embedded C program

[devkc]

I need an intersection program for my robot;if there is an intersection of roads,the robot should not stop or take a turn,it should follow the straight path rather than turning left or right or just stop.
Please help me,its very urgent............

[Ancient Dragon]

You're going to have to provide a whole lot more information about your robot if you really expect anyone to help you. You made it sound like you have a robot walking down our city streets!

[devkc]

Problem statement:

The construction of the bot includes:

1.Power supply : 12volts
2.7805 is used for power supply.
3.atmega8L microcontoller is used.
4.two gear motors
5.L298 motor drives

The bot has to do the following job (programming work):

1.It has to follow white line track on the black background.
2.It should has high speed.
3. The path has intersection, curve turns, sharp turns (60 degree turn), discontinuities.

This is the prog i m using

#include <AT89X52.h>

/*                

Sensors input port - P1                  

P1_0 --------> Left sensor                  

P1_4 --------> Right sensor                   


Motors output port - P0                                    


P0_0 --------> Enable pin of the left half of the H-bridge                  

P0_1 --------> will drive the left motor in forward direction                  

P0_2 --------> will drive the left motor in reverse direction                  

P0_3 --------> will drive the right motor in forward direction                  

P0_4 --------> Enable pin of the right half of the H-bridge                  

P0_5 --------> will drive the right motor in reverse direction

*/   
 


/*Delay function runs an idle loop to create a time delay. If the crystal used is of 11.0592 MHz then the argument passed in delay is in 'milliseconds'.*/

void Delay(unsigned int itime)

{                

unsigned int i,j;                

for(i=0;i<itime;i++)                                 

for(j=0;j<1275;j++);       //Idle loop

}

void Forward()

{                

P0_1=1;                

P0_2=0;                

P0_3=1;                

P0_5=0;

}  


/*Generally for turning we use a pulsated wave so the bOt doesn’t get out of control i.e. we run the motor for sometime then again stop it and this is done very quickly to create an effective pulse. See the function below.*/   


void TurnLeft()

{                

P0_1=0; /*Left motor is not running in any direction.*/                

P0_2=0;                

P0_3=1;   /*Right motor is running in forward direction. bOt will eventually turn left*/                 

P0_5=0;                

Delay(50); /* Wait for 50 ms*/                 

P0_1=0;  /*Motors are not running*/                 

P0_2=0;                

P0_3=0;                

P0_5=0;                

Delay(50); /*Delay of another 50 ms*/                


}  


/*So in the above program we have effectively created a pulse of 100ms which is on for 50ms and off for another 50ms. You can change this value to suit your needs*/  


/*Similarly we can write a function to turn right*/  


void TurnRight()

{                

P0_1=1; /*Left motor running in forward direction.*/                

P0_2=0;                

P0_3=0; /*Right motor is not running.*/                

P0_5=0;                

Delay(50); /*50ms time delay*/                

P0_1=0; /*Motors not running in any direction*/                

P0_2=0;                

P0_3=0;                

P0_5=0;                

Delay(50); /*50ms time delay*/                


}   
 


void main()

{

/* The pins which are receiving inputs from the sensors should be initially set to logic 1.*/                

P1_0=1; /*Left sensor input*/                

P1_4=1; /*Right sensor input*/                                


//main loop of the program                

while(1)                

{                                                                                


if((P1_0==0)&&(P1_4==1))                                                 

TurnRight();                                 

else if((P1_0==1)&&(P1_4==0))                                                 

TurnLeft();                                 

else                                                

Forward();                                                


}

}

[Banfa]

And what does that program do when the bot handle respectively

1.It has to follow white line track on the black background.
2.It should has high speed.
3. The path has intersection, curve turns, sharp turns (60 degree turn), discontinuities.

Does it handle them correctly or does it do something undesireable?

[devkc]

It is following the white track,but it is not working in sharp turns and in hinderance

[Banfa]

How does it respond to shar turns, what is its behaviour.

You might want to start erring on the side of giving too much information rather than too little.

[devkc]

I have already given the whole information,i have given my whole program,and have explained what is the problem and what do i actually require,i can't give any more information than i already have............

[Banfa]

Actually no you haven't "its not working" is not a proper description of its actual behaviour. All that tells me is that it doesn't do what you want it to do. That doesn't tell me what it actually does.

[akshaydusane]

hey we cant give delay in seconds?