2012

RC CAR

Shahadat Hussain Parvez

Jubair Hossain

Tahmid Hassan Talukdar

12-Apr-12

Acknowledgement
We are very happy that we have completed our first project on micro controller. This is our best chance to thank all the people around us who helped us in all the way in this project and on other project. We would like to thank our advisor MD Nazmus Sahadat, lecturer, Department of Electrical and Electronic Engineering, Shahjalal University of Science and Technology, Sylhet, Whose advises helped us all the way from beginning to end of the project. At last but not least, we would like to thank our parents without whose support we would been a big zero

10th April 12, 2012 Sylhet

Shahadat Hussain Parvez Jubair Hossain Tahmid Hassan Talukdar

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Contents
Acknowledgement................................................................................................................................... 2 Introduction: ........................................................................................................................................... 4 Specification: ........................................................................................................................................... 4 Working mechanism (Flow of work) ........................................................................................................ 5 Mechanical Design: ................................................................................................................................. 7 Electrical design:...................................................................................................................................... 8 Schematics: ........................................................................................................................................... 10 Usability: ............................................................................................................................................... 12 Further Possible Upgrades ..................................................................................................................... 13 Photos ................................................................................................................................................... 14 Source codes ......................................................................................................................................... 17 Soft wares and materials used ............................................................................................................... 22

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Introduction:
A common idea in human brain is to create some automation. The one and only reason for this automation is to reduce the efforts needed to do any work. This is the reason for creation of engineering. All the engineers tries to create automation robots. And the most important part of robotics is the logic. Creation of robot needs creation of logic. This Remote control car is anaproach to introduction to robotics. The idea of this RC Car came as an introduction to robotics. No other project can be better option other than this to introduce us to vast world of robotics.

Specification:
Body Frame : Dimension (Frame) : Dimension (With wheel): Weight : Operation mode : Wireless range Movement : Power : Special security feature : Aluminum rail 7inches* 6Inches 7 inches* 8Inches 2.5 Kg aprox Wireless control : 200 m 360 degree in any direction (Forward and Backward) 12 V for Car 9 V for Remote controller The car automatically stops if it goes out of range of RF.

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Working mechanism (Flow of work)

Description: The basic mechanism for the movement of the RC car is very simple. You hit forward button then the car moves forward and if you hit back it moves back. During movement if you hit left or right the car turns in the respective direction. (For details of the moving see Mechanical design section) When you hit the any button logic from that button is send to the microcontroller. This logic data is the processed (Encoded ) in the microcontroller to make it
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ready for sending it to RF transmitter. The RF transmitter then sends some packet data address through radio waves. The transmitted radio waves are then received by the Receiver (RX module) which then sends the received data addresses to another microcontroller. This microcontroller again processes (decodes) the datas to give some logic output. This logic output is used by the motor controller circuit to Drive the motors in desired way. (For details of the motor control see electrical design section)

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Mechanical Design:
The mechanical part of the RC car is made with a use of very simple physical law, moment.

Simply if F1 and F2 is same in magnitude then the body will move forward . If F1 is larger than F2 body turns right and if F2 larger than F1 body turns left. We used this simple moment physics to design our car. In the design of the car there are two motors at back side which are the main movement controller of the car and the front wheel is simply to give support to the movement. If any motor is rotating then there is a force acting so there is a moment in that direction. We used this fact to design our car. If both the motors move forward then the car simply moves forward. If only right motor moves forward then the car turns left. If the left motor rotates forward then the car turns right. If left motor rotates reverse the car turns left in reverse direction. If right motor rotates reverse the car turns right in reverse direction. And if both the motor rotates reverse car moves backward.

If we show the movement logic in table it looks like this:Left Motor Forward Forward Stop Reverse Stop Reverse Stop Right Motor Forward Stop Forward Stop Reverse Reverse Stop Output Car moves forward Car turns right Car turns left Car turns left in reverse gear Car turns right in Reverse gear Car move backward Car at rest
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Electrical design:
The main part of the motor control mechanism is the use of L298 IC, which is actually full bridge driver. Block diagram of internal circuit of L298 is as follows

using one L298 we can control both the motor movement in forward and reverse mode. If IN1 is enabled then left motor rotates forward (Actual connection of motors are as in the figure). If IN2 is enabled, Left motor rotates in reverse. IN3 makes right motor move forward and IN4 makes right motor back.

A big challenge in rotating motor from the output of L298 is, motor is an inductive load so when motor is connected the lines acts as short so the motor does not rotates. The solution to this problem is use if diode bridge in the output as in the figure

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Another challenge in the motor controlling circuit is L298 is bjt based ie it is a current driven IC and Microcontroller in voltage driven device. So there is a chance of breakdown of Microcontroller using L298 directly. So to overcome this challenge we used a buffer in between the output of microcontroller and input of L298

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Schematics:
Transmitting End

The above schematics shows the basic circuit used in the transmission of datas from the remote control to RF waves which is used by the receiver to proceed the process.

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Receiving End

The above schematic shows the receiving end of the movement process. This is where the datas are processed and made the car move.

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Usability:
This car is small in size but usability of this car is very large. It can be used in many ways some of the common way of using it is described below. For security reason we can use this car. We can send this car to different places where human access may be risky. We can send these Cars to different places to gather different information so that we can ensure safe going of human to those places. We can use this car for handling things carefully ie to handle glass instruments. And finally, yes it can be used for entertainment purpose. This car can be used for miniature car racing in home tracks i.e. in small open place. The driving skills necessary to drive this car is very less. So the racing game with this can is enjoyable to both children and adults. So this car can be medium to bring parents children together.

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Further Possible Upgrades

The car can be moderated and upgraded with a video transmission system. If video transmission is added to this car, then this car can be send to difficult places where human access is not only risky but quite impossible. We can use this small car for searching purpose. If mine detectors are added to this system with video transmission then we can use this car for land mine detections. As we know land mines have a minimum weight (5 kg 1) requirement to blast. And the weight of our car is less compared to minimum trigger requirement so we can use this can easily to detect mines without exploding it. Giving this car some automation logic can help us make this car a waiter system in restaurant .

Reference : http://www.fourmilab.ch/minerats/hackers96/sld004.html

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Photos

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Source codes
Send
#include <avr/io.h> #include <util/delay.h> #ifndef F_CPU #define F_CPU 8000000 #endif #define BAUDRATE 1200 #define UBRRVAL ((F_CPU/(BAUDRATE*16UL))-1) #define ADDRESS 21 void USART_Init(void) { // Init Function

UBRRL=(uint8_t)UBRRVAL; UBRRH=(UBRRVAL>>8); UCSRC=(1<<URSEL)|(0<<UMSEL)|(0<<UPM1)|(0<<UPM0)|(0<<USBS)|(0<< UCSZ2)|(1<<UCSZ1)|(1<<UCSZ0); UCSRB=(1<<TXEN); } void USART_vSendByte(uint8_t DATA) { while((UCSRA&(1<<UDRE)) == 0); UDR = DATA; // Packet Send // Data Send Function

void Send_Packet(uint8_t address, uint8_t command) { USART_vSendByte(address); USART_vSendByte(command); USART_vSendByte((address+command)); } int main(void) { DDRB = 0x00; USART_Init(); while(1) { while(PINB) {

// Main Function

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while (PINB == 0b10000000) { Send_Packet(ADDRESS, 1); _delay_ms(100); } while (PINB == 0b01000000) { Send_Packet(ADDRESS, 2); _delay_ms(100); } while (PINB == 0b10100000) { Send_Packet(ADDRESS, 3); _delay_ms(100); } while (PINB == 0b10010000) { Send_Packet(ADDRESS, 4); _delay_ms(100); } while (PINB == 0b01100000) { Send_Packet(ADDRESS, 5); _delay_ms(100); } while (PINB == 0b01010000) { Send_Packet(ADDRESS, 6); _delay_ms(100); } while (PINB == 0b00000010) { Send_Packet(ADDRESS, 7); _delay_ms(100); } //else { continue; } } }

return 0; }

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Receive
#include <avr/io.h> #include <avr/interrupt.h> #include <util/delay.h> #ifndef F_CPU #define F_CPU 8000000 #endif #define BAUDRATE 1200 #define UBRRVAL ((F_CPU/(BAUDRATE*16UL))-1) #define RADDR 21 void USART_Init(void) { UBRRL=(uint8_t)UBRRVAL; UBRRH=(UBRRVAL>>8); UCSRC=(1<<URSEL)|(0<<UMSEL)|(0<<UPM1)|(0<<UPM0)| (0<<USBS)|(0<<UCSZ2)|(1<<UCSZ1)|(1<<UCSZ0); UCSRB=(1<<RXEN)|(1<<RXCIE); //sei(); } uint8_t USART_vReceiveByte(void) { while((UCSRA&(1<<RXC)) == 0); return UDR; } ISR(USART_RXC_vect) { uint8_t raddress, data, chk; raddress=USART_vReceiveByte(); data=USART_vReceiveByte(); chk=USART_vReceiveByte(); while(chk==(raddress+data)) {
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while(raddress==RADDR) { while (data == 1) { PORTD = 0b10100000; break; //_delay_ms(200); } // Forward while (data == 2) { PORTD = 0b01010000; //_delay_ms(200); break; } // Reverse while (data == 3) { PORTD =0b10000000; //_delay_ms(200); break; } // F-R while (data == 4) { PORTD = 0b00100000; //_delay_ms(200); break; } // F-L while (data == 5) { PORTD = 0b01000000; //_delay_ms(200); break; } // R-R while (data == 6) { PORTD = 0b00010000; //_delay_ms(200); break; } // RL /*while (data == 7) { PORTD = 0b00000000; _delay_ms(200); break;
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} break; } break; } }

// BREAK*/

int main(void) { DDRD=0b11110000; USART_Init(); while(1) { sei(); _delay_ms(500); PORTD= 0b00000000;

} }

return 0;

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Soft wares and materials used

Software Proteus AVR Studio PonyProg : : : For Realtime simulation For Programming Program downloading

Hardware ATmega8 : Microcontroller

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