This is my college Major project which won First prize at PEC-Open House 2010. Me and my pals (Aseem Grover, Eshesh Gupta, Manik Malhotra and Vineet Kumar) worked on this project for 4months, developing the entire Mechanical and Electronics Hardware from scratch and the VB6 code to run the machine.
The concept was to develop a machine run by High Torque Stepper Motors ( which will turn the lead screws, moving the platform forward) controlled by a Microcontroller (ATMega32) which will be interfaced with the computer (running VB6 code) taking values from the user to run the machine accordingly.
// ........The C Code.......Compiled in AVR studio
ReplyDelete// MCU : ATMEGA32
//
#define F_CPU 11059200UL
#define S_FACTOR 50
#include
#include
unsigned short arr1[8] = {0b00001001,0b00000001,0b00000101,0b00000100,0b00000110,0b00000010,0b00001010,0b00001000};
unsigned short arr2[8] = {0b10010000,0b00010000,0b01010000,0b01000000,0b01100000,0b00100000,0b10100000,0b10000000};
unsigned short x=0,y=0,xp=0,yp=0; // current and previous co-ordinates
unsigned short x1=0,x2=0,y1=0,y2=0; // line co-ordinates
void usart_init(){
unsigned int baud;
baud = F_CPU/(9600 * 16UL) -1;
UBRRL = (unsigned char)baud; // Load lower 8-bits of the baud rate value into the low byte of the UBRR register
UBRRH = (unsigned char)(baud >> 8); // Load upper 8-bits of the baud rate value into the high byte of the UBRR register
UCSRB |= (1<=0 ;i --)
{
PORTA = arr1[i%8];
delay();
}
}
else if (m==2)
{
for (i = x ;i>=0 ;i --)
{
PORTA = arr2[i%8];
delay();
}
}
}
void gotoxy() // Goto x,y cordinates and update xp,yp
{
if(x>xp){
forward(1,(x-xp)*S_FACTOR);
xp=x; // update xp
}
else if (xyp){
forward(2,(y-yp)*S_FACTOR);
yp=y; // update yp
}
else if (y<yp){
backward(2,(yp-y)*S_FACTOR);
yp=y;
}
}
void tool_on()
{
}
void tool_off()
{}
int main()
{ DDRA = 0xff; //output
DDRB = 0xff; //output
unsigned char ch1;
float m=0;
usart_init(); // initialize USART
delay(); // Initial Delay
while(1)
{
ch1 = receive(); // receive signal from computer
if(ch1 == 'D') // Drill Action
{
send('D'); // send ack
x= receive(); // receive M1 (steps)
send(x); // Ack
y = receive(); // receive M2 (steps)
send(y); // Ack
gotoxy();
tool_on(); // Perform Drill operation
send('C'); // ack completion of task
}
else if (ch1=='L') // Line Action
{
send('L'); // Ack
x1=receive(); // Get X1
send(x1); // Ack
y1=receive(); // Get Y1
send(y1);
x2=receive(); // Get X2
send(x2);
y2=receive(); // Get Y2
send(y2);
x=x1; // set x as x1
y=y1;
gotoxy(); // goto x1,y1 co-ordinate
tool_on(); // Start tool
for(x=x1+1;x<=x2;x++)
{ m= (y2-y1)/(x2-x1);
y = m*(x-x1) + y1;
gotoxy();
}
tool_off();
send('C');
}
else
{send('E');} // send error
} // end of while
} // end of main