Obstacle Avoiding Robot using PIC Microcontroller

Hi.

My program keeps feeling. It won't build

Hello. May i know what compiler that you are using? is it mikroC Pro?

Would I be able to implement this using a PIC curiosity board HPC? I would like to know. I would appreciate your help. Thank you

i have probleme with code of c

can i use servo motor instead of dc gear motor?

do you a source code for assembly language?

hello
how did you schematised the IR sensor module in proteus ?

Hello am using the pic18f2220 what changes would I need to make?

could you expain these equations?
time_taken = (TMR1L | (TMR1H<<8));
distance= (0.0272*time_taken)/2;

gracias por poner estos programas excelentes,lo voy a probar en mi compilador PICC COMPILER.

How if i want to use pic18f4550? What i need to change in source code?

I tried building the same robo under your instructions but I am having a issue.Sometime the robo works but sometimes it doesnot.Sometime only a single motor works .I am really confused about that.I checked connections many times they all are fine.Secondly is backoff() a bult in function ?

how can i get the full code for mikroPRO?

Can i have the L293D connection to the PIC and the motor? From ur diagram, which pin is enable 1,2 and which pin is the input and output? urgent....thank you

can i get the code by mikrocpro?

how to change the program if i using 3 ultrasonic sensors instead of one ultrasonic & 2 IR sensors?

#pragma config FOSC = HS // Oscillator Selection bits (HS oscillator)
#pragma config WDTE = OFF // Watchdog Timer Enable bit (WDT disabled)
#pragma config PWRTE = ON // Power-up Timer Enable bit (PWRT enabled)
#pragma config BOREN = ON // Brown-out Reset Enable bit (BOR enabled)
#pragma config LVP = OFF // Low-Voltage (Single-Supply) In-Circuit Serial Programming Enable bit (RB3 is digital I/O, HV on MCLR must be used for programming)
#pragma config CPD = OFF // Data EEPROM Memory Code Protection bit (Data EEPROM code protection off)
#pragma config WRT = OFF // Flash Program Memory Write Enable bits (Write protection off; all program memory may be written to by EECON control)
#pragma config CP = OFF // Flash Program Memory Code Protection bit (Code protection off)

#include <xc.h>
#define _XTAL_FREQ 20000000
#define Trigger RB1 //34 is Trigger
#define Front_Echo RB2//35 is Echo
#define Left_Echo RB3//36 is Echo
#define Right_Echo RB4//37 is Echo

void back_off();
void calculate_front_distance();
void calculate_left_distance();
void calculate_right_distance();

int ftime_taken;
int ltime_taken;
int rtime_taken;
int front_distance;
int left_distance;
int right_distance;

void calculate_front_distance() //function to calculate front distance of US
{
TMR1H =0; TMR1L =0; //clear the timer bits

Trigger = 1;
__delay_us(10);
Trigger = 0;

while (Front_Echo==0);
TMR1ON = 1;
while (Front_Echo==1);
TMR1ON = 0;

ftime_taken = (TMR1L | (TMR1H<<8));
front_distance= (0.0272*ftime_taken)/2;
}

void calculate_left_distance() //function to calculate left distance of US
{
TMR1H =0; TMR1L =0; //clear the timer bits

Trigger = 1;
__delay_us(10);
Trigger = 0;

while (Left_Echo==0);
TMR1ON = 1;
while (Left_Echo==1);
TMR1ON = 0;

ltime_taken = (TMR1L | (TMR1H<<8));
left_distance= (0.0272*ltime_taken)/2;
}

void calculate_right_distance() //function to calculate right distance of US
{
TMR1H =0; TMR1L =0; //clear the timer bits

Trigger = 1;
__delay_us(10);
Trigger = 0;

while (Right_Echo==0);
TMR1ON = 1;
while (Right_Echo==1);
TMR1ON = 0;

rtime_taken = (TMR1L | (TMR1H<<8));
right_distance= (0.0272*rtime_taken)/2;
}

void back_off() //used to drive the robot backward
{
RC4=1; RC5=0; //Motor 1 reverse
RC6=0; RC7=1; //Motor 2 reverse
__delay_ms(1000);
}

void main()
{
TRISD = 0x00; //PORTD declared as output
TRISB1 = 0; //Trigger pin of US sensor is sent as output pin
TRISB2 = 1; //Echo pin of US sensor is set as input pin (Front)
TRISB3 = 1; //Echo pin of US sensor is set as input pin (Left)
TRISB4 = 1; //Echo pin of US sensor is set as input pin (Right)

TRISD4 = 0; TRISD5 = 0; //Motor 1 pins declared as output
TRISD6 = 0; TRISD7 = 0; //Motor 2 pins declared as output

T1CON=0x20;

while(1)
{

if (front_distance>5)
{
RD4=0; RD5=1; //Motor 1 forward
RD6=1; RD7=0; //Motor 2 forward
}

else if (left_distance<=5 && right_distance>5 && front_distance<=5)//Left US is blocked
{
back_off();
RD4=1; RD5=1; //Motor 1 stop
RD6=1; RD7=0; //Motor 2 forward
}

else if (left_distance>5 && right_distance<=5 && front_distance<=5) //Right sensor is blocked
{
back_off();
RC4=0; RC5=1; //Motor 1 forward
RC6=1; RC7=1; //Motor 2 stop
__delay_ms(500);
}

else if (left_distance>5 && right_distance>5 && front_distance<=5)//Both sensor is open
{
back_off();
RC4=0; RC5=1; //Motor 1 forward
RC6=1; RC7=1; //Motor 2 stop
__delay_ms(500);
}

else if (left_distance<=5 && right_distance<=5 && front_distance<=5)//Both sensor is blocked
{
back_off();
RC4=1; RC5=0; //Motor 1 reverse
RC6=1; RC7=1; //Motor 2 stop
__delay_ms(1000);
}

}
}

Kind of an off topic question but can anyone tell me what program was used for the circuit diagram?

hi i downloaded MPLAB X and XC8 compiler and when i build this program i get so many errors can anybody please help me please thank you

if i use the same code in pic18f4520 what necessary changes will i have to make to run the code?

kindly tell in detail

I would like to build this project but would like to use a LIDAR in the place of the u;tronic sensor, but have no idea where to start.

Would be grateful for some ideas such as hardware connections and codes.

Thanks

Jamesd

Can we use universal programmer other than PicKit3?

Can you provide us with the code for cleaning and sanitising purpose using the same obstacle avoider,since I am very new to pic microcontroller?Please...

It`s possible to replace L293D with L298N ?

firstdoc.c:8:7: error: use of undeclared identifier 'RC4'
      RC4=1; RC5=0; //Motor 1 reverse
      ^
firstdoc.c:8:14: error: use of undeclared identifier 'RC5'
      RC4=1; RC5=0; //Motor 1 reverse
             ^
firstdoc.c:10:7: error: use of undeclared identifier 'RC6'
      RC6=0; RC7=1; //Motor 2 reverse  
      ^
firstdoc.c:10:14: error: use of undeclared identifier 'RC7'
      RC6=0; RC7=1; //Motor 2 reverse  
             ^
firstdoc.c:12:7: warning: implicit declaration of function '__delay_ms' is invalid in C99 [-Wimplicit-function-declaration]
      __delay_ms(1000);   
      ^
firstdoc.c:18:10: error: use of undeclared identifier 'TMR1H'
         TMR1H =0; TMR1L =0; //clear the timer bits
         ^
firstdoc.c:18:20: error: use of undeclared identifier 'TMR1L'
         TMR1H =0; TMR1L =0; //clear the timer bits
                   ^
firstdoc.c:20:9: error: use of undeclared identifier 'RB1'
        Trigger = 1; 
        ^
./newxc8_header.h:10:17: note: expanded from macro 'Trigger'
#define Trigger RB1 //34 is Trigger
                ^
firstdoc.c:22:9: warning: implicit declaration of function '__delay_us' is invalid in C99 [-Wimplicit-function-declaration]
        __delay_us(10);           
        ^
firstdoc.c:24:9: error: use of undeclared identifier 'RB1'
        Trigger = 0;  
        ^
./newxc8_header.h:10:17: note: expanded from macro 'Trigger'
#define Trigger RB1 //34 is Trigger
                ^
firstdoc.c:26:16: error: use of undeclared identifier 'RB2'
        while (Echo==0){
               ^
./newxc8_header.h:11:14: note: expanded from macro 'Echo'
#define Echo RB2//35 is Echo 
             ^
firstdoc.c:27:13: error: use of undeclared identifier 'TMR1ON'
            TMR1ON = 1;};
            ^
firstdoc.c:29:16: error: use of undeclared identifier 'RB2'
        while (Echo==1){
               ^
./newxc8_header.h:11:14: note: expanded from macro 'Echo'
#define Echo RB2//35 is Echo 
             ^
firstdoc.c:30:13: error: use of undeclared identifier 'TMR1ON'
            TMR1ON = 0;};
            ^
firstdoc.c:32:32: error: use of undeclared identifier 'TMR1H'
        time_taken = (TMR1L | (TMR1H<<8)); 
                               ^
firstdoc.c:32:23: error: use of undeclared identifier 'TMR1L'
        time_taken = (TMR1L | (TMR1H<<8)); 
                      ^
firstdoc.c:34:38: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]
        distance= (0.0272*time_taken)/2;        
                ~ ~~~~~~~~~~~~~~~~~~~^~
firstdoc.c:39:6: error: use of undeclared identifier 'TRISD'
     TRISD = 0x00; //PORTD declared as output for interfacing LCD
     ^
firstdoc.c:41:6: error: use of undeclared identifier 'TRISB1'
     TRISB1 = 0; //Trigger pin of US sensor is sent as output pin
     ^
firstdoc.c:43:6: error: use of undeclared identifier 'TRISB2'
     TRISB2 = 1; //Echo pin of US sensor is set as input pin       
     ^
firstdoc.c:45:6: error: use of undeclared identifier 'TRISB3'
     TRISB3 = 0; //RB3 is output pin for LED
     ^
firstdoc.c:47:6: error: use of undeclared identifier 'TRISD2'
     TRISD2 = 1; TRISD3 = 1; //Both the IR sensor pins are declared as input

This problem is arising what should be the solution?