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PC CONTROLLED WIRELESS

ROBOT


Minor Project Report (Phase 2)
Submitted by


Hemant Yadav (2011EEC70)
Raj Kumar Yadav (2010EEC44)
Rajendra Kumar Saini (2010EEC84)
Rahul Dular(2010EEC28)





School of Electronics and Communication
Engineering
Shri Mata Vaishno Devi University
Katra
May 2014




SHRI MATA VAISHNO DEVI UNIVERSITY
School of Electronics and Communication Engineering
CERTIFICATE


This to be certify that the minor project entitled Pc Controlled Wireless Robot being
submitted by Hemant Yadav 2011eec70, Raj Kumar Yadav 2011eec44, Rajendra Kumar
Saini 2011eec84 & Rahul Dular 2010eec28 to the School of Electronics and Communication
Engineering is completed under the supervision and guidance of the undersigned. The report
has reached the standard of fulfilling of requirement of the regulation related to degree.


We wish best for his endeavor.






GUIDE
Dr. Niraj Tripathi
DIRECTOR
Dr. Sumeet Gupta







Acknowledgement

A mini project is a golden opportunity for learning and self-development. We consider ourselves
very lucky and honoured to have our teachers to guide us. I would like to thank Dr.Niraj Tripathi
for his constant motivation and guidance, and for helping us to attain highest possible standard of
our project on pc controlled wireless robot.
We would also like to express our gratitude to Department of Electronics and Communication
Engineering, SMVDU.











Hemant Yadav
2011eec70
Raj Kumar Yadav
2011eec44
Rajendra Kumar Saini
2011eec84

Rahul Dular
2010eec28







CONTENTS

1. ABSTRACT 2
2. BLOCK DIAGRAM... 3
3. SCHEMATIC DIAGRAM 5
4. CIRCUIT DISCRIPTION. 7
5. INTRODUCTION
5.1. EMBEDDED INTRODUCTION... 12
5.2. MICROCONTROLLER INTRODUCTION.. 14
5.3. INTRODUCTION TO RF.. 16
5.4. KEIL INTRODUCTION ... 18
6. COMPONENT DESCRIPTION
6.1. AT89S52
6.3. L293D. 20
6.4. ISP PROGRAMMER. 23
6.5 HT12D.. 25
6.6 HT12E.. 26
7.CODING 28
8. CONCLUSION. 29
9. BIBLIOGRAPHY 30





1. ABSTRACT
The present condition in Industry is that they are using the crane system to carry the parcels
from one place to another, including harbors. Some times the lifting of big weights may cause the
breakage of lifting materials and will cause damage to the parcels too. Application of the proposed
system is for industries. The robot movement depends on the track. Use of this robot is to transport
the materials from one place to another place in the industry.
A robot is a machine designed to execute one or more tasks repeatedly, with speed
and precision. There are as many different types of robots as there are tasks for them to perform. A
robot can be controlled by a human operator, sometimes from a great distance. In such type of
applications wireless communication is more important.
In robotic applications, generally we need a remote device to control. If we use IR
remote device, it is just limited to meters distance and also if any obstacle is in between its path
then there will be no communication. If we consider, RF modules for remote operations there is no
objection whether an obstacle is present in its path. So that it is very helpful to control robot.
RF modules itself can generates its carrier frequency which is around 2.4 GHz. We
need to generate serial data using micro controller and fed to the RF transmitting module. On other
side RF receiver receives sent data as RF signals and given to another micro controller. Here, RF
receiver itself demodulates the data from carrier signal and generate serial data as output.

By using this communication network we can design a remote device for controlling robot. If
u send move forward command from RF remote transmitter, then receiver receives that data and
perform operation on robot to move in that particular direction. Similarly if u sends turn left
command then, robot will take left direction with respect to that command. So by this way we can
design remote using RF modules for robotic applications. Apart from this we are placing wireless
camera so that user is able to control the robot direction from transmitter.




2.BLOCK DIAGRAM

TRANSMITTER RECEIVER










2.1 REQUIREMENTS:

HARDWARE REQUIREMENTS:

AT89S52
L293D
ROBOT
HT12E
RF MODULES
HT12D
DC MOTER
555 TIMER

SOFTWARE REQUIREMENTS:

KEIL C COMPILER
PROGRAMMING IN EMBEDDED C








4. CIRCUIT DESCRIPTION

4.1 DESIGNING:

Since the main intension of this project is to design a ROBOT with wireless camera. In order
to fulfill this application there are few steps that has been performed i.e.

1) Designing the power supply for the entire circuitry.
2) Selection of microcontroller that suits our application.
3) Selection of Robot.
4) Selection of RF.
5) Selection of LCD.
6) Selection of DRIVER IC.
7) Selection of wireless camera
Complete studies of all the above points are useful to develop this project.

4.2 POWER SUPPLY SECTION:
In-order to work with any components basic requirement is power supply. In this section
there is a requirement of two different voltage levels.
Those are
1) 5V DC power supply.
2) 3.3V DC power supply.

Now the aim is to design the power supply section which converts 230V AC in to 5V
DC. Since 230V AC is too high to reduce it to directly 5V DC, therefore we need a step-down
transformer that reduces the line voltage to certain voltage that will help us to convert it in to a 5V
DC. Considering the efficiency factor of the bridge rectifier, we came to a conclusion to choose a
transformer, whose secondary voltage is 3 to 4 V higher than the required voltage i.e. 5V. For this
application 0-9V transformers is used, since it is easily available in the market.

The output of the transformer is 9V AC; it feed to rectifier that converts AC to
pulsating DC. As we all know that there are 3 kind of rectifiers that is
1) half wave
2) Full wave and
3) Bridge rectifier
Here we short listed to use Bridge rectifier, because half wave rectifier has we less in
efficiency. Even though the efficiency of full wave and bridge rectifier are the same, since there is no
requirement for any negative voltage for our application, we gone with bridge rectifier.

Since the output voltage of the rectifier is pulsating DC, in order to convert it into
pure DC we use a high value (1000UF/1500UF) of capacitor in parallel that acts as a filter. The most
easy way to regulate this voltage is by using a 7805 voltage regulator, whose output voltage is
constant 5V DC irrespective of any fluctuation in line voltage.
In this project 3.3V power supply is used to operate the Xbee module. To get 3.3V
we are using LM1117 voltage regulator which is 3.3V regulator.

4.3 SELECTION OF MICROCONTROLLER:

As we know that there so many types of micro controller families that are available
in the market.
Those are
1) 8051 Family
2) AVR microcontroller Family
3) PIC microcontroller Family
4) ARM Family

Basic 8051 family is enough for our application; hence we are not concentrating on
higher end controller families.

In order to fulfill our application basic that is AT89C51 controller is enough. But still
we selected AT89S52 controller because of inbuilt ISP (in system programmer) option.

There are minimum six requirements for proper operation of microcontroller.
Those are:
1) power supply section
2) pull-ups for ports (it is must for PORT0)
3) Reset circuit
4) Crystal circuit
5) ISP circuit (for program dumping)
6) EA/VPP pin is connected to Vcc.

PORT0 is open collector thats why we are using pull-up resistor which makes PORT0
as an I/O port. Reset circuit is used to reset the microcontroller. Crystal circuit is used for the
microcontroller for timing pluses. In this project we are not using external memory thats why
EA/VPP pin in the microcontroller is connected to Vcc that indicates internal memory is used for this
application.

4.4 SELECTION OF ROBOT:
Here in this project I designed one robot which has three gear motors. Two gear
motors are connected to two wheels and another motor is connected to wireless camera for
rotating the webcam. And we are placing one flexible wheel in the front side of the robot.

4.6 SELECTION OF RF:

The aim of this project is to control the robot direction from remote areas, so wireless
communication is required to fulfill our application. There are different wirelesses communications
exist. For this application we prefer XBee modules as RF.

As per RF communication basic RF modules works on 434MHz frequency. Based on this
frequency we are not able to transmit the data from transmitter to receiver with proper
synchronization. To overcome this problem we are using XBee modules as a RF. The XBee module
works on 2.4GHz frequency, which is more than the basic RF module frequency. By using these XBee
modules we can transmit data for long distances as compared to basic RF modules. This XBee
module works as a transceiver i.e. it is connected at both transmitter as well as receiver. For this
application we are using the XBee modules either transmitter or receiver.

4.7 SELECTION OF DRIVER:

When the motors of robot is rotating they will produce back EMF. Due to that back
EMF high current is produced. If we connect these motors directly to the microcontroller the
microcontroller may damage because of that current thats why we are selected L293d driver IC.

4.8 CIRCUIT OPERATION:
The main aim of this project is to control the robot with wireless technology. For this
purpose we designed two separate boards .One is transmitter and another is receiver which is
placed on the robot. Here we are using Xbee modules as RF (wireless communication). In the
transmitter, if we press the buttons according to that some predefined data will be transferred
through Xbee and the receiver will receive the data. According to the command, the robot will do
the specific task i.e. FORWARD, BACKWARD, LEFT and RIGHT. And when we press the switches
related to webcam, the receiver receive that information. After receiving robot will stop and the
webcam will rotate till we send the command to stop. After that the robot will move in the same
direction in which previously the robot is moving. For this purpose we designed two programs in
embedded C and dumped in to the ICs using ISP programmer.

5.1 INTRODUCTION TO EMBEDDED SYSTEMS

Embedded systems are electronic devices that incorporate microprocessors with in their
implementations. The main purposes of the microprocessors are to simplify the system design and
provide flexibility. Having a microprocessor in the device helps in removing the bugs, making
modifications, or adding new features are only matter of rewriting the software that controls the
device. Or in other words embedded computer systems are electronic systems that include a
microcomputer to perform a specific dedicated application. The computer is hidden inside these
products. Embedded systems are ubiquitous. Every week millions of tiny computer chips come
pouring out of factories finding their way into our everyday products.
Embedded systems are self-contained programs that are embedded within a piece of
hardware. Whereas a regular computer has many different applications and software that can be
applied to various tasks, embedded systems are usually set to a specific task that cannot be altered
without physically manipulating the circuitry. Another way to think of an embedded system is as a
computer system that is created with optimal efficiency, thereby allowing it to complete specific
functions as quickly as possible.
Embedded systems designers usually have a significant grasp of hardware technologies.
They use specific programming languages and software to develop embedded systems and
manipulate the equipment. When searching online, companies offer embedded systems
development kits and other embedded systems tools for use by engineers and businesses.
Embedded systems technologies are usually fairly expensive due to the necessary
development time and built in efficiencies, but they are also highly valued in specific industries.
Smaller businesses may wish to hire a consultant to determine what sort of embedded systems will
add value to their organization.



5.2 INTRODUCTION TO MICROCONTROLLER


Microcontrollers as the name suggests are small controllers. They are like single chip
computers that are often embedded into other systems to function as processing/controlling unit.
For example the remote control you are using probably has microcontrollers inside that do decoding
and other controlling functions. They are also used in automobiles, washing machines, microwave
ovens, toys ... etc, where automation is needed.

Micro-controllers are useful to the extent that they communicate with other
devices, such as sensors, motors, switches, keypads, displays, memory and even other micro-
controllers. Many interface methods have been developed over the years to solve the complex
problem of balancing circuit design criteria such as features, cost, size, weight, power consumption,
reliability, availability, manufacturability. Many microcontroller designs typically mix multiple
interfacing methods. In a very simplistic form, a micro-controller system can be viewed as a system
that reads from (monitors) inputs, performs processing and writes to (controls) outputs.

Embedded system means the processor is embedded into the required application.
An embedded product uses a microprocessor or microcontroller to do one task only. In an
embedded system, there is only one application software that is typically burned into ROM.
Example: printer, keyboard, video game player

Microprocessor - A single chip that contains the CPU or most of the computer
Microcontroller - A single chip used to control other devices

Microcontroller differs from a microprocessor in many ways. First and the most
important is its functionality. In order for a microprocessor to be used, other components such as
memory, or components for receiving and sending data must be added to it. In short that means
that microprocessor is the very heart of the computer. On the other hand, microcontroller is
designed to be all of that in one. No other external components are needed for its application
because all necessary peripherals are already built into it. Thus, we save the time and space needed
to construct devices.


5.2.1 MICROPROCESSOR VS MICROCONTROLLER:

Microprocessor:
CPU is stand-alone, RAM, ROM, I/O, timer are separate
Designer can decide on the amount of ROM, RAM and I/O ports.
expensive
versatility general-purpose

Microcontroller:
CPU, RAM, ROM, I/O and timer are all on a single chip
fix amount of on-chip ROM, RAM, I/O ports
for applications in which cost, power and space are critical
single-purpose









5.3 INTRODUCTION TO RF
Radio frequency (RF) radiation is a subset of electromagnetic radiation with a wavelength of
100km to 1mm, which is a frequency of 3 KHz to 300 GHz, respectively. This range of
electromagnetic radiation constitutes the radio spectrum and corresponds to the frequency of
alternating current electrical signals used to produce and detect radio waves. RF can refer to
electromagnetic oscillations in either electrical circuits or radiation through air and space. Like other
subsets of electromagnetic radiation, RF travels at the speed of light.
The rising use of cellular phones has regenerated interest in an area of technology
that has not evolved greatly since the early days of AM Radio. Today, fiber optics, signal processing,
and microwave go hand-in hand in support of RF Communication.
We offer a modular RF Communications program that covers Amplitude Modulation,
Frequency Modulation, Citizen Band, Single Sideband, and Narrowband FM radio.
The Radio Communications course is ideal preparation for entry into the wireless
communications job market. The course teaches the operation, troubleshooting, and repair of
common AM- FM standard broadcast band receiver and CB transceiver circuits. The latter part of
the course includes typical Narrowband FM transceiver circuits.
RF communication works by creating electromagnetic waves at a source and being
able to pick up those electromagnetic waves at a particular destination. These electromagnetic
waves travel through the air at near the speed of light. The wavelength of an electromagnetic signal
is inversely proportional to the frequency; the higher the frequency, the shorter the wavelength.
Frequency is measured in Hertz (cycles per second) and radio frequencies are measured in
kilohertz (KHz or thousands of cycles per second), megahertz (MHz or millions of cycles per second)
and gigahertz (GHz or billions of cycles per second). Higher frequencies result in shorter
wavelengths. The wavelength for a 900 MHz device is longer than that of a 2.4 GHz device.
In general, signals with longer wavelengths travel a greater distance and penetrate through,
and around objects better than signals with shorter wavelength


5.4 INTRODUCTION TO KIEL SOFTWARE
Many companies provide the 8051 assembler, some of them provide shareware version of their
product on the Web, Kiel is one of them. We can download them from their Websites. However, the
size of code for these shareware versions is limited and we have to consider which assembler is
suitable for our application.

5.4.1 KIEL U VISION2:
This is an IDE (Integrated Development Environment) that helps you write, compile,
and debug embedded programs. It encapsulates the following components:
A project manager
A make facility
Tool configuration
Editor
A powerful debugger
To get start here are some several example programs

5.4.2 BUILDING AN APPLICATION IN UVISION2:
To build (compile, assemble, and link) an application in uVision2, you must:

Select ProjectOpen Project
(For example, \C166\EXAMPLES\HELLO\HELLO.UV2)
Select Project - Rebuild all target files or Build target. UVision2 compiles, assembles,
and links the files in your project.

5.4.3 CREATING YOUR OWN APPLICATION IN UVISION2:
To create a new project in uVision2, you must:

Select Project - New Project.
Select a directory and enter the name of the project file.
Select Project - Select Device and select an 8051, 251, or C16x/ST10 device from
the Device
Database
Create source files to add to the project.
Select Project - Targets, Groups, and Files. Add/Files, select Source
Group1, and add the source files to the project.
Select Project - Options and set the tool options. Note when you select the target
device from the Device Database all-special options are set automatically. You only need to
configure the memory map of your target hardware. Default memory model settings are optimal for
most.

6.1
6.1 MICROCONTROLLER 89S51

AT89C51 is an 8-bit microcontroller and belongs to Atmel's 8051 family. ATMEL 89C51 has 4KB of
Flash programmable and erasable read only memory (PEROM) and 128 bytes of RAM. It can be
erased and program to a maximum of 1000 times.

In 40 pin AT89C51, there are four ports designated as P
1
, P
2
, P
3
and P
0
. All these ports are 8-bit bi-
directional ports, i.e., they can be used as both input and output ports. Except P
0
which needs
external pull-ups, rest of the ports have internal pull-ups. When 1s are written to these port pins, they
are pulled high by the internal pull-ups and can be used as inputs. These ports are also bit
addressable and so their bits can also be accessed individually.

Port P
0
and P
2
are also used to provide low byte and high byte addresses, respectively, when
connected to an external memory. Port 3 has multiplexed pins for special functions like serial
communication, hardware interrupts, timer inputs and read/write operation from external
memory. AT89C51 has an inbuilt UART for serial communication. It can be programmed to operate at
different baud rates. Including two timers & hardware interrupts, it has a total of six interrupts.


6.1.1 Pin Diagram:







6.1.2 Pin Description:





Pin No Function Name
1
8 bit input/output port (P
1
) pins
P
1
.0
2 P
1
.1
3 P
1
.2
4 P
1
.3
5 P
1
.4
6 P
1
.5
7 P
1
.6
8 P
1
.7
9 Reset pin; Active high Reset
10
Input (receiver) for serial
communication
RxD
8 bit input/output
port (P
3
) pins
P
3
.0
11
Output (transmitter) for serial
communication
TxD P
3
.1
12 External interrupt 1 Int0 P
3
.2
13 External interrupt 2 Int1 P
3
.3
14 Timer1 external input T
0
P
3
.4
15 Timer2 external input T
1
P
3
.5
16 Write to external data memory Write P
3
.6
17 Read from external data memory Read P
3
.7
18
Quartz crystal oscillator (up to 24 MHz)
Crystal 2
19 Crystal 1
20 Ground (0V) Ground
21
8 bit input/output port (P
2
) pins
/
High-order address bits when interfacing with external memory

P
2
.0/ A
8

22 P
2
.1/ A
9

23 P
2
.2/ A
10

24 P
2
.3/ A
11

25 P
2
.4/ A
12

26 P
2
.5/ A
13

27 P
2
.6/ A
14

28 P
2
.7/ A
15

29 Program store enable; Read from external program memory PSEN
30
Address Latch Enable ALE
Program pulse input during Flash programming Prog
31
External Access Enable; Vcc for internal program executions EA
Programming enable voltage; 12V (during Flash programming) Vpp
32
8 bit input/output port (P
0
) pins

Low-order address bits when interfacing with external memory

P
0
.7/ AD
7

33 P
0
.6/ AD
6

34 P
0
.5/ AD
5

35 P
0
.4/ AD
4

36 P
0
.3/ AD
3

37 P
0
.2/ AD
2

38 P
0
.1/ AD
1

39 P
0
.0/ AD
0

40 Supply voltage; 5V (up to 6.6V) Vcc
6.2 L293D

The Device is a monolithic integrated high voltage, high current four channel driver
designed to accept standard DTL or TTL logic levels and drive inductive loads (such as relays
solenoids, DC and stepping motors) and switching power transistors. To simplify use as two bridges
each pair of channels is equipped with an enable input. A separate supply input is provided for the
logic, allowing operation at a lower voltage and internal clamp diodes are included. This device is
suitable for use in switching applications at frequencies up to 5 kHz.

6.2.1 PIN DIAGRAM:


6.2.2 DESCRIPTION:

The L293D is quadruple high-current half-H driver. It designed to provide
bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V and to drive inductive loads such
as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in
positive-supply applications. All inputs are TTL compatible. Each output is a complete totem-pole drive
circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs,
with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is
high the associated drivers are enabled and their outputs are active in phase with their inputs. When
the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance
state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive
suitable for solenoid or motor applications. On the L293D, external high-speed output clamp diodes
should be used for inductive transient suppression. A VCC1 terminal, separate from VCC2, is provided
for the logic inputs to minimize device power dissipation. The L293D is characterized for operation
from 0C to 70C.

6.3.5 BLOCK DIAGRAM:












6.3 ISP PROGRAMMER
In-System Programming (abbreviated ISP) is the ability of some programmable
logic devices, microcontrollers, and other programmable electronic chips to be programmed
while installed in a complete system, rather than requiring the chip to be programmed prior to
installing it into the system. Otherwise, In-system programming means that the program
and/or data memory can be modified without disassembling the embedded system to
physically replace memory.
The primary advantage of this feature is that it allows manufacturers of electronic
devices to integrate programming and testing into a single production phase, rather than
requiring a separate programming stage prior to assembling the system. This may allow
manufacturers to program the chips in their own system's production line instead of buying
preprogrammed chips from a manufacturer or distributor, making it feasible to apply code or
design changes in the middle of a production run.
ISP (In System Programming) will provide a simple and affordable home made
solution to program and debug your microcontroller based project.
Normally, the flash memory of an ATMEL microcontroller is programmed using a
parallel interface, which consists of sending the data byte by byte (using 8 independent lines
for the data, and another bunch of lines for the address, the control word and clock input).
Many members of the Maxim 8051-based microcontroller family support in-system
programming via a commonly available RS-232 serial interface. The serial interface consists
of pins SCK, MOSI (input) and MISO (output) and the RST pin, which is normally used to
reset the device.
ISP is performed using only 4 lines, and literally, data is transferred through 2
lines only, as in a I2C interface, where data is shifted in bit by bit though MOSI line, with a
clock cycle between each bit and the next (on the SCK line). MISO line is used for reading
and for code verification; it is only used to output the code from the FLASH memory of the
microcontroller.
The RST pin is also used to enable the 3 pins (MOSI, MISO and SCK) to be used
for ISP simply by setting RST to HIGH (5V), otherwise if RST is low (0V), program start
running and those three pins, are used normally as P1.5, P1.6 and P1.7. After RST is set high,
the Programming Enable instruction needs to be executed first before other operations can be
executed. Before a reprogramming sequence can occur, a Chip Erase operation is required.
The Chip Erase operation turns the content of every memory location in the Code array into
FFH.
Either an external system clock can be supplied at pin XTAL1 or a crystal
needs to be connected across pins XTAL1 and XTAL2. The maximum serial clock (SCK)
frequency should be less than 1/16 of the crystal frequency. With a 33 MHz oscillator clock,
the maximum SCK frequency is 2 MHz.
In the below figure we can see the ISP programmer connections using 74ls244











6.4.1 DB-25 Male pin description:




6.4 HT12D
HT12D is a decoder integrated circuit that belongs to 2
12
series of decoders. This series of
decoders are mainly used for remote control system applications, like burglar alarm, car door
controller, security system etc. It is mainly provided to interface RF and infrared circuits. They are
paired with 2
12
series of encoders. The chosen pair of encoder/decoder should have same number of
addresses and data format.

In simple terms, HT12D converts the serial input into parallel outputs. It decodes the serial addresses
and data received by, say, an RF receiver, into parallel data and sends them to output data pins. The
serial input data is compared with the local addresses three times continuously. The input data code
is decoded when no error or unmatched codes are found. A valid transmission in indicated by a high
signal at VT pin.

HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits. The data on 4
bit latch type output pins remain unchanged until new is received.

6.4.1Pin Description:


Pin No Function Name
1
8 bit Address pins for input
A0
2 A1
3 A2
4 A3
5 A4
6 A5
7 A6
8 A7
9 Ground (0V) Ground
10
4 bit Data/Address pins for output
D0
11 D1
12 D2
13 D3
14 Serial data input Input
15 Oscillator output Osc2
16 Oscillator input Osc1
17 Valid transmission; active high VT
18 Supply voltage; 5V (2.4V-12V) Vcc








6.4.2 Pin Diagram:









6.5 HT12E
HT12E is an encoder integrated circuit of 2
12
series of encoders. They are paired with 2
12
series of
decoders for use in remote control system applications. It is mainly used in interfacing RF and infrared
circuits. The chosen pair of encoder/decoder should have same number of addresses and data
format.

Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit parallel data
into serial for transmission through an RF transmitter. These 12 bits are divided into 8 address bits
and 4 data bits.

HT12E has a transmission enable pin which is active low. When a trigger signal is received on TE
pin, the programmed addresses/data are transmitted together with the header bits via an RF or an
infrared transmission medium. HT12E begins a 4-word transmission cycle upon receipt of a
transmission enable. This cycle is repeated as long as TE is kept low. As soon as TE returns to high,
the encoder output completes its final cycle and then stops.


6.5.1 Pin Description:


Pin No Function Name
1
8 bit Address pins for input
A0
2 A1
3 A2
4 A3
5 A4
6 A5
7 A6
8 A7
9 Ground (0V) Ground
10
4 bit Data/Address pins for input
AD0
11 AD1
12 AD2
13 AD3
14 Transmission enable; active low TE
15 Oscillator input Osc2
16 Oscillator output Osc1
17 Serial data output Output
18 Supply voltage; 5V (2.4V-12V) Vcc




6.5.2 Pin Diagram:


















7. CODING


#include<reg51.h>
#define a P1
Void main()
{
Unsigned int x;
a=0xff;
SCON=0x50;
TMOD=0x20;
TH1=0xfd;
TR1=1;
While(1)
{
While(RI==0);
X=SBUF;
RI=0;
If(x==0x66| |x==0x38)
a=0x0a;
If(x==0x62||x==0x32)
a=0x05;
If(x==0x72| |x==0x36)
a=0x09;
If(x==0x6c| |x==0x34)
a=0x06;
If(x==0x73| |x==0x35)
a=0x00;

}
While(1);
}
End program






8.CONCLUSION

A robot is an automatically guided machine, able to do tasks on its own. Another common
characteristic is that by its appearance or movements, a robot often conveys a sense that it
has intent or agency of its own. Teleoperation indicates operation of a machine at a
distance. It is similar in meaning to the phrase "remote control" but is usually encountered in
research, academic and technical environments.Our project involves the design and setup of
a PC controlled miniaturized robotic car. The robotic version of the car can be remotely
monitored and controlled. The movement of the car is controlled by the input devices of the
PC such as the keyboard. The arrow keys of the keyboard is used specifically to control the
movement of the car.













8. BIBLIOGRAPHY

TEXT BOOKS REFERED:
1. The 8051 Microcontroller and Embedded Systems by Muhammad Ali Mazidi and
Janice Gillispie Mazidi, Pearson Education.
2. 8051 Microcontroller Architecture, programming and application by KENNETH
JAYALA
3. ATMEL 89s52 Data sheets
4. Hand book for Digital ICs from Analogic Devices

WEBSITES VIEWED:
www.atmel.com
www.beyondlogic.org
www.dallassemiconductors.com
www.maxim-ic.com
www.alldatasheets.com
www.howstuffworks.com
www.digi.com
www.wikipedia.com

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