Robotics Technologies microBus-Cam II Manual do Utilizador descarregar pdf (Página 20)

Mobile Robots – Current Trends

212

Step 10 : I2C_ACK ( ),

Step 11 : I2C_RECEIVE ( ) – Read LSB of temperature register,

Step 12 : I2C_ACK ( ),

Step 13 : I2C_STOP ( ),

With these steps, the robot can get data from only one module for one time. If the robot

wants to get data from this module once again or from another module, the robot must

rerun once again from first to last step.

The software is developed by Visual C

to read

information from I

C devices as shown in Fig.29.

Fig. 29. Software to read data from sensors integrated on AMRO by I

C bus system

6. Conclusion

For this book chapter has mainly purpose to introduce basic structure of mobile robot and

communication between mobile robot and sensors by using I

C bus system. The mobile

robot named AMRO is introduced as example. Its hardware is constructed and combined

with the electronics components. The real robot is tested successfully using manual controls

(GUI) developed by using C

programming. This small GUI is very useful for new user to

test the various robot movements. The software is developed with manual controls for real

robot. After establishing connection with the robot through wireless communication and

entering all velocity values, the robot will be ready to move in the desired directions.

pressing

F button robot starts to run forward with the given velocity.

The I

C bus system is

selected for main system of our mobile robot, because it can be conveniently developed and

modified, if new sensors must be integrated or more analog sensors are used later. The I

bus system consists of master and slave devices that the master device in this work is PC

station and ADC-Converter for analog sensors (gyroscope), compass module and

temperature sensor work as slave devices integrated on the mobile robot (AMRO). The I

bus can work very well and has no problem with AMRO system.

The software is developed

to control the robot and to read all analog sensors based on the I

C bus format

. The

developed software is programmed based on Visual C

. The software devleopment must

be programmed in the I

C bus format to control SDA and SCL lines.

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