Kauglabori robot

Robotplatvorm võib olla varustatud erinevate seadmetega:

• Manipulaator (pilt 1)
• Lihtne radar (pilt 2)
• Kaamera

Platvorm1

Pilt 1 Robot manipulaatoriga

Platvorm

Pilt 2 Robot IR radariga

Lihtne navigeerimine

#define F_CPU 14745600UL //CPU Frequency (influences delay function)
#include <avr/io.h>
#include <util/delay.h>
 
 
int init(){
	DDRD = 0xFF;// set port direction (output)
	PORTD = 0x00;// initialize port
 
	//Pamperi lülitid
	DDRC = 0x00;// set port direction (input)
	PORTC = 0x00;// initialize port 
 
	DDRA = 0x00;// set port direction (input)
	PORTA = 0x00;// initialize port
 
	DDRB = 0xFF;// set port direction (output)
	PORTB = 0x00;// initialize port
 
	DDRG = 0xFF;  // set port direction (output)
	PORTG = 0x00;// initialize port - pins-s low
return 0;
}
 
int edasi(){
		PORTD=0x02; //vasak edasi
		PORTB=0x80; //parem edasi
return 0;
}
 
int tagasi(){
		PORTD=0x01; //vasak tagasi
		PORTB=0x10; //parem tagasi
return 0;
}
 
int stop(){
		PORTD=0x00; //vasak stop
		PORTB=0x00; //parem stop
return 0;
}
 
int poore_vasak(){
		PORTD=0x01; //vasak tagasi
		PORTB=0x80; //parem edasi
return 0;
}
 
int poore_parem(){
		PORTD=0x02; //vasak edasi
		PORTB=0x10; //parem tagasi
return 0;
}
 
int main (void){
 
	init();
 
	while(1){
 
		edasi();
 
		if (bit_is_set(PINA, 0)||bit_is_set(PINA, 1)) {
			tagasi();
			_delay_ms(500);
			poore_parem();
			_delay_ms(1000);
		}
 
		if (bit_is_set(PINA, 2)||bit_is_set(PINA, 3)) {
			tagasi();
			_delay_ms(500);
			poore_vasak();
			_delay_ms(1000);
		}
 
		if (bit_is_set(PINC, 4)||bit_is_set(PINC, 5)||bit_is_set(PINC, 6)||bit_is_set(PINC, 7)) {
			stop();
			_delay_ms(1000);
		}
	}
}