loading
This robot is controlled by a visual basic program (through the serial port), and can move in three different velocities by a pulse width modulated (PWM) signal generated by a PIC microcontroller (16F877).
The robot can be operated in two modes, "normal control" and "light tracker" modes. In the normal control mode, the robot can carry objects sized from 3 - 18 cm from place to another within 150 m. whereas in the light tracker mode, it follows the light in a dark room.

Many sensors were used, such as light sensors; tilt sensor, stall current sensing, battery level sensing, and some limit switches and touch sensors used in the hand. It can keep its speed constant when it goes on a hill (tilted) and automatically turns the light on when it becomes dark dark. Also to keep the IC's safe, it disconnects the current when it's stuck and the hand stops when holding something.

4 DC motors were used controlled by a PIC microcontroller 16F877 and 3 motor driver circuits.
It took about 4 months, and costs about 600$


Step 1: Design the Project

at the initial stage, a design of the project was provided. mainly, defining the block diagram; see the figure.

A more detailed Circuit Diagram is required at this stage, however, to facilitate this, the main modules identified were:
1. Microcontroller
2. Sensors
3. Motors
4. Wireless circuit
5. PC program.

A 3d Design was done as well, see the figure.

Step 2: Choose the Devices and Components

At this stage, the designer should choose the devices and components required to build the robot.

This includes: the wireless circuit (MAX232, LM331, FM transmitter and Receiver modules), motors (4 DC motors), motors drivers circuit (H-bridge), the microcontroller PIC (16F877), Battery, Voltage regulators (MC7805), Microswitches, Photoresistors, Tilt sensor ... etc.

It is important to understand the computability of these devices and how they work together.

Step 3: The Microcontroller

This step is the most important step. at the beginning, the codes that will be received and transmitted from the PIC should be identified.

Start connecting the components to the appropriate pins of the PIC, and program the microcontroller. This may require to build small circuits using the regulators, resistors, sensors ...etc.


Step 4: Write the PC Program

The program was written on visual basic.
The communication was established through the RS-232. Using MSComm to send the data to the microcontroller by configuring the settings (port number, baud rate, parity number of data bits, stop bits).
I used 8-bit data with one stop bit and parity at a baud rate 9600 bps.

Step 5: Build the Body

A good design of the body is important. Also choosing the wheel arrangement, see the figure.


he robot was built after insuring that the programs are working fine. This step can be done before programming also.


Step 6: Build the Wireless Circuit

Building the wireless circuit can be independent. At the initial stage, I have used a wire to connect the PC with the robot, and after finalizing the robot, the wireless circuit was integrated.




Step 7: Integrate

This is the moment were we integrated our components, and tested the robot.

Step 8: Microcontroller Program Code

;***************FINAL********************************

list p=16f877
include <P16F877.INC>
radix dec
idlocs "V"<<8 | "1" ; Version No.
config _CP_OFF&_PWRTE_OFF&_WDT_OFF&_XT_OSC

;********** main variable ***************************

cblock 0x20 ;start of bank 0 ram area
INPUT_VAR
L1
L2
X
SPEED11
SPEED12
SPEED21
SPEED22
MSTOP
LDET
LR1
LR2

endc

;********** start of the main program ***************

start

BSF STATUS,RP0
BCF STATUS,RP1

MOVLW 0X40
MOVWF ADCON1
MOVLW 0XFF ;PORT A IS I
MOVWF TRISA

MOVLW 0X00 ;PORT B IS O
MOVWF TRISB

MOVLW 0XF0 ;PORT C IS I/O
MOVWF TRISC

MOVLW 0XF0 ;PORT D IS I/O
MOVWF TRISD

MOVLW 0X07 ;PORT E IS I
MOVWF TRISE

BANKSEL OPTION_REG
BCF OPTION_REG,T0CS

BCF STATUS,RP1
BCF STATUS,RP0

;*******************************************
;*******************************************

WAIT
BCF PORTB,1
BCF PORTB,2
BCF PORTB,6
CALL PWM1OFF
CALL PWM2OFF
BCF PORTD,0
BCF PORTD,1
BCF PORTD,2
BCF PORTD,3
BTFSS LDET,0
BCF PORTB,7

MOVLW 0X00
MOVF MSTOP
MOVF LDET

BANKSEL INTCON
BCF INTCON,GIE

BANKSEL TXSTA
BSF TXSTA,BRGH
MOVLW 0X40
MOVWF SPBRG

BCF TXSTA,SYNC
BANKSEL RCSTA
BSF RCSTA,SPEN

BTFSC RCSTA,OERR
GOTO CLROE

BANKSEL PIE1
BSF PIE1,RCIE

BANKSEL RCSTA
BCF RCSTA,RX9

BSF RCSTA,CREN

WAIT1
BANKSEL PORTB
BSF PORTB,3
BSF PORTB,4

BANKSEL PIR1
BTFSS PIR1,RCIF
GOTO WAIT1

BCF MSTOP,0

BCF PORTB,3
BCF PORTB,4

CALL PWM1OFF
CALL PWM2OFF
CALL DARKLIGHT
BTFSC LDET,0
BSF PORTB,7

RXDATA
;BANKSEL RCSTA
;BTFSC RCSTA,OERR
;GOTO STOPS

CALL PWM1OFF
CALL PWM2OFF
CALL DARKLIGHT
BTFSC LDET,0
BSF PORTB,7

BANKSEL PIR1
BCF PIR1,RCIF

BANKSEL RCREG
MOVF RCREG,0

;*******************************************
;*******************************************

MOVWF INPUT_VAR
MOVLW 0X00
MOVWF RCREG

BCF STATUS,RP0
BCF STATUS,RP1

MOVF INPUT_VAR,0 ;STOP
SUBLW 0X53
BTFSC STATUS,Z
GOTO STOPS

MOVF INPUT_VAR,0 ;LIGHT ON
SUBLW 0X4E
BTFSC STATUS,Z
GOTO LON

MOVF INPUT_VAR,0 ;LIGHT OFF
SUBLW 0X51
BTFSC STATUS,Z
GOTO LOFF

MOVF INPUT_VAR,0 ;MOVE FORWARD SLOW
SUBLW 0X66
BTFSC STATUS,Z
GOTO FSLOW

MOVF INPUT_VAR,0 ;MOVE RIGHT SLOW
SUBLW 0X72
BTFSC STATUS,Z
GOTO RSLOW

MOVF INPUT_VAR,0 ;MOVE LEFT SLOW
SUBLW 0X6C
BTFSC STATUS,Z
GOTO LSLOW

MOVF INPUT_VAR,0 ;MOVE BACKWARD SLOW
SUBLW 0X62
BTFSC STATUS,Z
GOTO BSLOW

MOVF INPUT_VAR,0 ;MOVE FORWARD MEDIUM
SUBLW 0X46
BTFSC STATUS,Z
GOTO FMED

MOVF INPUT_VAR,0 ;MOVE RIGHT MEDIUM
SUBLW 0X52
BTFSC STATUS,Z
GOTO RMED

MOVF INPUT_VAR,0 ;MOVE LEFT MEDIUM
SUBLW 0X4C
BTFSC STATUS,Z
GOTO LMED

MOVF INPUT_VAR,0 ;MOVE BACKWARD MEDIUM
SUBLW 0X42
BTFSC STATUS,Z
GOTO BMED

MOVF INPUT_VAR,0 ;MOVE FORWARD FAST
SUBLW 0X55
BTFSC STATUS,Z
GOTO FFAST

MOVF INPUT_VAR,0 ;MOVE RIGHT FAST
SUBLW 0X57
BTFSC STATUS,Z
GOTO RFAST

MOVF INPUT_VAR,0 ;MOVE LEFT FAST
SUBLW 0X56
BTFSC STATUS,Z
GOTO LFAST

MOVF INPUT_VAR,0 ;MOVE BACKWARD FAST
SUBLW 0X58
BTFSC STATUS,Z
GOTO BFAST

MOVF INPUT_VAR,0 ;HAND CLOSE
SUBLW 0X43
BTFSC STATUS,Z
GOTO HCLOSE

MOVF INPUT_VAR,0 ;HAND OPEN
SUBLW 0X4F
BTFSC STATUS,Z
GOTO HOPEN

MOVF INPUT_VAR,0 ;HAND UP
SUBLW 0X75
BTFSC STATUS,Z
GOTO HUP

MOVF INPUT_VAR,0 ;HAND DOWN
SUBLW 0X64
BTFSC STATUS,Z
GOTO HDOWN

MOVF INPUT_VAR,0 ;LIGHT FOLOWER
SUBLW 0X54
BTFSC STATUS,Z
GOTO LFOLLOW

;*******************************************
;*******************************************

GOTO CLROE
FSLOW
;BANKSEL RCSTA
;BCF RCSTA,OERR
;BCF RCSTA,CREN
;NOP
;BSF RCSTA,CREN

BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
;BCF LDET,0

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT
BTFSC LDET,0
;BSF PORTB,7

NORMALSLOW

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2
REP3

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP3

GOTO CLROE
;*******************************************

LSLOW
BCF STATUS,RP0
BCF STATUS,RP1

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0

CALL DARKLIGHT
BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BCF PORTD,1

BSF PORTB,1
BCF PORTB,2
REP4

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP4
GOTO CLROE
;*******************************************
RSLOW
BCF STATUS,RP0
BCF STATUS,RP1

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BSF PORTD,1

BCF PORTB,1
BSF PORTB,2
REP35

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP35
GOTO CLROE
;*****************************
BSLOW
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BSF PORTD,1

BCF PORTB,1
BCF PORTB,2
REP5
BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP5

GOTO CLROE
;*******************************************
FMED
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

NORMALMED

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2
CALL SDELAY
REP6
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
NOP
BTFSS PORTD,7
GOTO REP6

PLUSEMED

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0XCC
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0XCC
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2
CALL SDELAY
REP7
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
BTFSS PORTD,7
GOTO NORMALMED
GOTO REP7
GOTO CLROE
;*******************************************
RMED
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BSF PORTD,1

BCF PORTB,1
BSF PORTB,2
REP8
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP8

GOTO CLROE
;*******************************************
LMED
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BCF PORTD,1

BSF PORTB,1
BCF PORTB,2
REP9
;CALL STALL1
;BTFSC MSTOP,0
;GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP9
GOTO CLROE
;*******************************************
BMED
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X7F
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X7F
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BSF PORTD,1

BCF PORTB,1
BCF PORTB,2
REP10
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP10
GOTO CLROE
;*******************************************
FFAST
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
BSF MSTOP,4

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XEF
MOVWF SPEED11
MOVLW 0X7F
MOVWF SPEED12
MOVLW 0XEF
MOVWF SPEED21
MOVLW 0X7F
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2

CALL SDELAY

NORMALFAST

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0XCC
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0XCC
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BTFSC LDET,0
BSF PORTB,7

BSF PORTB,1
BSF PORTB,2
REP11
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
NOP
BTFSS PORTD,7
GOTO REP11

PLUSEFAST

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0XFF
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0XFF
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2
REP12
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
BTFSS PORTD,7
GOTO NORMALFAST
GOTO REP12
GOTO CLROE
;*******************************************
RFAST
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BSF PORTD,1

BCF PORTB,1
BSF PORTB,2
REP13
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP13
GOTO CLROE
;*******************************************
LFAST
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BCF PORTD,1

BSF PORTB,1
BCF PORTB,2

CALL SDELAY

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X4C
MOVWF SPEED12
MOVLW 0XEF
MOVWF SPEED21
MOVLW 0XB3
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BCF PORTD,1

BSF PORTB,1
BCF PORTB,2
REP14
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP14
GOTO CLROE
;*******************************************
BFAST
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

MOVLW 0XDF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XDF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BSF PORTD,1

BCF PORTB,1
BCF PORTB,2

CALL SDELAY

MOVLW 0XEF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XEF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BSF PORTD,1

BCF PORTB,1
BCF PORTB,2
REP15
CALL STALL1
BTFSC MSTOP,0
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP15
GOTO CLROE
;*******************************************
HCLOSE
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

BTFSC PORTD,5
GOTO STOPS
BTFSC PORTD,6
GOTO STOPS

BSF PORTD,2
BCF PORTD,3

REP16
BTFSC PORTD,5
GOTO STOPS
BTFSC PORTD,6
GOTO STOPS
CALL SDELAY
CALL STALL2
BTFSC MSTOP,2
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP16

GOTO CLROE
;*******************************************
HOPEN
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

BTFSC PORTD,4
GOTO STOPS
BCF PORTD,2
BSF PORTD,3

REP17
BTFSC PORTD,4
GOTO STOPS
CALL SDELAY
CALL STALL2
BTFSC MSTOP,2
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP17

GOTO CLROE
;*******************************************
HUP

BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

BTFSC PORTC,4
GOTO STOPS
BCF PORTC,0
BSF PORTC,3

REP18
BTFSC PORTC,4
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP18

GOTO CLROE
;*******************************************
HDOWN

BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BCF LDET,0
;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

CALL DARKLIGHT

BTFSC LDET,0
;BSF PORTB,7

BTFSC PORTC,5
GOTO STOPS
BSF PORTC,0
BCF PORTC,3

REP19
BTFSC PORTC,5
GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
GOTO REP19

GOTO CLROE
;*******************************************
LON

BSF PORTB,7
BSF LDET,0

GOTO CLROE
;*******************************************
LOFF
BCF PORTB,7
BCF LDET,0

GOTO CLROE
;*******************************************
LFOLLOW

BCF STATUS,RP0
BCF STATUS,RP1

BCF PORTB,1
BCF PORTB,2
BCF PORTB,6
BCF PORTB,7
CALL PWM1OFF
CALL PWM2OFF
BCF PORTD,0
BCF PORTD,1
BCF PORTD,2
BCF PORTD,3
BSF MSTOP,6

REPLF
;BANKSEL OPTION_REG
;BSF OPTION_REG,3
;BSF OPTION_REG,3
;BSF OPTION_REG,3
;BSF OPTION_REG,3

;CLRFWDT
BCF STATUS,RP0
BCF STATUS,RP1

;BANKSEL INTCON
;BCF INTCON,T0IE
;BCF INTCON,T0IF
;BANKSEL PIE1
;BCF PIE1,6
;BCF PIE1,0
;BANKSEL INTCON
;BCF INTCON,GIE
BANKSEL PCON
BCF PCON,0
BCF PCON,1
NOP
BSF PCON,0
BSF PCON,1

BCF STATUS,RP0
BCF STATUS,RP1

MOVLW 0X00
MOVWF MSTOP

CALL SDELAY

CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,Z
GOTO FRONT
CALL SDELAY
CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,C
GOTO LR2G

LR1G

BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X66
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BSF PORTD,0
BCF PORTD,1

BSF PORTB,1
BCF PORTB,2
LR1GREP
;CALL STALL1
;BTFSC MSTOP,0
;GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA

CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,Z
GOTO REPLF
CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSS STATUS,C
GOTO LR1GREP
GOTO REPLF

LR2G

BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X66
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BSF PORTD,1

BCF PORTB,1
BSF PORTB,2
LR2GREP
;CALL STALL1
;BTFSC MSTOP,0
;GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA

CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,Z
GOTO REPLF
CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,C
GOTO LR2GREP
GOTO REPLF

FRONT
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP

;CALL BUTTLEVEL
;BTFSC MSTOP,1
;GOTO STOPS

MOVLW 0XFF
MOVWF SPEED11
MOVLW 0X99
MOVWF SPEED12
MOVLW 0XFF
MOVWF SPEED21
MOVLW 0X99
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON

BCF PORTD,0
BCF PORTD,1

BSF PORTB,1
BSF PORTB,2
CALL SDELAY
FROREP
;CALL STALL1
;BTFSC MSTOP,0
;GOTO STOPS

BANKSEL PIR1
BTFSC PIR1,RCIF
GOTO RXDATA
;CALL LDIN
;BTFSC MSTOP,3
;GOTO STOPS
CALL LFC1
NOP
CALL LFC2
NOP
MOVF LR2,0
SUBWF LR1,0
BTFSC STATUS,Z
GOTO FROREP
GOTO REPLF

GOTO CLROE
;*******************************************
STOPS

BTFSS MSTOP,4
GOTO STOPA

MOVLW 0XCF
MOVWF SPEED11
MOVLW 0XB3
MOVWF SPEED12
MOVLW 0XCF
MOVWF SPEED21
MOVLW 0XB3
MOVWF SPEED22
CALL PWM1ON
CALL PWM2ON
BCF PORTD,0
BCF PORTD,1
CALL SDELAY
STOPA
BCF STATUS,RP0
BCF STATUS,RP1

BCF PORTB,1
BCF PORTB,2
BCF PORTB,6
BTFSS LDET,0
;BCF PORTB,7
BCF PORTC,0
BCF PORTC,3
CALL PWM1OFF
CALL PWM2OFF
BCF PORTD,0
BCF PORTD,1
BCF PORTD,2
BCF PORTD,3
MOVLW 0X00
MOVWF MSTOP
;*******************************************
CLROE

BANKSEL RCSTA
BCF RCSTA,CREN
BCF RCSTA,FERR
BCF RCSTA,OERR

BSF RCSTA,CREN
BSF INTCON,GIE
BSF INTCON,PEIE

GOTO WAIT1

;*******************************************
;*******************************************
;*******************************************

STALL1
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BANKSEL ADCON0
BCF ADCON0,3
BCF ADCON0,4
BCF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
SUBLW 0X70
BTFSS STATUS,C
BSF MSTOP,0
BCF STATUS,RP0
BCF STATUS,RP1
RETURN

STALL2
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BANKSEL ADCON0
BSF ADCON0,3
BCF ADCON0,4
BCF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
SUBLW 0X40
BTFSS STATUS,C
BSF MSTOP,2
BCF STATUS,RP0
BCF STATUS,RP1
RETURN

BUTTLEVEL
BCF STATUS,RP0
BCF STATUS,RP1
MOVLW 0X00
MOVWF MSTOP
BANKSEL ADCON0
BCF ADCON0,3
BCF ADCON0,4
BSF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
SUBLW 0X7F
BTFSS STATUS,C
GOTO BL1
GOTO BL2

BL1
BSF MSTOP,1
BSF PORTB,6
BL2
RETURN

DARKLIGHT
BCF STATUS,RP0
BCF STATUS,RP1

BTFSC LDET,0
GOTO RETFDL
BANKSEL ADCON0
BCF ADCON0,3
BSF ADCON0,4
BCF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
SUBLW 0XEE
BTFSS STATUS,C
BSF PORTB,7
RETFDL
RETURN

CONVERT
MOVLW 0X49
BANKSEL ADCON1
MOVWF ADCON1
BANKSEL ADCON0
BCF ADCON0,7
BSF ADCON0,6
BSF ADCON0,0
BSF ADCON0,GO
WAITADC
BTFSC ADCON0,GO
GOTO WAITADC
BCF STATUS,RP1
BCF STATUS,RP0

RETURN

PWM1ON
BANKSEL PR2
MOVLW 0XFF
MOVWF PR2
BCF STATUS,RP0
BCF STATUS,RP1
MOVF SPEED11,0
MOVWF CCP1CON
MOVF SPEED12,0
MOVWF CCPR1L
BSF STATUS,RP0
BCF STATUS,RP1
MOVLW 0XF0
MOVWF TRISC
BCF STATUS,RP0
BCF STATUS,RP1
BCF T2CON,T2CKPS1
BCF T2CON,T2CKPS0
BSF T2CON,TMR2ON
BSF CCP1CON,2
BSF CCP1CON,3

RETURN

PWM2ON
BANKSEL PR2
MOVLW 0XFF
MOVWF PR2
BCF STATUS,RP0
BCF STATUS,RP1
MOVF SPEED21,0
MOVWF CCP2CON
MOVF SPEED22,0
MOVWF CCPR2L
BSF STATUS,RP0
BCF STATUS,RP1
MOVLW 0XF0
MOVWF TRISC
BCF STATUS,RP0
BCF STATUS,RP1
BCF T2CON,T2CKPS1
BCF T2CON,T2CKPS0
BSF T2CON,TMR2ON
BSF CCP2CON,2
BSF CCP2CON,3

RETURN

PWM1OFF
BCF CCP1CON,2
BCF CCP1CON,3
BSF T2CON,T2CKPS1
BSF T2CON,T2CKPS0
BCF T2CON,TMR2ON
MOVLW 0X00
MOVWF CCP1CON
MOVLW 0X00
MOVWF CCPR1L
BANKSEL PR2
MOVLW 0X00
MOVWF PR2
BCF STATUS,RP1
BCF STATUS,RP0

RETURN

PWM2OFF
BCF CCP2CON,2
BCF CCP2CON,3
BSF T2CON,T2CKPS1
BSF T2CON,T2CKPS0
BCF T2CON,TMR2ON
MOVLW 0X00
MOVWF CCP2CON
MOVLW 0X00
MOVWF CCPR2L
BANKSEL PR2
MOVLW 0X00
MOVWF PR2
BCF STATUS,RP1
BCF STATUS,RP0

RETURN

LFC1
BANKSEL ADCON0
BSF ADCON0,3
BCF ADCON0,4
BSF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,W
ANDLW 0XF0
MOVWF LR1
BCF STATUS,RP0
BCF STATUS,RP1
RETURN

LFC2
BANKSEL ADCON0
BCF ADCON0,3
BSF ADCON0,4
BSF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
ANDLW 0XF0
MOVWF LR2
BCF STATUS,RP0
BCF STATUS,RP1
RETURN

LDIN
BANKSEL ADCON0
BCF ADCON0,3
BSF ADCON0,4
BCF ADCON0,5
BCF STATUS,RP0
BCF STATUS,RP1
CALL CONVERT
MOVF ADRESH,0
SUBLW 0X4C
BTFSC STATUS,C
GOTO COMP4
BSF MSTOP,3
COMP4
BCF STATUS,RP0
BCF STATUS,RP1
RETURN

SDELAY
CLRF L2
XL3
CLRF L1
XL2
CLRF TMR0
XL1
MOVLW 0XFF
SUBWF TMR0,W
BTFSS STATUS,C
GOTO XL1

MOVLW 0X20
INCF L1
SUBWF L1,W
BTFSS STATUS,C
GOTO XL2

MOVLW 0X10
INCF L2
SUBWF L2,W
BTFSS STATUS,C
GOTO XL3
RETURN

NOP
NOP

END
This is exactley the type of thing I was looking at building. I have ordered a Raspberry pi and a 3.5 monitor to go in a costom controller
well...you could spend countless hours building this, you could spend $600 dollars on a useless robot, you could spend even more time coding it...or you can buy the transgripper for $65 dollars. <a rel="nofollow" href="http://www.amazon.com/Rokenbok-R-C-TransGripper-Trailer/dp/B00000IRO6">http://www.amazon.com/Rokenbok-R-C-TransGripper-Trailer/dp/B00000IRO6</a> :) ...it even comes with a trailer. rokenbok rulez!!!<br/>
Its more fun and you can build your knowledge when you build a robot rather than buying some production-line made plastic, easily breakable robot...
:) First of all, I don't want to compare between the two robots, but it is normal that the first building of any "machine" will cost more than the following ones … especially if you automate the building process … anyway, I build this robot long time ago as a graduation project required for my engineering degree and that’s it.
Nice robot. I like the simple and sturdy design with the gripper. A question. How do you attach the weels to the axel?
Yes I agree with you. I would love to add a detailed steps, but it is not an easy process, and the steps will be very long. I have added the code in the last step. Ayham
Thanks this really helps out alot as I have 2 PIC 16F877 chips waiting to be installed into something nice. Plus I have added more to the Elvinator Project incase you want to see how to finnish up the skinning process. Jax
Great job ,doc.ayham I voted too ...good luck
I wish u the best luck man :D
hello ayham wish u all the best very good job can u plz make it bigger so i can use it in my construction site>>GO GO
Great job realy wish you the best Dr, good luck
Go Go Ayham you will be the winner!! All Tunisian people with u!!! Viva Ayham!!
great Job Boss :)
Nice job, I just voted for you.
I vote for u ayham go go go u are the winner
Have you seen my Elvinator Project yet? I'm not even 1/4 way through it yet but more is on the way. check it out and let me know what you think. post the code for your bot fast so I can give you a vote from me please!
one more thing I love the way you used a worm shaft for the gripper, and connected a gear in the center, I never thought of that. Thank I'll add that to my next gripper bot.
Nice job But no one can reproduce this robot with the instructions you gave. Please if you can and have the photos add each step of building and add the source code for your bot, I would love to see it. Good job on the bot though. GWJax
kewl. I voted for it.
Thanks
anytime*.<br/>I added fine print.<br/><br/><sup>*anytime rules apply in situations like this one where a) the instructable has been entered into a contest and B) the instructable is any good. I will not vote for bad instructables, nor can I vote for instructables not entered in contests.</sup><br/>

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