miniSUMObot

PROJECT NAME: miniSUMObot

TEAM MEMBERS:

Miguel Bin
Cantu Bot
Raul Hex

PROJECT DESCRIPTION

SUMObot based in MSP430 LaunchPad

PROJECT FEATURES:

Simple Code and Electronics
Recycled and Cheap Materials
UNDER CONSTRUCTION
50% complete

Materials: 2 DC gear motors(the gearmotors were obtained from a pair of bubble guns)
                a L293B driver for the gearmotors was used
                the wheels are from some car toy
                sensors are an couple of IR LED  and photodiode (X 5)
                2 down
                1 right
                1 left
                1 ahead

http://www.youtube.com/watch?v=RmQE9Xtdxkc

First Tests!

#include "msp430g2452.h"

#define M1_HIGH   P1OUT |= BIT3;
#define M1_LOW   P1OUT &= ~BIT3;

#define M2_HIGH   P1OUT |= BIT4;
#define M2_LOW   P1OUT &= ~BIT4;

#define M1B_HIGH P1OUT |= BIT6;
#define M1B_LOW   P1OUT &= ~BIT6;

#define M2B_HIGH P1OUT |= BIT7;
#define M2B_LOW   P1OUT &= ~BIT7;

#define RET 3500

#define     ADC_CHANNELS     3 //We will sample 3 channels

unsigned int samples[ADC_CHANNELS]={0,0,0};
unsigned int samples_av[ADC_CHANNELS]={0,0,0};
unsigned int t,s1,s2,s3,S1C,S2C,S3C,flag,counter;

void read_ADC(void);

void inline nop_delay( void )
{
       _NOP();   _NOP(); _NOP(); _NOP(); _NOP(); _NOP(); _NOP(); _NOP(); _NOP(); _NOP();
}

void Delay( unsigned short in )
{
   volatile unsigned short i;
   volatile unsigned char k;
   for( i=in; i; --i )
   {
       for( k=10; k; --k )
           nop_delay();
   }
}

void ConfigureAdc(void)
{
/* Configure ADC Channel */
ADC10CTL1 = INCH_2 + ADC10DIV_0 + CONSEQ_3 + SHS_0;   //Multi-channel repeated conversion starting from channel 2
ADC10CTL0 = SREF_0 + ADC10SHT_2 + MSC + ADC10ON + ADC10IE;
ADC10AE0 = BIT2 + BIT1 + BIT0;
ADC10DTC1 = ADC_CHANNELS;    //ADC_CHANNELS defined to 2
}

void main(void)
{

WDTCTL = WDTPW + WDTHOLD;                 // Stop WDT

P1DIR |= 0xD8; // Set P1.3, P1.4, P1.6, P1.7 to output direction
P2DIR |= 0x00;

BCSCTL1 = CALBC1_1MHZ;                    // Set range
DCOCTL = CALDCO_1MHZ;

    //P1SEL |= BIT5;                             //ADC Input pin P1.5
    P1OUT &= ~(BIT6 + BIT7);

//   P2SEL &= ~0x00;
//    P2OUT &= ~0x00;

/*
    P2OUT |= BIT0;
    P2REN |= BIT0;

    P2IE |= BIT0;                // P1.0 interrupt enabled
   P2IES |= BIT0;                // P1.0 Hi/lo edge
   P2IFG &= ~BIT0;            // P1.0 IFG cleared


   P2OUT |= BIT1;
   P2REN |= BIT1;

    P2IE |= BIT1;                // P1.1 interrupt enabled
   P2IES |= BIT1;                // P1.1 Hi/lo edge
   P2IFG &= ~BIT1;            // P1.1 IFG cleared

*/

P2OUT &= ~BIT0;
P2OUT &= ~BIT1;
P2REN |= BIT0;
P2REN |= BIT1;

ConfigureAdc();
__enable_interrupt();

flag = 1;
counter=0;

while(1)
{
   counter++;
                               //Reset counter
   if(counter == 32000){
   counter=0;
   }
                               //Calibración cada 1000 ciclos
   if(!(counter%1000)){
   flag=1;
   }



                               //Entra a calibración
   if(flag){
   read_ADC();
   S1C=s1+10;
   S2C=s2+10;
   S3C=s3+10;
   flag=0;
   continue;
   }



    read_ADC();                //Lee sesores delantero y laterales

    M1_HIGH
    M2_HIGH

    if (s1>S1C)
    {
          M1_LOW
          //M2_HIGH
          Delay(3333);
    }
//   else{
//     M2_LOW
//   }

        if (s2>S2C)
    {
       M2_LOW
          //M1_HIGH
          Delay(3333);
    }
//    else{
//       M1_LOW
//    }

    if (s3>S3C)
    {
          M1_LOW
          M2_LOW
          Delay(1000);
          M1_HIGH
          M2_HIGH
          Delay(1000);
          M1_LOW
          M2_LOW
          Delay(1000);
          M1_HIGH
          M2_HIGH
          Delay(1000);
          M1_LOW
          M2_LOW
          Delay(1000);
          M1_HIGH
          M2_HIGH
          Delay(1000);
          M1_LOW
          M2_LOW
    }


   if ((BIT0 & P2IN))     // Hecharse atras
       {
       M1_LOW
          M2_LOW
       M1B_HIGH
       M2B_HIGH
       Delay(6666);
       M1B_LOW
       Delay(6666);
       }
   else
      {
       M1B_LOW
       M2B_LOW
       }

   if ((BIT1 & P2IN))     // Hecharse atras
       {
       M1_LOW
          M2_LOW
       M1B_HIGH
       M2B_HIGH
       Delay(6666);
       M2B_LOW
       Delay(6666);
       }
   else
      {
       M1B_LOW
       M2B_LOW
       }



    //__delay_cycles(1000);                 // Wait for ADC Ref to settle
}
}

// ADC10 interrupt service routine
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR (void)
{
__bic_SR_register_on_exit(CPUOFF);        // Return to active mode
}

/*
// Port 2 interrupt service routine
#pragma vector=PORT2_VECTOR
__interrupt void Port_2(void)
{

   if(P2IFG & BIT0)
       {
           M1B_HIGH
           M2B_HIGH

            Delay(6666);

            M1B_LOW
           M2B_LOW
           //P1OUT ^= 0x40; // P1.6 = toggle
            P2IFG &= ~BIT0; // P2.0 IFG cleared
            __bic_SR_register_on_exit(CPUOFF);
       }
   else if(P2IFG & BIT1)
       {
            M1B_HIGH
           M2B_HIGH

            Delay(6666);

            M1B_LOW
           M2B_LOW
           //P1OUT ^= 0x40; // P1.6 = toggle
            P2IFG &= ~BIT1; // P.1 IFG cleared
            __bic_SR_register_on_exit(CPUOFF);
       }
       //__bic_SR_register_on_exit(CPUOFF);        // Return to active mode
}
*/

void read_ADC(void)
{
    samples_av[0]=0;
   samples_av[1]=0;
   samples_av[2]=0;

   flag=0;


    //P1OUT ^= 0x40;                           //toggle LED P1.6

    for(t=0;t<30;t++){

    ADC10CTL0 &= ~ENC;
    while (ADC10CTL1 & BUSY);
    ADC10SA = (unsigned int)samples;        // Aqui se llena el arreglo
                                           // Se tiene que modificar el codigo sig.
                                           // para comparar varios canales.

    ADC10CTL0 |= ENC + ADC10SC;             // Sampling and conversion start
    __bis_SR_register(CPUOFF + GIE);        // LPM0 with interrupts enabled

    samples_av[0]+=samples[0];               // samples_av[0]=samples_av[0]+samples[0];
    samples_av[1]+=samples[1];
    samples_av[2]+=samples[2];

    }

s1=samples_av[0]/30;
s2=samples_av[1]/30;
s3=samples_av[2]/30;
}

USER'S GUIDE:

"Code 80% complete. 3 ADC channels"

Thanks and Happy Coding!

miniSUMObot

re: miniSUMObot