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ROBOTICS AND EMBEDDEC

WINTER INTERNSHIP PROGRAM

PINAKI RANJA

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INTRODUCTION TO THEMICROCONTROLLERS

We have focused o A!"e# A$R MCUs

A$R %s a !&ade"a&' of A!"e# Co&(o&a!%o) T*o fea!u&es "a'

ou! % !he #%s! of MCUs) A!"e# has a +ash "e"o&, (&oduc! #

!he%& A$R MCUs a## &u o- of a fas! ad eas, !o (&o.&a" +a

EEPROM) A!"e# A$R ch%(s a&e % c%&cu%! (&o.&a""a/#e 0 *h"eas *e ca hoo' ca/#e !o ou& (&o1ec! ad &e(&o.&a" !he

"%c&oco!&o##e& 2u%c'#, ad eas%#,)

The A!"e# A$R uses Ha&va&d a&ch%!ec!u&e *%!h a %s!&uc!%o

des%.ed !o *o&' *e## *%!h h%.h #eve# #a.ua.e co"(%#e&s #

us%. A$R s!ud%o 3)4

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PIN DIAGRAM O5 ATMEGA 6 AND ATM73

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The&e a&e !h&ee !,(es of (o&!s o& &es%s!e&s

7) DDR8 99 Da!a D%&ec!%o Res%s!e&

4) PIN8 99 I!:s !he &es%s!e& (%s !o !a'e %(u!s

;) PORT8 99 I!:s !he &es%s!e& (% fo& ou!(u!s

The 8 de0 %!e&a# &e.%s!e&s ad "e"

a## 6?/%! *%de

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IR SENSOR AND SIMPLE LINE 5OLLOWCODE

IR seso& *o&'s o !he (&%c%(#e of e"%!!%. IR &a,s a

&ece%v%. !he &e+ec!ed &a, /, a &ece%ve& =Pho!o D%ode>

IR sou&ce =LED> %s used % fo&*a&d /%as)

IR Rece%ve& =Pho!od%ode> %s used % &eve&se /%as)

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@%c#ude av&9%o)h 99%c#udes !he A$R #%/&a&%es

@de

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SPEED CONTROLLING USING PWM

The%& a&e !*o "e!hods /, *h%ch ,ou ca .ee&a!e PWMA$R

5as! PWMPhase Co&&ec! PWM

We *%## use !he s%"(#es! !%"e&0 TIMER fo& PWM .ee&a!=No!e TIMER of AT"e.a6 cao! /e used fo& PWM .e!hese a&e va#%d fo& AT"e.a73 ad AT"e.a;4>) We havecou!e& cou!%. f&o" ?4 ad !he .oes !o ad so oca /e sho* o .&a(h as

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The (e&%od de(eds u(o !he (&esca#a& se!!%.s) No* fo.ee&a!%o f&o" !h%s cou! se2uece *e have a e* &esa"ed OCR =Ou!(u! Co"(a&e Re.%s!e& e&o 0 e&o /ec

fo& TIMER ad !he&e a&e "o&e of !hese fo& TIMER7 TIWe ca s!o&e a, va#ue /e!*ee ?4 % OCR0 sa, *e3; ad 7Q7 % OCR !he %! *ou#d a((ea& % !he .&a(h afo##o*s)

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