Line Follower ROBOT

Plermjai Inchuay, plermjai@loxinfo.co.th

Berikut contoh robot yang dibuat oleh orang tailand dan menang sebagai juara.

Microcontrollor AT89C2051 and H-Bridge driver L293D were used  to control direction and speed of motor.

Fig 1. Circuit diagram of my Robot.

Fig 2. Circuit diagram of Infrared sensors and comparators.
 

Fig 4.  Position of sensors,  left hand side is side view and right hand side is top view.

Software

Software for write to AT89C2051 is robot1.hex ,which was written by C-language ,the  source code is robot1.ccompiled by using MC51 in TINY model with my start up code robot.asm .

*#cpu 8051 Tiny

*

* DDS MICRO-C 8031/51 Startup Code & Runtime library for TINY model

*

* Copyright 1991-1999 Dave Dunfield

* All rights reserved.

*

??????? ORG??? $0000???????? $0800? CODE Starts here (Normally in ROM)

??????? LJMP?? START

??????? ORG??? $0003

??????? LJMP?? SERVICE_EX0

??????? ORG??? $000B

??????? LJMP?? SERVICE_TIMER0_INTERRUPT

* Fixed memory locations for alternate access to the R0-R7 register bank.

* If you are NOT useing BANK 0, these equates must be adjusted.

?R0???? EQU???? 0????????????? Used for "POP" from stack

?R1???? EQU???? ?R0+1????????? Used to load index indirectly

?R2???? EQU???? ?R0+2????????? ""???????????? ""???????????? ""???????????? ""

?R3???? EQU???? ?R0+3????????? Used by some runtime lib functions

?R4???? EQU???? ?R0+4

?R5???? EQU???? ?R0+5

?R6???? EQU???? ?R0+6

?R7???? EQU???? ?R0+7

*

* Startup code entry point

*

* If you are NOT using interrupts, you can reclaim 50 bytes

* of code space by removing the following TWO lines.

*??????? AJMP??? *+$0032???????? Skip interrupt vectors

*??????? DS????? $0032-2???????? Reserve space for interrupt vectors

*

START?? EQU???? *

??????? MOV???? SP,#?stk-1???? Set up initial stack

??????? ORL? TMOD,#000001??? set timer 0 to be counter 16 bit

??????? SETB??? IE.7??????????? $AF? EA

??????? SETB??? IE.1??????????? $A9? ET0 Enable timer 0 interrupt

??????? SETB??? TCON.4????????? start timer 0

??????? LCALL?? main?????????? Execute program

??????? SJMP??? *?????????????? JUMP HERE

* EXIT to MON51 by calling the 'timer1' interrupt vector ($001B).

* This causes MON51 to think that a single-step operation has just

* completed, and therefore it saves the user registers, and performs

* a context switch back to the monitor.

*

* When using 2K addressing (CC51: -Z option, ASM51: -A option) this LCALL

* may fail "Out of range" because it gets translated to ACALL, and $001B

* may not be in the same 2K block as your program. Since 2K devices cannot

* support a debugger, change the ORG to $0000, and ...<continue below>...

*

* If you are NOT using MON51 (or MONICA which works the same), you will

* need to change this to whatever action you desire when main() returns.

* Suggestions: 1:freeze (SJMP *) 2:Restart (SJMP *&$FF00)

exit??? LCALL?? $001B????????? Call Timer-1 interrupt

??????? SJMP??? exit?????????? Incase he go's again

**************************** My code *********************************

SERVICE_TIMER0_INTERRUPT?? EQU *

?? PUSH ACC

?? PUSH PSW

?? MOV? TH0,#$FF????? reload timer 0 for ms

?? MOV? TL0,#$00

?? INC? tick

?? MOV? A,tick

?? CJNE A,#100,RIGHT

?? MOV? tick,#0

RIGHT

?? CLR? C

?? SUBB A,speedright

?? JC?? ON_RIGHT

?? CLR? P1.0

?? SJMP LEFT

ON_RIGHT

?? SETB P1.0

LEFT

?? MOV? A,tick

?? CLR? C

?? SUBB A,speedleft

?? JC?? ON_LEFT

?? CLR? P1.1

?? SJMP EXIT_I

ON_LEFT

?? SETB P1.1

EXIT_I

?? POP? PSW

?? POP? ACC

?? RETI

SERVICE_EX0 EQU *

?? INC? cputick

?? RETI

$SE:1

*#map1 Segment 1, initialized variables

$SE:2

*#map2 Segment 2, internal "register" variables

??????? ORG???? $0008????????? Internal ram ALWAYS starts here

tick???????? DS? 1

speedright?? DS? 1

speedleft??? DS? 1?? 

cputick????? DS? 1

HARGA KIT RP 400.000 (buat pcb dan Solder sendiri)