project_report_masters

A S S E M B L Y A N D P R O G R A M M I N G O F A L I N E

F O L L O W I N G A N D O B S T A C L E A V O I D I N G

A U T O N O M O U S R O B O T

Department of Instrumentation & Embedded Systems

Project Report: Master of Science, Embedded Electronic Systems (2012/2013) of 78

TABLE OF CONTENTS Page ACKNOWLEDGEMENTS -------------------------------------------------------- 3

ACRONYMS AND OTHER TERMS ---------------------------------------------- 4

1.0 OBJECTIVE AND EXECUTIVE SUMMARY -------------------------------- 5 1.1 OBJECTIVE --------------------------------------------------------------------------- 6 1.1.1 Components Used ------------------------------------------------------------ 6 1.1.2 Preliminary Analysis Done -------------------------------------------------- 6 1.1.3 Technologies Applied -------------------------------------------------------- 7 1.2 EXECUTIVE SUMMARY-------------------------------------------------------------- 7

2.0 PROJECT PLAN AND EXECUTION ---------------------------------------- 8 2.1 PROJECT PLAN OVERVIEW AND CRITICAL ASSUMPTIONS ------------------ 9 2.2 ROLE REQUIREMENTS ------------------------------------------------------------- 9 2.3 PROJECT ORGANIZATIONAL CHART --------------------------------------------- 10 2.4 PROJECT SCHEDULE ---------------------------------------------------------------- 11 2.4.1 The Initially Planned Schedule --------------------------------------------- 11 2.4.2 The Actually Implemented Schedule -------------------------------------- 12 2.4.3 Slip between the Planned and the Actual -------------------------------- 13

3.0 HRDWARE DEVELOPMENT ------------------------------------------------ 14 3.1 LIST OF TOOLS AND MATERIALS UTILIZED ------------------------------------ 15 3.1.1 Tools --------------------------------------------------------------------------- 15 3.1.2 Materials ----------------------------------------------------------------------- 15 3.2 MODIFICATIONS DONE TO THE MSP LAUNCHPAD --------------------------- 16

4.0 SOFTWARE DEVELOPMENT ----------------------------------------------- 18 4.1 OVERVIEW --------------------------------------------------------------------------- 19 4.2 THE LFOAAR PERIODIC I/O TASKS ---------------------------------------------- 20 4.2.1 Task A-------------------------------------------------------------------------- 21 4.2.2 Task B -------------------------------------------------------------------------- 22

5.0 CONCLUSION -------------------------------------------------------------- 26 5.1 APPLICATIONS ----------------------------------------------------------------------- 27 5.2 REFERENCES ------------------------------------------------------------------------- 27

Annexure-I: SAM-BOARD USER MANUAL ----------------------------------- 28

Annexure-II: ASSEMBLY MANUAL FOR THE ROBOT ----------------------- 31

Annexure-III: SOURCE CODE OF THE LFOAAR SYSTEM ------------------- 48

Annexure-IV: EXTRACTS OF SOME PROJECT CORRESPONDENCES ------- 70






ACKNOWLEDGEMENTS

We would like to express our gratitude and appreciation to all those who made it

possible for us to complete the masters program and this project. Our project

supervisor, Dr. Vincent VAUCHEY deserves special mention for his constant guidance

and technical advices that helped us complete the project successfully.

Many thanks goes also to our Chef de Département (Département

Instrumentation & Systèmes Embarqués) at ESIGELEC*, Professor Jean Jacques

DELARUE for his tutelage and support, not only during the course of executing this

project; but throughout the masters program as well.

We also gratefully acknowledge the crucial role of the staff of IRSEEM

(Embedded Electronic Systems Research Institute) at ESIGELEC, who willingly made

available to us all required tools and materials necessary for actualizing the project.

Finally, yet importantly, we express our heartfelt thanks to our beloved parents

for their blessings, and our friends & classmates for their assistances and good

wishes throughout.

*ESIGELEC Technopôle du Madrillet Avenue Galilée, BP10024 76801 Saint Etienne du Rouvray FRANCE Tel. : +33 (0)2 32 91 58 58 Fax : +33 (0)2 32 91 58 59 Website : www.esigelec.fr Contact : [email protected]






ACRONYMS AND OTHER TERMS

1 ADC Analog-to-Digital-Converter

2 DC Direct Current

3 ESIGELEC École Supérieure d'Ingénieurs

4 IDE Integrated Development Environment

5 IR Infra Red

6 IRSEEM Embedded Electronic Systems Research Institute

7 Launchpad Electronic Board of the MSP430G2553 MCU

8 LFOAAR Line Following and Obstacle Avoiding Autonomous Robot

9 MSEE Master en Sciences, Systèmes Electroniques Embarqués

10 MSP Mixed Signal Processor

11 PWM Pulse Width Modulation

12 RTOS Real Time Operating System

13 SAM-Board Electronic Board of the Robot’s Motors

14 TA1CCR0 Timer A1 Capture/compare Register, Channel 0

15 TA1CTL Timer A1 Control Register, Channel 0

16 TAIFG Timer A Interrupt Flag

17 TI Texas Instruments®

18 UART Universal Asynchronous Receiver Transmitter

19 UML Unified Modeling Language






Section 1.0

OBJECTIVE AND EXECUTIVE SUMMARY






1.0 OBJECTIVE AND EXECUTIVE SUMMARY 1.1 OBJECTIVE To assemble the given robotic kit and program the Texas Instruments (TI) microcontroller unit (MCU) MSPG2553 to make the robot follow a path as well as avoid any obstacles placed on its path. 1.1.1 Components Used 1.1.1.1 Hardware materials

Table 1.1

Material Quantity SAM-Board (designed for the MSP430G2452 MCU) 1 MSP430G2553 MCU 1 DC Motors 2 MSP430G2553 Evaluation Board (Launchpad) 1 Base Board to mount the robot (Chassis) 1 Infra Red (IR) sensors 2 Reflectance sensors 4 Wheels for the motors 2 Robotic Kit 1

1.1.1.2 Software compiler IAR® Workbench IDE version 5.5.1 for Texas Instruments® MSP Devices. 1.1.2 Preliminary Analysis Done a) Detailed study of the given SAM board (which was designed for the

MSP430G2452 MCU) to integrate it with the MSP430G2553 MCU

b) Thorough study of the MSP430G2553 MCU and its differences with the MSP430G2452 MCU in terms pin configurations and functionalities.

c) Study of characteristics and features of the given motors.

d) Analysis of the IR sensors and the reflectance sensors.






1.1.3 Technologies Applied All knowledge and technologies acquired throughout the course of the masters program were applied. Their utilization was significant in successfully completing the project. Some of these were particularly in the areas of Embedded C programming, Architecture of Microprocessors, Real Time Operating Systems, Electromagnetic Compatibility, Instrumentation & Control etc. 1.2 EXECUTIVE SUMMARY The entire project was broken down into three different modules and the testing of each module was initially performed individually before integrating them to perform the final test. a) Testing for obstacle avoidance

The MCU was initially programmed to make the robot detect obstacle on its path of movement; and this was tested by placing obstacles at distances: 30 cm and closer. Additionally, it was also programmed to successfully take drastic decisions when boxed up in a corner: this is the condition when it senses that it is approaching obstacles at both sides and in front, and cannot afford to move neither forward nor sideways any longer.

b) Testing for line (or path) following

The robot was programmed in such a way that it moved forward only along the path marked out with a black line (note that it can easily be adapted to move along the path of any other colour apart from black). During testing the robot was able to manoeuvre through both a gentle curve and a sharp curve.

c) Final test

The final test was performed by integrating both the line following and the obstacle avoidance modules. To see these tests, refer the videos in the CD accompanying this report.






Section 2.0

PROJECT PLAN AND EXECUTION






2.0 PROJECT PLAN AND EXECUTON 2.1 PROJECT PLAN OVERVIEW AND CRITICAL ASSUMPTIONS The project plan was developed based upon certain key assumptions. Changes in these assumptions impacted the project schedule and projected costs. These assumptions were:

a) We had worked with the MSP430G2452 MCU and did not envisage the extent of the compatibility issues using the MSP430G2553 MCU.

b) We relied on easy availability of the various sensors, and did not make adequate preparations for spares.

c) We believed the timeline was reasonable enough.

d) We did not have to worry about the budget as all the components were readily available and provided to us.

e) We planned on maintaining effective, adequate, and appropriate levels of communication between our mentors and the project team during all phases of the project.

f) All the technical details were provided to ensure common understanding, flexibility, and adaptation to the project.

2.2 ROLE REQUIREMENTS The following (Table 2.1) is a detailed breakdown of the roles assumed during the execution of the project. It included the individual project roles and the responsibilities of each role. Table 2.1

Name Role Skills Required Emmanuel CHIDINMA

Project leader / Software Lead

Experience, sense of responsibility and effective communication

Erick COVARRUBIAS

Hardware Lead / Software Developer

Good hardware background and experience

Ravi Raj NARAYANA

Hardware scoping / Software compatibility

Good understanding of requirements, sound judgment

Sagarika MUKESH

Project Planner / Software Developer

Good planning and communication skills, understanding of the project

Tamilkavitha VAITHIANATHAN

Software Developer / Hardware Compatibility

Keen interest in programming and knowledge of the hardware

Ishan CHUGH Hardware / Software Development

Good knowledge and understanding of the overall project

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2.4 PROJECT SCHEDULE 2.4.1 The Initially Planned Schedule






2.4.2 The Actually Implemented Schedule






2.4.3 Slip between the Planned and the Actual The project was initially planned to end by 31/01/13. However, it ended on 15/02/13: a slip of about 2 weeks. The final two weeks (17/01/13 to 31/01/13) took us unawares because we wrote five examinations within this period; a period that was completely vacant when the project commenced: consequently the project was completed later than the scheduled time. Secondly, while test running the robot, we discovered that reflective sensors had become defective. It took another three days to procure new sensors: another delay.






Section 3.0

HARDWARE DEVELOPMENT

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Table 3.1

LaunchPad Pins Function Type

P 1.0 ADC10 IR-sensor Left Input P1.1 UART Rx Input P1.2 UART Tx Output P1.3 Line detection (reflectance) Back-Left Sensor Input P1.4 Line detection (reflectance) Front-Left Sensor Input P1.5 Line detection (reflectance) Front-Right Sensor Input

P1.6 Line detection (reflectance) Back-Right Sensor Input

P1.7 ADC10 IR-sensor Right Input

P 2.0 Timer A1 Channel 0 Unused

P 2.1 PWM motor A ( SAM-board marked as pin 1.2): Timer A1 Channel 1 for the left wheel Output

P 2.2 H Bridge Control Motor B: determines direction of rotation of right wheel Output

P 2.3 Optocoupler A Input

P 2.4 Optocoupler B Input

P 2.5 PWM motor B ( Sam-board marked as pin 1.4): Timer A1 Channel 2 for the right wheel Output

P 2.6 H Bridge Control Motor A ( Sam-board marked as pin 2.1): determines direction of rotation of

left wheelOutput






Section 4.0

SOFTWARE DEVELOPMENT

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The LFOAAR real-time system had just two tasks: One task measuring the distances, and the other sensing line colour. As these two tasks were mutually exclusive, this real-time system was not a concurrent system that employed multiple threads of execution: it was purely a sequential system using just one thread of execution. It was a foreground/background system with a super loop. As a result, the use of an RTOS (Real Time Operating System) was not necessary. The textual pseudo code modeling of the LFOAAR system is shown in Listing 4.1. Listing 4.1: Pseudo Code for the LFOAAR System while start with the periodic slow clock mode do Take the IR sensor measurement to obtain distance if distance at both sides of the robot are less than 30 cm // Task A for obstacle avoidance if distance at the right is greater than that at the left // Ai) Steer robot to the right // end Ai) else if distance at the left is greater than that at the right // Aii) Steer robot to the left // end Aii) else // distances at both sides are equal and less than 30 cm: Aiii) Move the robot backwards until it senses enough space to steer to any side // end Aiii) end if; // end either Ai or Aii or Aiii) else distance at both sides of the robot are more than 30 cm // Task B for line detection Stop the slow clock mode and start the fast clock mode // B1 Take line sensor measurement to obtain colour value // B2 Check whether it is time to stop the fast clock and restart the slow clock mode // B3 if Consider the situations where all 4 sensors are necessary to regulate movement // B4i Use all 4 line sensors to regulate movement such that robot moves along the line/ else if In the situation where all 4 sensors are not sensing the line // B4ii Move robot forward at a slower speed to hit the nearest line // end B4ii else if In the situations where just the 2 front sensors should regulate movement // B4iii Use just the 2 front line sensors to regulate movement // end B4iii else//situation when the back line sensors are on the line and the front ones are not: Biv) Perform random movements to position robot on the path // end Biv) end if; // end either Bi or Bii or Biii or Biv) end if; // end either A or B) end while; 4.2 THE LFOAAR PERIODIC I/O TASKS The two LFOAAR system tasks – Task A and Task B – were not configured to be event (or interrupt) driven I/O tasks because interrupts were not enabled in the application. Instead, they were configured as periodic I/O tasks. Because these two tasks were mutually exclusive, there was no need for an RTOS; thus, the two tasks were handled in a single if-else statement. As an overview, unlike an event driven I/O task, which deals with an event driven I/O device, a periodic I/O task deals with a passive I/O device, where the device is

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Immediately after the ADC outputs were ready, the Distance Sensor Interface function was called. This function was the hardware/software boundary (refer Figure 4.2) for task A. The signature of the function is: float calculate_distance(). This function enabled the ADC outputs to be mapped to distance values. The dist_left and dist_right were float variables representing the distances of left and right IR sensors respectively from an obstacle. What was it that determined the period of activation of task A?: the IR sensors’ reaction time placed the constraint and determined the threshold for this periodic time. For a particular distance from an obstacle, It took approximately 55 ms for each IR sensor to output a corresponding voltage value; and subsequently, a time of 308 µs (ADC sample and conversion time) for the ADCs to output their values. Thus, with task A configured to scan each of the two IR sensors every other periodic time, a period of 30 ms ensured that each of IR sensor was scanned every 60 ms. This time also included the ADC sample and conversion time. Task A was further subdivided in to three mutually exclusive scenarios:

a) Case Ai: distance at the right is greater than that at the left, in which case the robot steers right.

b) Case Aii: distance at the left is greater than that at the right, in which case the robot steers left.

c) Case Aiii: distance at both sides were equal (and less than 30 cm); in which case the robot must move backwards until it sensed enough space to steer to any side.

4.2.2 Task B It should be noted that during obstacle avoidance, that line (or path) following ability of the robot was suppressed. However, after successfully avoiding an obstacle, the robot must then proceed to the nearest black line path to continue the “path following.” Thus, program execution was passed to task B. The LFOAAR system task B obtained the colour under the surface on which the robot moved. This system was programmed to run on a black line (or path): therefore, there were only two colours: black colour and “other colours.” There were four reflectance sensors. Each reflectance sensor was a Pololu® Corporation QTR-8A reflectance Sensor. The reflectance sensors were also called line sensors in the context of the application. There were four of them mounted underneath the robot:

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the sensor reaction time of 10 µs. However, the large disparity was necessary to ensure there was enough time for the wheel speeds and direction to update to their new values accordingly. As soon as program control is passed to task B, each of the four reflectance sensors are scanned seven times in succession – a total of 28 ms; after which the clock is switched back to the slow mode and program control transferred back to task A. Task B was further subdivided under four mutually exclusive scenarios:

a) Case B4i: situation in which all four reflectance sensors partook in regulating the movement of the robot.

b) Case B4ii: situation in which none of the four sensors were sensing black colour. In this scenario, the robot was completely off the line.

c) Case B4iii: situation in which only the two front reflectance sensors partook in regulating the movement of the robot.

d) Case B4iv: situation in which the two back reflectance sensors were sensing black colour and the two front reflectance sensors were sensing other colours. In this case the robot makes some random movement to reposition itself on the line.

These various scenarios are detailed in Table 4.1. Labels: colour_front_right = W colour_front_left = X colour_back_right = Y colour_back_left = Z Scenario = P Table 4.1

W X Y Z Action by robot, control techniques by line sensors P

01 0 0 0 0 Move forward, all 4 sensors participate in the control B4i02 0 0 0 1 Move forward, all 4 sensors participate in the control B4i 03 0 0 1 0 Move forward, all 4 sensors participate in the control B4i 04 0 0 1 1 Move forward, all 4 sensors participate in the control B4i 05 0 1 0 0 Move forward, all 4 sensors participate in the control B4i

06 0 1 0 1 Move forward, only the 2 front sensors participate in the control. It is not necessary to use all 4 because the front pair and back pair values are just the same

B4iii






W X Y Z Action by robot, control techniques by line sensors P

07 0 1 1 0

Move forward, only the 2 front sensors participate in the control. All 4 cannot be used because the front pair and back pair values cancel out each other. Yet a change in position is necessary to re-position the robot accordingly

B4iii

08 0 1 1 1 Move forward, only the 2 front sensors participate in the control. Here 3 sensors are offline. If all 4 participate, the robot might be steered more than necessary.

B4iii

09 1 0 0 0 Move forward, all 4 sensors participate in the control B4i

10 1 0 0 1

Move forward, only the 2 front sensors participate in the control. All 4 cannot be used because the front pair and back pair values cancel out each other. Yet a change in position is necessary to re-position the robot accordingly

B4iii

11 1 0 1 0 Move forward, only the 2 front sensors participate in the control. It is not necessary to use all 4 because the front pair and back pair values are just the same

B4iii

12 1 0 1 1 Move forward, only the 2 front sensors participate in the control. Here 3 sensors are offline. If all 4 participate, the robot might be steered more that necessary.

B4iii

13 1 1 0 0

The rear part of the robot is on the line but the robot is facing a direction approximately perpendicular to the path. Therefore, it must perform random movements to reposition itself accordingly.

B4iv

14 1 1 0 1 Move forward, all 4 sensors participate in the control B4i15 1 1 1 0 Move forward, all 4 sensors participate in the control B4i

16 1 1 1 1

The robot is completely offline; most probably it has just completed an obstacle avoidance session. Here, it must move forward slowly to the nearest black line in order to join back the path.

B4ii

Annexure-III depicts the source code of the LFOAAR system.






Section 5.0

CONCLUSION






5.0 CONCLUSION This project implemented the working of a robot, the objective of which was to follow a colour path and avoid all the obstacles en route. We write this report after the successful completion of the project. The project centered on the use of the MSP430G2553 MCU with two kinds of sensors: a) Infrared Sensor: This sensor was used to accomplish the goal of avoiding

obstacles on the route of the robot. Two IR sensors were used, which enabled the robot take the necessary decisions to avoid obstacles.

b) Reflectance Sensor: This sensor was enabled the robot follow the path for which it was programmed. The sensor had different output voltages for different colours.

The Hardware of the project was developed on the SAM board, used for interfacing motors and sensors with the MCU. The programming language used was Embedded C and the debugging and compilation was done using IAR systems IDE. 5.1 APPLICATIONS a) In Future this project can be slightly modified for the robot to be employed in

sewers for cleaning the tunnels where people cannot enter.

b) The project can be adapted to be used in factory automation.

c) The project can be adapted to be used in automated vehicles that carry heavy loads.

d) The robot can be used in conveyor systems.

5.2 REFERENCES • The Texas Instruments® Datasheet for the MSP430G2553 MCU.

• The Pololu® Corporation QTR-8A reflectance Sensor Datasheet.

• The Sharp® GP2D120 Infra Red Sensor Datasheet.






Annexure-I

SAM-BOARD USER MANUAL

SAM Board – Manuel de l'utilisateur

Présentation

La carte « SAM Board » est prévue pour être montée sur le châssis Pololu rrc04a, elle accueille en mezzanine une carte Launchpad permettant ainsi la réalisation d'un petit robot mobile. Elle permet la gestion d'alimentation (gestion de la batterie, conversion des tensions) ; le contrôle de deux moteurs DC et comporte deux opto-coupleurs permettant d'estimer la vitesse de rotation des roues.Ce manuel décrit l'utilisation, la configuration et la mise en œuvre de cette carte.

Fonctionnalités

• Gestion (charge et supervision) d'une batterie Lithium-Polymère 3.7V• Gestion de l'alimentation (production de deux tensions : 5V et 3.3V)• Interface de puissance pour deux moteurs DC• Deux codeurs incrémentaux optiques pour la détection de la vitesse de rotation des roues• Connecteurs femelles permettant l’insertion d'une carte LaunchPad• Connecteurs femelles permettant l'alimentation et la connexion de périphériques (capteurs, actionneurs)

Configuration

Jumper Description Configuration par défaut

JP1 Limitation du courant consommé sur le port USB

Présent : 500 mA Absent: 100 mA

JP2 Mode de commande des moteurs (cf datasheet)

1-2 : Phase / Enable 2-3 : IN / IN

JP3 Tension d'alimentation des moteurs

1-2 : Vbat (env. 3.7V) 2-3 : 5V

JP4 Codeurs incrémentaux (opto-coupleurs)

Présent: codeurs actifs ; D3 et D4 indiquent l'état

Absent : codeurs inactifs ; D3 et D4 contrôlés par Launchpad

Illustration 1: SAM board - vue d'ensemble

Connecteurs

K1 : Connecteur 3 points 2.54mm pour batterie Lithium-Polymère 3.7V équipée d'une NTC interne.

K2 : Connecteur 2 points 2mm pour batterie Lithium-Polymère 3.7V non équipée d'une NTC. Localisé sous K1 qu'il est nécessaire de dessouder.

J1 : connecteur mini-USB type B. Alimentation du système (5V) et charge de la batterie

P1, P3 : connecteurs pour enficher une carte Launchpad. Le brochage des différentes fonctions connectées à la carte Launchpad sont indiqués dans le tableau ci-dessous,

Launchpad Fonction (configuration par défaut)

P 1.2 (TA 0.1) PWM pour le moteur A, 250 KHz maximum

P 1.4 (TA 0.2) PWM pour le moteur B, 250 KHz maximum

P 2.1 Sens pour le moteur A

P 2.2 Sens pour le moteur B

P 2.3 Opto-coupleur roue A

P 2.4 Opto-coupleur roue B

P2 : Connecteur fournissant l'alimentation pour les périphériques (capteurs, actionneurs)

P2: Broche n° Fonction

1, 2, 3 5V

4, 5, 6, 7 GND

8, 9, 10 3.3V

P4 : Connecteur fournissant quelques signaux de la Launchpad, ainsi qu'une alimentation 3.3V.

Le brochage est compatible avec les afficheurs 4x7 segments sparkfun qui peuvent donc être enfichés directement.

P4 : Broche n° Pin Launchpad Fonction afficheur Sparkfun

1 P 1.1 RX

2 P 2.0 CS

3 P 1.6 SI

4 P 1.3 RST

5 P 1.5 SCK

6 P 1.7 SO

7 / 3.3V

8 / GND

Indicateurs

D1 Vert : indique qu'une source d'alimentation adéquate est connectée sur J1 (port Mini-USB)

Orange : indique que la batterie est en charge

D2, D3 : indiquent le fonctionnement et le sens de rotation des moteurs

D4, D5 : indiquent l'état des opto-coupleurs. Si JP4 est retiré, peuvent être utilisés comme indicateurs par la carte Launchpad

D6 : Indique la mise sous tension du système






Annexure-II

ASSEMBLY MANUAL FOR THE ROBOT

Notice de montage du robot aspirateur.

APP Systèmes Numériques à Microprocesseurs.

Département Instrumentation & Systèmes Embarqués. ESIGELEC 2012 (C). Page 1

Robot Aspirateur

(Notice de Montage)

APP Systèmes Numériques à Microprocesseurs. R. ROSSI & R. KHEMMAR. ESIGELEC. 11/2012

Cette notice de montage a comme vocation de vous guider dans le montage de votre robot. Il est commode de respecter la chronologie des étapes indiquées afin d’avoir un robot opérationnel.




TABLE DES MATIERES

PAGE

1. INVENTAIRE DU MATERIEL A UTILISER ......................................................................................... 3

1.1. Caisse à outils ........................................................................................................... 3

1.2. Composants et Eléments du robot ....................................................................... 4

2. PROCEDURE D’ASSEMBLAGE DU ROBOT ASPIRATEUR ................................................................... 6

2.1. Déballage du châssis .............................................................................................. 6

2.2. Assemblage de la roue folle .................................................................................. 6

2.3. Assemblage Roues-Moteurs .................................................................................. 8

2.4. Assemblage carte-moteurs sur le châssis .......................................................... 10

2.5. Soudure des moteurs à la carte-moteurs .......................................................... 13

2.6. Installation de la batterie ..................................................................................... 14

2.7. Installation de la carte launchpad & l’afficheur .............................................. 16




1. INVENTAIRE DU MATERIEL A UTILISER

1.1. CAISSE A OUTILS

Vous disposez d’une caisse à outils vous permettant d’assembler votre robot

et d’assurer les différentes modifications nécessaires.

Le tableau 1 comprend la liste des outils fournis :

N° Désignation

1 Multimètres

2 Fer à souder et Pompe à dessouder

3 Pince coupante et pince plate

4 Tournevis plat et petit tournevis américain

5 Caisse à outils pour le rangement

6 Sacoche

Tableau 1. Liste des outils.

La figure 1 illustre l’ensemble des outils fournis :

Figure 1. Vue d’ensemble des outils.




La figure 2 illustre la caisse avec les outils et la sacoche :

Figure 2. Vue d’ensemble sur la caisse à outils et la sacoche.

1.2. COMPOSANTS ET ELEMENTS DU ROBOT

Le tableau 2 comprend la liste des éléments et composants nécessaires à

l’assemblage du robot :

N° Désignation

1 Châssis

2 2 x Moteurs DC

3 2 x Caches moteurs

4 2 x Roues motrices et 1 x Roue folle

5 Carte Launchpad MSP430

6 Carte Moteur et afficheur

7 Batterie et pastille adhésive pour fixation

Tableau 2. Liste des éléments constituants le robot.




La figure 3 illustre l’ensemble de ces éléments :

(a) (b)

(c) (d)

Figure 3. Vue d’ensemble des éléments du robot.

Caches

moteurs (d) Moteurs

(a)

Châssis

Carte

MSP430

2 roues

(b)

Roue folle

(c)

Carte

moteur

Batterie




2. PROCEDURE D’ASSEMBLAGE DU ROBOT ASPIRATEUR

Afin de bien assembler le robot, il est indispensable de respecter toutes les

étapes mentionnées ci-dessous.

2.1. DEBALLAGE DU CHASSIS

Retirer le papier de protection des deux faces du châssis. Aidez-vous du

tournevis plat pour décoller un bord comme le montre la figure 4 :

Figure 4. Retrait du film de protection du châssis.

2.2. ASSEMBLAGE DE LA ROUE FOLLE

Enlever le papier de protection de chaque côté de la petite entretoise

comme le montre la figure 5 :

Point de

retrait




Figure 5. Préparation de la roue folle.

Assembler la roue folle sous le châssis avec la vis et les écrous fournis en

serrant modérément comme le montre la figure 6 :

Figure 6. Assemblage de la roue folle sous le châssis.

Roue folle




Faire attention au sens : la bille est sous le châssis, à l’arrière du robot (comme

le montre la figure 7) :

Figure 7. Roue folle installée sur le châssis.

2.3. ASSEMBLAGE ROUES-MOTEURS

Emboiter les roues sur l’axe des motoréducteurs :

Enlever le pneu de la roue

Placer la roue sur une table, côté denté vers le haut

Enfoncer l’axe du motoréducteur en appuyant bien droit

La figure 8 illustre ces différentes étapes :

Avant

du robot

Arrière

du robot




Figure 8. Roue montée sur l’axe du moteur.

L’extrémité de l’axe doit bien affleurer la surface de la roue (figure 9) :

Vérifier que la roue tourne facilement en entrainant le moteur (si le

moteur semble bloqué, il faut appeler le tuteur)

Replacer les pneus sur les roues

Figure 9. Les deux roues assemblées aux moteurs.

L’axe du

moteur




2.4. ASSEMBLAGE CARTE-MOTEURS SUR LE CHASSIS

Déballer les caches moteurs et la visserie associée (Figure 10) :

Figure 10. Caches moteurs et visserie associée.

Positionner les caches sur les moteurs-réducteurs (figure 11) :

Vérifier le positionnement correct des caches

Figure 11. Positionnement des caches sur les moteurs.

Caches

moteurs

Moteur et réducteur

englobés dans le cache

Côté denté

vers l’intérieur




Positionner les moteurs et leurs caches sur la carte électronique (carte

moteur) comme le montre la figure 12 :

Attention au sens des moteurs. Les pattes marquées par un plus (+) vont

vers l’avant du robot.

Figure 12. Montage moteurs + caches sur la carte moteurs.

Pate moteur

marquée d’un +

L’avant du robot




Positionner l’ensemble (carte + moteurs) sur le châssis (figure 13) :

Placer les écrous dans les logements sur le dessus des caches moteurs

Vissez par le dessous dans les trous appropriés

Serrez modérément en vous aidant du tournevis

Figure 13. Fixation de l’ensemble (carte + moteurs) sur le châssis.




Vérifier le parallélisme des roues (afin d’assurer un déplacement rectiligne du

robot) comme le montre la figure 14 :

Figure 14. Vérification du parallélisme des roues.

2.5. SOUDURE DES MOTEURS A LA CARTE-MOTEURS

A ce stade de montage, vous devriez avoir les pattes des moteur marquées

par un plus (+) vers l’avant du robot.

Faites penchez les connecteurs (+) et (–) de la carte vers les connecteurs

des moteurs et soudez délicatement. La figure 15 illustre les étapes à suivre :




Figure 15. Soudure des moteurs à la carte-moteurs.

2.6. INSTALLATION DE LA BATTERIE

Coller la batterie sous le châssis (figure 16) :

Coller l’adhésif (double-face) sous le châssis

Faire passer le câble de la batterie par l’ouverture carrée avant

Enlever le papier protecteur sur l’adhésif

Coller la batterie en appuyant fermement. Les inscriptions de la batterie

doivent rester visibles.

Attention : La batterie doit être positionnée comme sur la photo (latéralement

centrée, l’arrière de la batterie alignée avec la grande ouverture

rectangulaire dans le châssis)

Vue de dessus

des connecteurs Soudure des moteurs aux

connecteurs

Moteur soudé à

la carte




Figure 16. Installation de la batterie.

Connecter la batterie comme le montre la figure 17 :

Figure 17. Connexion de la batterie.

Fiche détrompeuse




2.7. INSTALLATION DE LA CARTE LAUNCHPAD & L’AFFICHEUR

Enfichez la carte Launchpad en dessus de la carte moteur (figure 18) :

Figure 18. Installation de la carte Launchpad et l’afficheur.

FIN DU DOCUMENT






Annexure-III

SOURCE CODE OF THE LFOAAR SYSTEM

Page: 1C:\Users\EMMANUL CHINMA\Documents\main.cppSunday, February 24, 2013 / 8:26 PM

1: /* 15 February 20132: * 3: * MSEE12 PROJECT4: *5: * Implementation of robotic obstacle avoidance and line/path ¬

follower using:6: *7: * i) MSP430G2553 MCU,8: * 9: * ii) Two Sharp GP2D120 Infra Red (IR) Sensors mounted at the ¬

front of the robot (Robot Aspirateur),and10: *11: * iii) Four (Pololu Corporation) QTR-8A reflectance Sensor (2 ¬

mounted at the front and 2 at the back)12: *13: * 1V) Black tape used to construct the path (or line) for the ¬

robot.14: *15: *16: * PROJECT TEAM:17: * 18: * 1) CHIDINMA, Emmanuel; [email protected]: *20: * 2) COVARRUBIAS, Erick; [email protected]: *22: * 3) VAITHIANATHAN, Kavitha; [email protected]: *24: * 4) NARAYANA, Ravi Raj; [email protected]: *26: * 5) CHUGH, Ishan; [email protected]: *28: * 6) MUKESH, Sagarika; [email protected]: *30: *31: */32: 33: 34: #include "io430.h"35: 36: #include "intrinsics.h"37: 38: #include "stdint.h"39: 40: #include <time.h>41: 42: #include <stdlib.h>43: 44: 45: 46: float dist_right; // distance of right IR sensor from obstacle47: 48: float dist_left; // distance of left IR sensor from obstacle49: 50: bool colour_front_right; // colour sensed by the front right line ¬

sensor (black or others)51: 52: bool colour_back_right; // colour sensed by the back right line ¬

sensor (black or others)53: 54: bool colour_front_left; // colour sensed by the front left line ¬

sensor (black or others)55: 56: bool colour_back_left; // colour sensed by the back left line ¬

sensor (black or others)57: 58: //unsigned long OptocouplerLeftCountValue = 0; // the left ¬

optocoupler count variable59:


60: //unsigned long OptocouplerRightCountValue = 0; // the right ¬optocoupler count variable

61: 62: unsigned short int k = 0; // flag to enable choosing between the ¬

left or right IR sensor63: 64: unsigned short int j = 0; // flag to hold the next k65: 66: unsigned short int l = 0; // flag to enable choosing between the ¬

left or right line sensor67: 68: unsigned short int p = 0; // flag to hold the previous l69: 70: unsigned short int m = 0; // flag that accumulates the number of ¬

interrupts during the 71: 72: // left and right line sensor conversions73: 74: unsigned short int RandNum; // holds 0, 1, 2 or 3 for the move ¬

backwards, turn left, turn right75: 76: // and move forward respectively of the possible ¬

robot directions77: 78: unsigned short int r = 0; // flag for tracking the number of ¬

executions when program is 79: 80: // executing in the section of the backwards movements81: 82: unsigned short int n = 0; // flag for tracking the number of ¬

executions when program is 83: 84: // executing in the section of line finding85: 86: 87: 88: 89: 90: void initGPIO ()91: 92: { // | p6 p293: 94: // configure pins 2 and 6 of port2 as GPIO | 0 0 move ¬

backwards95: 96: // outputs to send to the samboard the motor | 0 1 turn left 97: 98: // direction | 1 0 turn right99: 100: P2SEL &= ~BIT6; // | 1 1 move ¬

forward101: P2SEL2 &= ~BIT6;102: 103: P2SEL &= ~BIT2; 104: 105: 106: //P2SEL2 &= ~BIT2;107: 108: P2DIR |= BIT6; // GPIO output109: 110: P2DIR |= BIT2; // GPIO output111: 112: 113: 114: // configure pins 3 and 4 of port2 as GPIO115: 116: // inputs to receive the optocoupler outputs117:


118: P2SEL &= ~BIT3; // left wheel optocouplerA outputs to this pin119: 120: P2SEL &= ~BIT4; // right wheel optocouplerB outputs to this pin121: 122: //P2SEL2 &= ~BIT3;123: 124: //P2SEL2 &= ~BIT4;125: 126: P2DIR &= ~BIT3; // GPIO input127: 128: P2DIR &= ~BIT4; // GPIO input129: 130: }131: 132: 133: 134: void init_Timer_ports ()135: 136: {137: 138: P2DIR |= (BIT1 | BIT5);139: 140: P2SEL |= (BIT1 | BIT5);141: 142: P2SEL2 &= ~BIT1;143: 144: P2SEL2 &= ~BIT5;145: 146: P2OUT |= BIT1; // Timer A1 channel 1 for the right motor147: 148: P2OUT |= BIT5; // Timer A1 channel 2 for the left motor149: 150: }151: 152: 153: 154: void init_PWM_1 ()155: 156: {157: 158: TA1CTL |= (TASSEL_2 | MC_1 | ID_2 | TACLR); // up mode159: 160: TA1CTL &= ~TAIFG;161: 162: //TA1CCTL0 |= CCIE;163: 164: TA1CCR0 = 7500; // period is 30ms. N/B: time of IR sensor voltage ¬

output 165: 166: // is 55ms approx. D/4 there is 60ms timing between each 167: 168: // IR sensor (2 of them) distance measurement and ADC ¬

conversion.169: 170: // The ADC sample and conversion time is 308micro s. ¬

approx.171: 172: TA1CCR1 = 3000; // initial arbitrary value to power right motor173: 174: TA1CCR2 = 3000; // initial arbitrary value to power left motor175: 176: TA1CCTL1 |= OUTMOD_7;177: 178: TA1CCTL2 |= OUTMOD_7;179: 180: }181: 182:


183: 184: void init_PWM_2 ()185: 186: {187: 188: TA1CTL |= (TASSEL_2 | MC_1 | ID_2 | TACLR); // up mode189: 190: TA1CTL &= ~TAIFG;191: 192: //TA1CCTL0 |= CCIE;193: 194: TA1CCR0 = 250; // period is 1ms. N/B: time of line sensor voltage ¬

output 195: 196: // is 10micro s approx. D/4 there is 4ms timing between ¬

each 197: 198: // line sensor (4 of them) colour measurement and ADC ¬

conversion. 199: 200: // The ADC sample and conversion time is 308micro s ¬

approx.201: 202: TA1CCR1 = 150; // initial arbitrary value to power right motor203: 204: TA1CCR2 = 150; // initial arbitrary value to power left motor205: 206: TA1CCTL1 |= OUTMOD_7;207: 208: TA1CCTL2 |= OUTMOD_7;209: 210: }211: 212: 213: 214: void init_ADC10 ()215: 216: {217: 218: ADC10CTL0 &= ~ADC10IFG;219: 220: }221: 222: 223: 224: float calculate_distance () 225: 226: {227: 228: float distance; // distance (d in cm) from obstacle, and voltage ¬

(V in volts) generated229: 230: 231: 232: if ((1023 >= ADC10MEM) && (ADC10MEM >= 928)) {distance = (float)( ¬

(1308 - ADC10MEM)/95);} // 3.00 >= V >= 2.72 and 3 <= d <= 4233: 234: else if ((928 > ADC10MEM) && (ADC10MEM >= 682)) {distance = (flo ¬

at)((1420 - ADC10MEM)/123);} // 2.72 > V >= 2.00 and 4 < d <= 6235: 236: else if ((682 > ADC10MEM) && (ADC10MEM >= 532)) {distance = (flo ¬

at)((1132 - ADC10MEM)/75);} // 2.00 > V >= 1.56 and 6 < d <= 8237: 238: else if ((532 > ADC10MEM) && (ADC10MEM >= 423)) {distance = (flo ¬

at)((1936 - 2*ADC10MEM)/109);} // 1.56 > V >= 1.24 and 8 < d <= 10239: 240: else if ((423 > ADC10MEM) && (ADC10MEM >= 246)) {distance = (flo ¬

at)((5154 - 8*ADC10MEM)/177);} // 1.24 > V >= 0.72 and 10 < d <= ¬


18241: 242: else if ((246 > ADC10MEM) && (ADC10MEM >= 143)) {distance = (flo ¬

at)((4806 - 12*ADC10MEM)/103);} // 0.72 > V >= 0.42 and 18 < d <= ¬30

243: 244: else {distance = 35.0;} // 35.0 assigned arbitrarily for ((143 > ¬

ADC10MEM) && (ADC10MEM > 0)) since 0.42 > V >= 0 and d > 30245: 246: 247: 248: return distance;249: 250: }251: 252: 253: 254: bool calculate_colour () 255: 256: {257: 258: bool colour_sensed; // colour sensed under the robot, and voltage ¬

(V in volts) generated259: 260: 261: 262: if ((1023 >= ADC10MEM) && (ADC10MEM >= 853)) {colour_sensed = 0;} ¬

// 3.00 >= V >= 2.50, black colour263: 264: else {colour_sensed = 1;} // ((853 > ADC10MEM) && (ADC10MEM >= ¬

0)) since 2.50 > V >= 0, for other colours265: 266: 267: 268: return colour_sensed;269: 270: }271: 272: 273: 274: void move_backwards ()275: 276: {277: 278: P2OUT &= ~BIT6;279: 280: P2OUT &= ~BIT2; 281: 282: }283: 284: 285: 286: void move_left ()287: 288: {289: 290: P2OUT &= ~BIT6;291: 292: P2OUT |= BIT2; 293: 294: }295: 296: 297: 298: void move_right ()299: 300: {301:


302: P2OUT |= BIT6;303: 304: P2OUT &= ~BIT2; 305: 306: }307: 308: 309: 310: void move_forward ()311: 312: {313: 314: P2OUT |= BIT6;315: 316: P2OUT |= BIT2; 317: 318: }319: 320: 321: 322: void stop ()323: 324: {325: 326: TACCR1 = 0;327: 328: TACCR2 = 0;329: 330: }331: 332: 333: /* void enableInterruptFlags_Optocouplers()334: 335: {336: 337: // enable interrupts on edge on pins 3 and 4 of Port2338: 339: P2IE |= BIT3;340: 341: P2IE |= BIT4;342: 343: // sensitive to positve edge (0 to 1 transition)344: 345: P2IES &= ~BIT3;346: 347: P2IES &= ~BIT4;348: 349: // clear any pending interrupts on these bits350: 351: P2IFG &= ~BIT3;352: 353: P2IFG &= ~BIT4;354: 355: }356: */357: 358: 359: /*void disableInterruptFlags_Optocouplers()360: 361: {362: 363: // disable interrupts on edge on pins 3 and 4 of Port2364: 365: P2IE &= ~BIT3;366: 367: P2IE &= ~BIT4;368: 369: }


370: 371: */372: 373: void guess_direction()374: 375: { 376: 377: // generate the random number between 0 and 3378: 379: srand (time(NULL)); // ensure a random number is chosen ¬

inbetween programs380: 381: RandNum = rand() % 4; // generate random number from 0 to 3382: 383: }384: 385: 386: 387: void set_speed_right (int speed)388: 389: {390: 391: 392: TA1CCR1 = speed;393: 394: }395: 396: 397: 398: void set_speed_left (int speed)399: 400: {401: TA1CCR2 = speed;402: 403: }404: 405: 406: 407: void turn_right (int angle)408: 409: {410: 411: int current_right_speed = angle + 60;412: 413: set_speed_right (current_right_speed);414: 415: } 416: 417: 418: 419: void turn_left (int angle)420: 421: {422: 423: int current_left_speed = angle + 60;424: 425: set_speed_left (current_left_speed);426: 427: } 428: 429: 430: 431: void right_line_sensor (bool colour)432: 433: {434: 435: int current_angle; // angle of turning left (determined by speed) ¬

and measured from the x-axis


436: 437: 438: 439: if (colour == 0) // 3.00 >= V >= 2.50 which is black (the colour ¬

of the line being followed)440: 441: {442: 443: current_angle = 40; 444: 445: } 446: 447: else // colour = 1: 2.50 > V >= 0 which represents other colours ¬

apart from black448: 449: {450: 451: current_angle = 20;452: 453: }454: 455: 456: 457: turn_left (current_angle);458: 459: }460: 461: 462: 463: void left_line_sensor (bool colour)464: 465: {466: 467: int current_angle; // angle of turning right (determined by ¬

speed) and measured from the x-axis468: 469: 470: 471: if (colour == 0) // 3.00 >= V >= 2.50 which is black (the colour ¬

of the line being followed)472: 473: {474: 475: current_angle = 40; 476: 477: } 478: 479: else // colour = 1: 2.50 > V >= 0 which represents other colours ¬

apart from black480: 481: {482: 483: current_angle = 20;484: 485: }486: 487: 488: 489: turn_right (current_angle);490: 491: }492: 493: 494: 495: void InitUART(void)496: 497: { 498:


499: P1SEL |= (BIT1 + BIT2); // P1.1 = RXD, P1.2=TXD 500: 501: P1SEL2 |= (BIT1 + BIT2); // P1.1 = RXD, P1.2=TXD 502: 503: UCA0CTL1 |= UCSSEL_2; // SMCLK 1 MHz504: 505: 506: 507: // UCOS16 = 1 508: 509: // 1,000,000Hz, 9600Baud, UCBRx=6, UCBRSx=0, UCBRFx=1 510: 511: UCA0BR0 = 6; // 1MHz, OSC16, 9600 B ¬

Baud Rate Control Register 0512: 513: UCA0BR1 = 0; // 1MHz, OSC16, 9600 Baud ¬

Rate Control Register 1514: 515: 516: 517: //UCA0MCTL |= ( UCBRFx | UCBRSx | UCOS16 ); // USCI_A0 modulation ¬

control518: 519: UCA0MCTL = 0x10|UCOS16; // check the control bits using the ¬

tables in the documentation. 520: 521: 522: 523: // UCBRFx=1,UCBRSx=0, UCOS16=1 524: 525: UCA0CTL1 &= ~UCSWRST; // **Initialize USCI state machine** ¬

526: 527: IE2 |= UCA0RXIE; // Enable USCI_A0 RX interrupt528: 529: }530: 531: 532: void TXdata( unsigned char c )533: 534: { 535: 536: while (!(IFG2&UCA0TXIFG)); // USCI_A0 TX buffer ¬

ready? 537: 538: UCA0TXBUF = c; // TX -> RXed character539: 540: }541: 542: 543: 544: void right_IR_conversion () // called when k = 1545: 546: {// conversion from the right (Sharp) GP2D120 Infra Red (IR) ¬

Sensor547: 548: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);549: 550: ADC10CTL1 |= (INCH_7 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);551: 552: ADC10AE0 |= BIT7;553: 554: ADC10CTL0 |= (ENC | ADC10SC);555: 556: while (ADC10CTL1 & ADC10BUSY)557: 558: { // (64+13) times the ADC10CLK clock cycles = 308micro


559: 560: } // seconds for the sample and conversion time 561: 562: dist_right = calculate_distance ();563: 564: ADC10CTL0 &= ~ADC10IFG;565: 566: ADC10CTL0 &= ~ENC;567: 568: ADC10AE0 &= ~BIT7;569: 570: k = 0; // next k, transfer control to left_IR_conversion ()571: 572: } 573: 574: 575: 576: void left_IR_conversion () // called when k = 0577: 578: {// conversion from the left (Sharp) GP2D120 Infra Red (IR) Sensor579: 580: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);581: 582: ADC10CTL1 = (INCH_0 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);583: 584: ADC10AE0 |= BIT0;585: 586: ADC10CTL0 |= (ENC | ADC10SC);587: 588: while (ADC10CTL1 & ADC10BUSY)589: 590: { // (64+13) times the ADC10CLK clock cycles = 308micro 591: 592: } // seconds for the sample and conversion time 593: 594: dist_left = calculate_distance ();595: 596: ADC10CTL0 &= ~ADC10IFG;597: 598: ADC10CTL0 &= ~ENC;599: 600: ADC10AE0 &= ~BIT0;601: 602: k = 1; // next k, transfer control to right_IR_conversion ()603: 604: }605: 606: 607: 608: void front_right_line_conversion () // called when l = 1609: 610: {// conversion from the front right (Pololu Corporation) QTR-8A ¬

reflectance Sensor611: 612: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);613: 614: ADC10CTL1 |= (INCH_5 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);615: 616: ADC10AE0 |= BIT5;617: 618: ADC10CTL0 |= (ENC | ADC10SC);619: 620: while (ADC10CTL1 & ADC10BUSY)621: 622: { // (64+13) times the ADC10CLK clock cycles = 308micro 623:


624: } // seconds for the sample and conversion time625: 626: colour_front_right = calculate_colour ();627: 628: ADC10CTL0 &= ~ADC10IFG;629: 630: ADC10CTL0 &= ~ENC;631: 632: ADC10AE0 &= ~BIT5;633: 634: p = l; // save previous l before updating it635: 636: l = 2; // next l, transfer control to back_left_line_conversion ( ¬

)637: 638: } 639: 640: 641: 642: void front_left_line_conversion () // called when l = 0643: 644: {// conversion from the front left (Pololu Corporation) QTR-8A ¬

reflectance Sensor645: 646: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);647: 648: ADC10CTL1 = (INCH_4 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);649: 650: ADC10AE0 |= BIT4;651: 652: ADC10CTL0 |= (ENC | ADC10SC);653: 654: while (ADC10CTL1 & ADC10BUSY)655: 656: { // (64+13) times the ADC10CLK clock cycles = 308micro 657: 658: } // seconds for the sample and conversion time 659: 660: colour_front_left = calculate_colour ();661: 662: ADC10CTL0 &= ~ADC10IFG;663: 664: ADC10CTL0 &= ~ENC;665: 666: ADC10AE0 &= ~BIT4;667: 668: p = l; // save previous l before updating it669: 670: l = 1; // next l, transfer control to front_right_line_conversion ¬

()671: 672: }673: 674: 675: 676: void back_right_line_conversion () // called when l = 3677: 678: {// conversion from the back right (Pololu Corporation) QTR-8A ¬

reflectance Sensor679: 680: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);681: 682: ADC10CTL1 |= (INCH_6 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);683: 684: ADC10AE0 |= BIT6;685:


686: ADC10CTL0 |= (ENC | ADC10SC);687: 688: while (ADC10CTL1 & ADC10BUSY)689: 690: { // (64+13) times the ADC10CLK clock cycles = 308micro 691: 692: } // seconds for the sample and conversion time693: 694: colour_back_right = calculate_colour ();695: 696: ADC10CTL0 &= ~ADC10IFG;697: 698: ADC10CTL0 &= ~ENC;699: 700: ADC10AE0 &= ~BIT6;701: 702: p = l; // save previous l before updating it703: 704: l = 0; // next l, transfer control to front_left_line_conversion ¬

()705: 706: } 707: 708: 709: 710: void back_left_line_conversion () // called when l = 2711: 712: {// conversion from the back left (Pololu Corporation) QTR-8A ¬

reflectance Sensor713: 714: ADC10CTL0 |= (SREF_0 | ADC10SHT_3 | ADC10SR | ADC10ON);715: 716: ADC10CTL1 = (INCH_3 | SHS_0 | ADC10DIV_3 | ADC10SSEL_3 | ¬

CONSEQ_0);717: 718: ADC10AE0 |= BIT3;719: 720: ADC10CTL0 |= (ENC | ADC10SC);721: 722: while (ADC10CTL1 & ADC10BUSY)723: 724: { // (64+13) times the ADC10CLK clock cycles = 308micro 725: 726: } // seconds for the sample and conversion time 727: 728: colour_back_left = calculate_colour ();729: 730: ADC10CTL0 &= ~ADC10IFG;731: 732: ADC10CTL0 &= ~ENC;733: 734: ADC10AE0 &= ~BIT3;735: 736: p = l; // save previous l before updating it737: 738: l = 3; // next l, transfer control to back_right_line_conversion ¬

()739: 740: }741: 742: 743: 744: /*745: //ISR_01===================================746: 747: #pragma vector = TIMER0_A0_VECTOR748: 749: interrupt void TIMER0 A0 ISR (void) // for TACCRO CCIFG, which ¬


resets 750: 751: { // automatically once ISR is serviced752: 753: TACCR1 = DynTACCR1;754: 755: TACCR2 = DynTACCR2; 756: 757: }758: 759: //=========================================760: */761: 762: /*//ISR_02===================================763: 764: #pragma vector = PORT2_VECTOR765: 766: __interrupt void PORT2_ISR (void)767: 768: {769: 770: if(P2IFG & BIT3)771: 772: {773: 774: P2IFG &= ~BIT3;775: 776: OptocouplerLeftCountValue++;777: 778: }779: 780: // Remember to initialize the static variable781: 782: // OptocouplerLeftCountValue to zero at the 783: 784: // calling function after using the its counted value 785: 786: 787: 788: if(P2IFG & BIT4)789: 790: {791: 792: P2IFG &= ~BIT4;793: 794: OptocouplerRightCountValue++;795: 796: }797: 798: // Remember to initialize the static variable799: 800: // OptocouplerRightCountValue to zero at the 801: 802: // calling function after using the its counted value 803: 804: }805: 806: //============================= */807: 808: 809: 810: int main( void )811: 812: {813: 814: // Stop watchdog timer to prevent time out reset815: 816: WDTCTL = WDTPW + WDTHOLD;


817: 818: 819: initGPIO ();820: 821: //disableInterruptFlags_Optocouplers();822: 823: init_Timer_ports ();824: 825: init_PWM_1 ();826: 827: move_forward ();828: 829: init_ADC10 (); // start conversion first for k = 0 (left IR ¬

sensor)830: 831: __enable_interrupt(); // enable global interrupts832: 833: 834: 835: while (1)836: 837: {838: 839: while (TA1CTL & TAIFG)840: 841: { 842: 843: TA1CTL &= ~TAIFG;844: 845: if ( k == 0)846: 847: {848: 849: left_IR_conversion ();850: 851: j = k; // save the next value of k 852: 853: }854: 855: else if (k == 1)856: 857: {858: 859: right_IR_conversion ();860: 861: j = k; // save the next value of k 862: 863: }864: 865: 866: 867: //DETERMINE WHETHER ROBOT SHOULD BE AVOIDING OBSTACLE OR FOLLOWING ¬

LINE. BOTH ARE MUTUALLY EXCLUSIVE: (i) WHEN ROBOT868: // IS AVOIDING AVOIDING, THEN IT DOES NOT BOTHER ABOUT FOLLOWING ¬

THE LINE. (ii) WHEN THE ROBOT IS FOLLOWING THE LINE,869: // IT CAN ONLY BE DERAILED WHEN IT ENCOUNTERS AN OBSTACLE AND ¬

ATTEMPTS TO AVOID IT. (iii) WHEN THE ROBOT HAS BEEN IN870: // THE COURSE OF AVOIDING AN OBSTACLE, IT MUST ATTEMPT TO RETRACE ¬

THE LINE AFTER THE OBSTACLE AVOIDANCE.871: 872: if ((dist_right <= 30) || (dist_left <= 30)) // Then there is ¬

an impending obstacle.873: 874: // A) THIS IS THE PROGRAM SECTION FOR OBSTACLE AVOIDANCE875: 876: // We program for avoidance: the robot will most certainly be ¬

derailed (miss the line following)877:


878: // in the course of trying to avoid the obstacle. D/4 line ¬following is not priority here.

879: 880: {881: 882: n = 0; // once we are out of the section of line finding, ¬

n is initialized883: 884: 885: // PROGRAM THE 3 POSSIBLE SITUATIONS886: 887: if (dist_right > dist_left) 888: 889: {// Ai) THE ROBOT ATTEMPTS TO MOVE RIGHT BECAUSE THERE IS ¬

MORE SPACE AT THE RIGHT 890: 891: // then turn right slowly and progressively until ¬

dist_right and dist_left are both > 30cm.892: 893: // When this happens, control will be transferred back to ¬

the line senors, which handles894: 895: // this case with the robot having been derailed in the ¬

course of obstacle avoidance896: 897: 898: 899: //enableInterruptFlags_Optocouplers();900: 901: r = 0; // once we are out of the section of backwards ¬

movement (for obstacle avoidance), r is initialized902: 903: move_right ();904: 905: } // end if Ai 906: 907: else if (dist_left > dist_right)908: 909: {// Aii) THE ROBOT ATTEMPTS TO MOVE LEFT BECAUSE THERE IS ¬

MORE SPACE AT THE LEFT910: 911: // then turn left slowly and progressively until ¬

dist_right and dist_left are both > 30cm.912: 913: // When this happens, control will be transferred back to ¬

the line senors, which handles914: 915: // this case with the robot having been derailed in the ¬

course of obstacle avoidance916: 917: 918: 919: //enableInterruptFlags_Optocouplers();920: 921: r = 0; // once we are out of the section of backwards ¬

movement (for obstacle avoidance), r is initialized922: 923: move_left ();924: 925: }// end else if Aii926: 927: else // dist_right = dist_left (or both are < 30cm). Then ¬

the robot is fast approaching a target928: 929: { // Aiii) THIS IS THE PROGRAM SECTION OF BACKWARD ¬

MOVEMENT OF THE ROBOT BECAUSE THE ROBOT930: 931: // HAS BEEN BOXED IN A CORNER:


932: 933: // Here, implement move_backwards() of the robot ¬

direction, such that this movement934: 935: // continues until it is sensed that dist_right and ¬

dist_left are both > 30cm. 936: 937: // When this happens, control will be transferred back to ¬

the line senors, which handles938: 939: // this case with the robot (most certainly) having been ¬

derailed in the course of obstacle avoidance940: 941: 942: 943: // The idea below is to choose to implement the backwards ¬

movement944: 945: // for about 6 seconds (200 X 30ms is about 6s) if the ¬

program flow keeps coming here. But, if 946: 947: // in the process of implementing this, and the program ¬

flow leaves948: 949: // this section, then we know, at least that the robot is ¬

not approaching a targest on both sides.950: 951: // Note that move_forward () is not an option when the ¬

robot is approaching an abstacle.952: 953: 954: 955: if ((r == 0) || (r == 200)) // Aiiia956: 957: {958: if (r == 200) {r = 0;} // Aiiiai beginning and end959: 960: move_backwards ();961: 962: } // end Aiiia963: 964: r++;965: 966: }// end else Aiii967: 968: }// end if A 969: 970: else // ((dist_right > 30) && (dist_left > 30)): then there is ¬

no impending obstacle.971: 972: // B) THIS IS THE PROGRAM SECTION WHERE THE LINE SENSORS ARE ¬

SOLELY IN CONTROL SINCE THERE IS NO IMPENDING OBSTACLE.973: 974: // We program the line sensors to ensure robot follows the ¬

black line and 975: 976: // is not derailed. This is the priority here and not obstacle ¬

avoidance.977: 978: // Run this section for 28ms out of the possible 30ms period. ¬

7 measurements for each line sensor979: 980: {// Start by switching to a faster clock (PWM_2) for the line ¬

sensors: 1ms TA1CCR0 PERIOD981: 982: if (k != 2) // B1 if983: 984: {


985: 986: TA1CCR0 = 0; //stop PWM_1987: 988: k = 2; // control is tranferred to the line sensors989: 990: r = 0; // once we are out of the section of backward ¬

movement (of obstacle avoidance), r is initialized991: 992: init_PWM_2 (); // start PWM_2993: 994: }// end B1 if995: 996: if ( l == 0) // B2 if997: 998: {999: 1000: front_left_line_conversion ();1001: 1002: m++; // increment the number of interrupts1003: 1004: }1005: 1006: else if (l == 1)1007: 1008: {1009: 1010: front_right_line_conversion ();1011: 1012: m++; // increment the number of interrupts1013: 1014: }1015: 1016: else if ( l == 2)1017: 1018: {1019: 1020: back_left_line_conversion ();1021: 1022: m++; // increment the number of interrupts1023: 1024: }1025: 1026: else if (l == 3)1027: 1028: {1029: 1030: back_right_line_conversion ();1031: 1032: m++; // increment the number of interrupts1033: 1034: } // end B2 if1035: 1036: // if m = 28, stop PWM2, start PWM1, and take conntrol1037: 1038: // back to the IR sensors1039: 1040: if (m == 28) // B3 if1041: 1042: {1043: 1044: TA1CCR0 = 0; //stop PWM_21045: 1046: k = j; // transfer control back to the next IR sensor1047: 1048: init_PWM_1 (); // start PWM_11049: 1050: m = 0; // initialize m for the next session of line ¬

sensors measurements


1051: 1052: }// end B3 if1053: 1054: //THEN CONSIDER THE FOLLOWING 4 SITUATIONS1055: 1056: // a) Regulate the movement of the robot with all 4 line ¬

sensors as shown in B4i)1057: if (/*01*/((colour_front_right == 0) && (colour_front_left ¬

== 0) && (colour_back_right == 0) && (colour_back_left == 0)) || 1058: /*02*/((colour_front_right == 0) && (colour_front_left ¬

== 0) && (colour_back_right == 0) && (colour_back_left == 1)) ||1059: /*03*/((colour_front_right == 0) && (colour_front_left ¬






== 1) && (colour_back_right == 1) && (colour_back_left == 0))) // ¬B4i condition

1065: 1066: // B4i) ALL 4 LINE SENSORS PARTAKE IN REGULATING THE ¬

MOVEMENT OF THE ROBOT TO ENSURE IT KEEPS FOLLOWING THE LINE BY 1067: 1068: // CALLING THE LINE SENSOR FUNCTIONS AND MOVING FORWARD1069: 1070: {1071: 1072: n = 0; // once we are out of the section of line ¬

finding, n is initialized1073: 1074: move_forward ();1075: 1076: if ( p == 0)1077: 1078: {1079: 1080: left_line_sensor (colour_front_left);1081: 1082: }1083: 1084: else if (p == 1)1085: 1086: {1087: 1088: right_line_sensor (colour_front_right);1089: 1090: }1091: 1092: else if (p == 2)1093: 1094: {1095: 1096: left_line_sensor (colour_back_left);1097: 1098: }1099: 1100: else if (p == 3)1101: 1102: {1103: 1104: right_line_sensor (colour_back_right);1105: 1106: }


1107: 1108: }// end B4i1109: 1110: 1111: // b) Just move the robot forward and attempt to find the ¬

line as shown in B4ii)1112: else if (/*16*/((colour_front_right == 1) && ( ¬

colour_front_left == 1) && (colour_back_right == 1) && ( ¬colour_back_left == 1))) // B4ii) condition

1113: 1114: // B4ii) THIS IS THE SITUATION IN WHICH THE ROBOT HAS JUST ¬

AVOIDED AN OBSTACLE AND HAS BEEN DERAILED: ALL 4 LINE SENSORS 1115: 1116: // LINE SENSORS SENSE COLOURS OTHER THAN THE BLACK COLOUR. ¬

HERE THE ROBOT MOVES FORWARD WITH A SLOW SPEED IN AN ATTEMPT1117: 1118: // TO REACH THE NEAREST LINE1119: 1120: {1121: 1122: n = 0; // once we are out of the section of line ¬

finding, n is initialized1123: 1124: TA1CCR1 = 120;1125: 1126: TA1CCR2 = 120;1127: 1128: move_forward ();1129: 1130: } // end B4ii1131: 1132: // c) Regulate the movement of the robot with the 2 front ¬

line sensors only as shown in B4iii)1133: else if (/*06*/((colour_front_right == 0) && ( ¬

colour_front_left == 1) && (colour_back_right == 0) && ( ¬colour_back_left == 1)) ||

1134: /*07*/((colour_front_right == 0) && ( ¬colour_front_left == 1) && (colour_back_right == 1) && ( ¬colour_back_left == 0)) ||




1138: /*12*/((colour_front_right == 1) && ( ¬colour_front_left == 0) && (colour_back_right == 1) && ( ¬colour_back_left == 1))) // B4iii condition

1139: 1140: // B4iii) HERE ONLY THE 2 FRONT LINE SENSORS PARTAKE IN ¬

REGULATING THE MOVEMENT OF THE ROBOT TO ENSURE IT KEEPS FOLLOWING ¬THE LINE BY

1141: 1142: // CALLING THE LINE SENSOR FUNCTIONS AND MOVING FORWARD1143: 1144: {1145: 1146: n = 0; // once we are out of the section of line ¬

finding, n is initialized1147: 1148: move_forward ();1149: 1150: if ( p == 0)1151: 1152: {


1153: 1154: left_line_sensor (colour_front_left);1155: 1156: }1157: 1158: else if (p == 1)1159: 1160: {1161: 1162: right_line_sensor (colour_front_right);1163: 1164: }1165: 1166: 1167: }// end B4iii1168: 1169: else // /*13*/((colour_front_right == 1) && ( ¬

colour_front_left == 1) && (colour_back_right == 0) && ( ¬colour_back_left == 0)) // B4iv condition

1170: 1171: // B4iv) THIS IS THE SECTION OF LINE FINDING. THIS IS THE ¬

SITUATION IN WHICH THE TWO BACK LINE SENSORS HAVE SENSED THE BLACK ¬LINE, WHILE

1172: 1173: // THE TWO FRONT LINE SENSORS ARE NOT SENSING BLACK. HERE ¬

THE ROBOT MUST ATTEMPT TO REPOSITION ITSELF SUCH THAT 3 OR ALL 4 ¬LINE SENSORS SENSE

1174: 1175: // THE BLACK COLOUR. THIS MUST BE DONE AT A SLOWER SPEED. ¬

THE ROBOT MUST STOP FIRST. IF THE PROGRAM FLOW KEEPS COMING HERE, ¬THEN THE CHOSEN

1176: 1177: // DIRECTIONAL MOVEMENT SHOULD EXECUTE FOR 1 SECOND (1MS X ¬

1000) BEFORE ANOTHER IS CHOSEN.1178: 1179: {1180: 1181: stop ();1182: 1183: TA1CCR1 = 110;1184: 1185: TA1CCR2 = 110;1186: 1187: do 1188: 1189: { 1190: 1191: if ((n == 0) || (n == 1000))1192: 1193: {1194: 1195: if (n == 1000) {n = 0;}1196: 1197: guess_direction(); // obtain an arbitrary direction1198: 1199: switch (RandNum)1200: 1201: {1202: case 0:1203: 1204: move_backwards ();1205: 1206: case 1:1207: 1208: move_left ();1209: 1210: case 2:1211:


1212: move_right ();1213: 1214: case 3:1215: 1216: move_forward ();1217: 1218: default:1219: 1220: move_left ();1221: 1222: }// end switch1223: 1224: } // end if1225: 1226: n++;1227: 1228: } while ((colour_front_right == 0) && ( ¬

colour_front_left == 0) && (colour_back_right == 0) && ( ¬colour_back_left == 0));

1229: 1230: } // end B4iv1231: 1232: }// end else B 1233: 1234: } // nested while ends1235: 1236: }// while (1) ends1237: 1238: }// main() ends1239: 1240:






Annexure-IV

EXTRACTS OF SOME PROJECT CORRESPONDENCES

Emmanuel Chidinma< [email protected]>

COVER PAGE14 messages

kavitha nathan< [email protected]> Tue, Feb 19, 2013 at 6:22 PMTo: Emmanuel Chidinma <[email protected]>, erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Dear all,

I have attached the draft of cover page,objective and testing part of my work here. I left the conclusion page open. I feel it is better to include it once all other works are done. Any improvements and suggestions are welcome.

Regards,kavitha

Master PROJECT REPORT.doc63K

kavitha nathan< [email protected]> Tue, Feb 19, 2013 at 6:28 PMTo: Emmanuel Chidinma <[email protected]>, erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

A Bonafide certificate should also be included in the front mentioning our project Guide and coordinator. I am looking for the format. I will send you once I complete it.[Quoted text hidden]

Emmanuel Chidinma < [email protected]> Tue, Feb 19, 2013 at 6:30 PMTo: kavitha nathan <[email protected]>Cc: erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Yes I was thinking about adding an acnowledgement. This is where the project guide and coordinator should be mention.

Therefore, please prepare it as well.

Emmanuel

[Quoted text hidden]

kavitha nathan< [email protected]> Tue, Feb 19, 2013 at 7:07 PMTo: Emmanuel Chidinma <[email protected]>Cc: erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Hi all,

Check out the draft of the acknowledgement. [Quoted text hidden]

ACKNOWLEDGEMENTS.doc23K

Page 1 of 7Gmail - COVER PAGE

2/24/2013https://mail.google.com/mail/u/0/?ui=2&ik=b91492d98a&view=pt&cat=MSEE_Projec...

Ravi Raj < [email protected]> Tue, Feb 19, 2013 at 7:21 PMTo: kavitha nathan <[email protected]>Cc: Emmanuel Chidinma <[email protected]>, erick Covarrubias Franco <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

i am attaching the sample of Conclusion i am still working on it and you guys can specify me if i need to do some changes

cheersravi.[Quoted text hidden]

Conclusion.docx14K

Erick Omar Covarrubias Franco< [email protected]> Tue, Feb 19, 2013 at 11:44 PM

To: Ravi Raj <[email protected]>Cc: kavitha nathan <[email protected]>, Emmanuel Chidinma <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Hello to everyone.

please check it out and make suggestions.

have a good night.

Best regards.

Erick Covarrubias.

2 Av Maryse Bastié Apt 60CP 76800 St Étienne du Rouvray, FranceT +33 63 117 2297

+33 65 272 3225

[email protected]

Le 19/02/2013 à 19:21, Ravi Raj <[email protected]> a écrit :

i am attaching the sample of Conclusion i am still working on it and you guys can specify me if i need to do some changes

cheersravi.

On Tue, Feb 19, 2013 at 7:07 PM, kavitha nathan >[email protected]< wrote:Hi all,

Check out the draft of the acknowledgement.



On Tue, Feb 19, 2013 at 6:30 PM, Emmanuel Chidinma >[email protected]< wrote:

Yes I was thinking about adding an acnowledgement. This is where the project guide and coordinator should be mention.

Therefore, please prepare it as well.

Emmanuel

On Tue, Feb 19, 2013 at 6:28 PM, kavitha nathan >[email protected]< wrote:A Bonafide certificate should also be included in the front mentioning our project Guide and coordinator. I am looking for the format. I will send you once I complete it.

On Tue, Feb 19, 2013 at 6:22 PM, kavitha nathan >[email protected]<wrote:

Dear all,

I have attached the draft of cover page,objective and testing part of my work here. I left the conclusion page open. I feel it is better to include it once all other works are done. Any improvements and suggestions are welcome.

Regards,kavitha

<Conclusion.docx>

HW&M ROBOT.pdf39K

Emmanuel Chidinma< [email protected]> Wed, Feb 20, 2013 at 2:13 AMTo: Erick Omar Covarrubias Franco <[email protected]>Cc: Ravi Raj <[email protected]>, kavitha nathan <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Erick

We need this report in MS WORD

Thats how it can easily be collated with others.

Please send it

Thanks

[Quoted text hidden][Quoted text hidden]

Le 19/02/2013 à 19:21, Ravi Raj <[email protected]> a écrit :

[Quoted text hidden]<Conclusion.docx>



Emmanuel Chidinma < [email protected]> Wed, Feb 20, 2013 at 2:17 AMTo: kavitha nathan <[email protected]>Cc: Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>, erick Covarrubias Franco <[email protected]>

Meanwhile

Kavitha please see my idea of a cover page attached

Here the names are depicted as members of a team:

Ishan is the arrow head

The 2 ladies are the wingers

Erick, Emmanuel and Ravi are the defence men

[Quoted text hidden]

Master PROJECT REPORT_ECC2.docx27K

Sagarika Mukesh< [email protected]> Wed, Feb 20, 2013 at 4:41 PMTo: Erick Omar Covarrubias Franco <[email protected]>Cc: Emmanuel Chidinma <[email protected]>, Ravi Raj <[email protected]>, kavitha nathan <[email protected]>, ishan chugh <[email protected]>

Hi guys,

Here is the edited version of acknowledgement, with minor grammatical corrections.

Thanks

Sagarika

ACKNOWLEDGEMENTS.doc23K

Emmanuel Chidinma< [email protected]> Wed, Feb 20, 2013 at 8:28 PMTo: kavitha nathan <[email protected]>Cc: erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

For the Acknowlegements, please note that I built upon Sagarika's contribution

On Wed, Feb 20, 2013 at 8:26 PM, Emmanuel Chidinma >[email protected]< wrote:Hi Kavitha

I have made sunstantiall changes in your documents: technical, grammatical and spellings. You can always see my changes shown in blue font.

Please check out the area I have highlightd with red font and complete it.

There seems to be an overlap between your work and that of Ravi. And we have not yet seen the latest from Ravi.



Please liaise accordingly with him so that there is a complete separation of duties between you two. There should not be duplicacy of works.

We have not heard a word from Ishan.

Folks, please note that I use both British and Americam English interchangeably. To me they are all the same.

Regards.

Emmanuel[Quoted text hidden]

Sagarika Mukesh< [email protected]> Thu, Feb 21, 2013 at 6:38 AMTo: Emmanuel Chidinma <[email protected]>Cc: kavitha nathan <[email protected]>, erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>

Hi all,

Find attached my Project plan, it is free to be edited by everyone :)

Thanks

Sagarika

Project Plan -Final.docx65K

Sagarika Mukesh< [email protected]> Thu, Feb 21, 2013 at 7:13 AMTo: Emmanuel Chidinma <[email protected]>Cc: kavitha nathan <[email protected]>, erick Covarrubias Franco <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>

Hi all,

Find attached the MS Project file.

Regards,

Sagarika

Project1.mpp155K

Emmanuel Chidinma< [email protected]> Fri, Feb 22, 2013 at 8:29 AMTo: Erick Omar Covarrubias Franco <[email protected]>Cc: kavitha nathan <[email protected]>, Ravi Raj <[email protected]>, ishan chugh <[email protected]>, Sagarika Mukesh <[email protected]>

Folks,

Please find attached the draft for my own contribution to the report. kindly make your comments about it.

In this draft you will not find a flow chart because flow chat is "anticuado."

Erick can explain the meaning of that word.



I kinda concur with Erick to use his caption for the project. This is not neglecting Kavitha's caption because:

Erick's caption = Kavitha's caption + Assembly of the Robot.

I will now proceed to merge all the individual contributions in to a draft report.

This draft shall be sent across later today.

Regards

Emmanuel

On Thu, Feb 21, 2013 at 1:16 PM, Erick Omar Covarrubias Franco >[email protected]<wrote:

Here is the word version for the adaptations. of harwarre, fore the title that i put , consider for using at main title. ( suggest)

see you guys

Best regards.

Erick Covarrubias.

2 Av Maryse Bastié Apt 60CP 76800 St Étienne du Rouvray, FranceT +33 63 117 2297

+33 65 272 3225

[email protected]

Le 21/02/2013 à 12:55, kavitha nathan <[email protected]> a écrit :

Hi Emmanuel,

I have gone through the document with the changes you have made. Now, it looks perfect for me. Unfortunately i dont know the version number of the IAR.

Erick and Ravi please let me know the the IAR version used for the project.[Quoted text hidden]

Software.docx33K

ishan chugh < [email protected]> Fri, Feb 22, 2013 at 6:40 PMTo: Emmanuel Chidinma <[email protected]>Cc: Ravi Raj <[email protected]>, Sagarika Mukesh <[email protected]>, kavitha nathan <[email protected]>, erick Covarrubias Franco <[email protected]>



Emmanuel Chinonye, CHIDINMA <[email protected]>

MSEE12 Project Source Code and Three Videos3 messages

Emmanuel Chidinma <[email protected]> 16 février 2013 23:44 À : [email protected], [email protected] : erick Covarrubias Franco <[email protected]>, kavitha nathan <[email protected]>, Ravi Raj <[email protected]>, Sagarika Mukesh <[email protected]>, [email protected], [email protected]

BATCH 01

Dear Sirs,

As instructed, please find attached the project source code and the videos (3 of them).

The emails will be coming in 3 chunks because the video files are heavy.

We also want to use this opportunity to specially thank you for all your support and assistance.

Emmanuel Chidinma

2 pièces jointes

MSEE12 Project Source Code.cpp27K

Video_1_of_3_Robotic_Obstacle_ Avoidance.wmv15782K


BATCH 02[Texte des messages précédents masqué]

Video_2_of_3_Robotic_Line Follower_01.wmv10742K


BATCH 03[Texte des messages précédents masqué]

Video_3_of_3_Robotic_Line Follower_02 (un chemin plus difficile).wmv14569K

Page 1 of 1Groupe ESIGELEC Mail - MSEE12 Project Source Code and Three Videos

2/24/2013https://mail.google.com/mail/u/1/?ui=2&ik=724474b739&view=pt&search=inbox&th...

Emmanuel Chinonye, CHIDINMA <[email protected]>

The Translated Robot Assembly Manual and the MSEE 2012-2013 Project Report1 message


Dear Sirs

As part of the MSEE 2012-2013 Project deliverables, please find attached the translated version (from French to English) of the Robot Aspirateur Assembly Manual. This is the second deliverable.

On Monday 18/02/13, three demonstration videos were handed over to Mr. Vauchey at his office. This was the first deliverable.

The final deliverable for this project will be the MSEE 2012-2013 Project report, which shall be sent to you later today.

Kind regards.

Emmanuel Chidinma

Notice_Montage_Robot_SAM_28_10_2012_RK_RR (Anglais).docx8238K

Page 1 of 1Groupe ESIGELEC Mail - The Translated Robot Assembly Manual and the MSEE 20...

2/24/2013https://mail.google.com/mail/u/1/?ui=2&ik=724474b739&view=pt&search=inbox&th...