char, int, double, float, array[], pointer*

Condition / Loop - if (){}else{}, switch case - for (;;), while(){}, do()while{}

Digital Port◦ PORT A, C, G◦ PORT B, D, E, F

Digital Output ◦ LED ◦ LED-Matrix◦ Buzzer

Topics for today

PORT A – digital in/out PORT B – PWM/ISP (In System Programming) PORT C – digital in/out PORT D – Interrupt / UART1 PORT E – Interrupt/ PWM / UART0 PORT F – Analog to Digital PORT G – digital in / out

Digital Ports

All ports can be configured for Digital in/out port

LED control◦ Turn ON : LED_ON ( COLOR )

◦ Turn OFF : LED_OFF( COLOR )

◦ Toggle : TOGGLE (COLOR_LED)

◦ Brightness – more than 25 blinking per second, it looks keep on Each blinking period adjust LED on/off time duration

◦ What does the abbreviation LED mean?

Digital out

The most common function of a diode is to allow an electric current to pass in one direction, while blocking current in the opposite direction◦ Protect circuits from high voltage surges

- Avalanche diodes◦ Regulate voltage - Zener diodes

◦ Electronically tune radio and TV receivers - Varicap diodes

◦ Generate radio frequency oscillations - Tunnel diodes, Gunn diodes, IMPATT diodes

◦ Convert light into either current or voltage - Photodiode

◦ Produce light - Light Emitting Diodes (LED)

Diode

LED (Light Emitting Diode)

Digital out – 8*8 LED dot Matrix

Digit out – 5 * 7 LED dot Matrix

Let make 3 * 3 LED matrix program

COL1 COL2 COL3

ROW1

ROW2

ROW3

ROW1

ROW2

ROW3

COL1 COL2 COL3

Make some patterns on LED matrixCOL1 COL2 COL3

ROW1

ROW2

ROW3

ON OFF OFF

OFF

ON

ON

COL1 COL2 COL3

ROW1

ROW2

ROW3

OFF ON OFF

ON

OFF

ON

COL1 COL2 COL3

ROW1

ROW2

ROW3

OFF OFF ON

ON

ON

OFF

1 2 3

4 5 6

7 8 9

1 2 3

4 5 6

7 8 9

1 2 3

4 5 6

7 8 9

How about this animation

COL1 COL2 COL3

ROW1

ROW2

ROW3

1 3

5

7 9

2

4 6

8

3

5

7 9

2

4 6

8

11 3

5

7 9

2

4 6

8

1 3

5

7 9

2

4 6

8

4

1 3

5

7 9

2

6

8

1 3

5

7 9

2

4 6

8

1 3

5

7 9

2

4 6

8

1 3

5

7 9

2

4 6

8

1

5

7 9

2

4 6

8

3

How to make this pattern

COL1 COL2 COL3

ROW1

ROW2

ROW3

2 3

4 5 6

7 8 9

1

ON OFF OFF

OFF

ON

ON

2 3

4 6

7 8

1

ON OFF OFF

OFF

ON

ON

2 3

4 6

7 8ON OFF OFF

OFF

ON

ON

2 3

4 6

7 8 9

5

9

5

1

1

5

9

Repeat this 25 times per second

at least

Let’s try to make some patterns

COL1 COL2 COL3

ROW1

ROW2

ROW3

2 3

4 5 6

7 8 9

1

COL1 COL2 COL3

ROW1

ROW2

ROW3

3

4 6

7 9

1 2

5

8

Can we make this animation

COL1 COL2 COL3

ROW1

ROW2

ROW3

2 3

4 5 6

7 8 9

1 2 3

4 5 6

7 8 9

1

Different size of LED matrix 3 * 3 LED matrix

5 * 7 LED matrix

8 * 8 LED matrix

1280 * 720 LED matrix ◦ if three colors(Red, Green, Blue) are in one LED

dot

SD – LED TV

1920 * 1020 (RGB)LED matrix HD – LED TV

Buzzer – sound◦ Tic- tac noise

◦ Siren

◦ Sound pitch control

◦ Song

Digital out

Make the animation in slide-15 (Bonus Point)Display “-GO_TIGER” on LED-Matrix

(Bonus Point) Make characters move from right to left

Homework -3

-GO_TIGER- G O _ T I G E R S

S

There are two gates, one is for heaven and the other is for hell. There are one angel and one devil, and we don’t know who angel is The angel say always true but devil say always false You have only one chance to ask one of them How to figure out which gate is for heaven?

Open Mind Quiz (3)

1 2

A B