Keypad Controlled RF based Wireless Robot

The circuit of the control circuitry mounted on the robot can be represented by the following block diagram –

AVR Atmega 32 – This is a 8-bit AVR RISC based microcontroller. It comes in a 40-pin package and has 2KB RAM, 32KB flash memory, 1KB EEPROM, 32 General Purpose Input Output (GPIO) pins, 8 10-bit ADC channels, One SPI, one UART and one TWI interface on-chip. The controller has three in-built timers of which 2 are 8-bit timers and one is a 16-bit timer. The controller operates up to a clock frequency of 16 MHz. By executing powerful instructions in a single clock cycle, the Atmega 32 achieves throughputs approaching 1 MIPS per MHz allowing the system designers to optimize power consumption versus processing speed. The controller comes available in 40-pin Dual Inline (DIP) Package. Check out the pin diagram and pin configuration of this AVR controller here.

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//Program to
#include

#include


#define F_CPU 1000000


#define USART_BAUDRATE 9600

#define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE*16UL))) - 1)


#define pad PORTA

#define r1 PA0

#define r2 PA1

#define r3 PA2

#define r4 PA3


#define c1 PA4

#define c2 PA5

#define c3 PA6



// Function prototype to check key pressed from keypad 

void check1(void);

void check2(void);  

void check3(void);

void check4(void);


#define LCD_DATA PORTB //LCD data port


#define ctrl PORTD

#define en PD2 //enable signal

#define rw PD1 //read/write signal

#define rs PD0 //resister select signal


#define CONTROL_OUTPUT PORTC // output port for wireless transmission


void LCD_cmd(unsigned char cmd);

void init_LCD(void);

void LCD_write(unsigned char data);


void move_forward();

void move_backward();

void turn_left();

void turn_right();


unsigned int press;


int main()

{

    unsigned char value; 

    DDRC=0x0f; //LCD_DATA port as output port

    DDRB=0xFF; //signal

    DDRA = 0X0F;

    DDRD = 0X07; 


    pad = 0xF0;

    init_LCD(); //initialization of LCD

    _delay_ms(50);

    LCD_write_string("EngineersGarage");

    _delay_ms(1000);

    LCD_cmd(0x01);

    LCD_write_string("Keypad Cntrld");

    LCD_cmd(0xC0);

    LCD_write_string("Wireless Robot");


    while(1)

    {

PORTA=0xF0; //set all the input to one

value=PINA; //get the PORTD value in variable “value”

if(value!=0xf0) //if any key is pressed value changed

{

    check1();

    check2();

    check3();

    check4();

}

    }

    return 0;

}


void check1(void)

{

    pad =0b11111110;

    _delay_us(10);


    if(bit_is_clear(PINA,c2))

    {

move_forward();

    }

}



void check2(void)

{

    pad=0b11111101;

    _delay_us(10);


    if(bit_is_clear(PINA,c3))

    {

turn_right();

    }

}


void check3(void)

{

    pad=0b11111011;

    _delay_us(10);


    if(bit_is_clear(PINA,c2))

    {

move_backward();

    }

}


void check4(void)

{

    pad =0b11110111;

    _delay_us(10);


    if(bit_is_clear(PINA,c2))

    {

robo_stop();

    }

}




void init_LCD(void)

{


    LCD_cmd(0x38); //initializtion of 16X2 LCD in 8bit mode

    _delay_ms(1);


    LCD_cmd(0x01); //clear LCD

    _delay_ms(1);


    LCD_cmd(0x0E); //cursor ON

    _delay_ms(1);


    LCD_cmd(0x80); // ---8 go to first line and --0 is for 0th position

    _delay_ms(1);

    return;

}



void LCD_cmd(unsigned char cmd)

{

    LCD_DATA=cmd;

    ctrl =(0<