Wednesday, September 16, 2009

Dancing miniBOT

Dancing mini-MOBOT using Microchip’s PIC16LF73 and two tiny motors (powered by a CR2032 Lithium cell).





Schematic:
Posted by 'yus at 1:57 PM
Labels: ,

5 comments:

  1. AnonymousJuly 1, 2010 at 2:32 AM

    Very Good!!!!!!!!!!

    ReplyDelete
  2. AnonymousFebruary 22, 2011 at 5:15 AM

    thanks

    please share source code

    thanks

    ReplyDelete
  3. UnknownFebruary 22, 2014 at 5:31 PM

    Please give me source code to k130572@yandex.ru?

    ReplyDelete
  4. UnknownMarch 25, 2014 at 3:19 PM

    // Pins connected to the motor driver. The PWM pins control the speed, and the
    // other pins are used to select the current operation of the left/right
    // channels of the driver- forward, reverse, stopped, or brake.
    #define LEFT_PWM 3
    #define LEFT_1 2
    #define LEFT_2 4
    #define RIGHT_PWM 6
    #define RIGHT_1 7
    #define RIGHT_2 5

    void setup()
    {
    Serial.begin(57600); // This isn’t actually used anywhere; it’s here because
    // once you start modifying the code and need to add
    // print statements, you’ll forget to put this back in.
    pinSetup(); // Configure the pins for the application. If we are in
    // test mode, this will also configure the pins needed
    // to support the addtional test functionality.
    driveStop(); // Just to be good citizens, make sure the motors aren’t
    // going to just randomly start turning.
    }

    void loop()
    {
    driveFwd(128);
    delay(3000);

    driveStop();
    delay(500);

    driveRev(128);
    delay(2000);

    leftFwd(128);
    rightRev(128);
    delay(1000);

    leftRev(128);
    rightFwd(128);
    delay(1000);

    }

    void pinSetup()
    {
    pinMode(LEFT_PWM, OUTPUT);
    pinMode(LEFT_1, OUTPUT);
    pinMode(LEFT_2, OUTPUT);
    pinMode(RIGHT_PWM, OUTPUT);
    pinMode(RIGHT_1, OUTPUT);
    pinMode(RIGHT_2, OUTPUT);
    }

    // Stop mode is simply a hi-z state. The motor will coast for some time if it
    // is running at the time when this mode is activated.
    void driveStop()
    {
    leftStop();
    rightStop();
    }

    // Brake mode actually connects the two pins of the motor together, which will
    // cause it to stop more quickly and to resist moving to some extent.
    void driveBrake()
    {
    leftBrake();
    rightBrake();
    }

    // Forward and reverse ground one pin and then toggle the other at the rate
    // defined by the PWM inputs.
    void driveFwd(byte spd)
    {
    leftFwd(spd);
    rightFwd(spd);
    }

    void driveRev(byte spd)
    {
    leftRev(spd);
    rightRev(spd);
    }

    // The left/right Rev/Fwd functions are set forth in the datasheet. Worth
    // noting- this is relative to the preferred assembly of the Minibot kit. If
    // you wire up your motors in another way, expect different results.
    void leftRev(byte spd)
    {
    digitalWrite(LEFT_1, HIGH);
    digitalWrite(LEFT_2, LOW);
    analogWrite(LEFT_PWM, spd);
    }

    void leftFwd(byte spd)
    {
    digitalWrite(LEFT_1, LOW);
    digitalWrite(LEFT_2, HIGH);
    analogWrite(LEFT_PWM, spd);
    }

    void rightRev(byte spd)
    {
    digitalWrite(RIGHT_1, HIGH);
    digitalWrite(RIGHT_2, LOW);
    analogWrite(RIGHT_PWM, spd);
    }

    void rightFwd(byte spd)
    {
    digitalWrite(RIGHT_1, LOW);
    digitalWrite(RIGHT_2, HIGH);
    analogWrite(RIGHT_PWM, spd);
    }

    void leftBrake()
    {
    digitalWrite(LEFT_1, HIGH);
    digitalWrite(LEFT_2, HIGH);
    analogWrite(LEFT_PWM, 0);
    }

    void rightBrake()
    {
    digitalWrite(RIGHT_1, HIGH);
    digitalWrite(RIGHT_2, HIGH);
    analogWrite(RIGHT_PWM, 0);
    }

    void leftStop()
    {
    digitalWrite(LEFT_1, LOW);
    digitalWrite(LEFT_2, LOW);
    analogWrite(LEFT_PWM, 0);
    }

    void rightStop()
    {
    digitalWrite(RIGHT_1, LOW);
    digitalWrite(RIGHT_2, LOW);
    analogWrite(RIGHT_PWM, 0);
    }

    ReplyDelete
  5. FratelloApril 5, 2014 at 12:46 AM

    The hex is available ? I don't figure out about the programming software ...Thanks !

    ReplyDelete

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