Secured Robot System
Page last updated 12 Oct 2012, by 
Dhaval Mehta.
0
replies
Dhaval Mehta.
0
replies
By Dhaval R. Mehta and Jill J. Parekh
Description
The Robot provides access only to particular predefined buzzcard holders for security purpose and at the same time it performs operations according to the buzzcard which is swiped.
Block Diagram
The above block diagram provides an idea of the hardware connected to the mbed chip on the robot .
- Magnetic card reader -It is used for security reason. In this Case , only two buzzcards with specific GTID numbers have been given access to activate the robot.However we can code it to provide access to any number of buzzcard holders to activate the robot.
- When first buzzcard is swiped , it activates the robot, the bot moves in direction for a specific time as per the programmer. At the same time , it activates the sensor SHT15 which provides the temperature readings and displays it on the text LCD.
- Now when second buzzcard is swiped , it activates the robot, the bot moves in direction for a specific time as per the programmer..At the same time , it activates the sensor SHT15 which provides the humidity readings in this case and displays it on the text LCD.
- RS 232- It is used to make mbed chip compatible with Magnetic card reader, as both work on different logic technologies. It provides Serial Data transfer between the Magnetic Card reader and the Mbed chip.
- SHT15- It is a sensor which is interfaced with mbed chip .It measures Temperature and Humidity.
- Text LCD- It is interfaced with mbed chip and displays Temperature/Humidity when activated by a particular buzzcard holder at a particular time.
- Dual H-Bridge- It is used for controlling the motions of the robot.It acts as a driver and provides current amplification for the motors of the robot.
Hardware Used
- mbed LPC 1768
- 16*2 LCD
- SHT15
- RS 232
- Magnetic Card Reader
- Dual H-Bridge breakout board
- DC Motor Robot
Connections
- mbed to lcd
| mbed | lcd |
| p1 | grnd |
| p1 | VO |
| p15 | RS |
| P16 | E |
| p17 | D4 |
| p18 | D5 |
| p19 | D6 |
| p20 | D7 |
| p39 | RW |
| p39 | vcc |
- mbed to H-Bridge
| p1 | grnd |
| p2 | vmot |
| p21 | PWMB |
| p22 | BIN2 |
| p23 | BIN1 |
| p24 | AIN1 |
| p25 | AIN2 |
| p26 | PWMA |
| p40 | /STYB |
- H-Bridge to Robot DC Motor
| A01 | left-red |
| A02 | left-blk |
| B02 | right-blk |
| B01 | right-red |
- mbed to SH15
| p1 | grnd |
| p40 | VCC |
| p9 | DATA |
| p10 | SCK |
- mbed to RS 232
| p1 | grnd |
| p40 | VCC |
| p14 | TX |
Import Code
- The following link is used to import the code.
Code
#include "mbed.h"
#include "motordriver.h"
#include "TextLCD.h"
#include"stdio.h"
#include "stdlib.h"
#include "SHTx/sht15.hpp"
Serial pc(USBTX, USBRX); // tx, rx
Serial device(p13, p14); // tx, rx
DigitalOut myled3(LED3);
DigitalOut myled2(LED2);
DigitalOut myled4(LED4);
SHTx::SHT15 sensor(p9, p10);
float ss=0;
Motor left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
Motor right(p26, p25, p24, 1);
float dhaval=0;
float jill=0;
float g=0;
float g1=0;
float g2=0;
float g3=0;
//char buffer[50];
float h=0;
float h1=0;
float h2=0;
float h3=0;
TextLCD lcd(p15, p16, p17, p18, p19, p20);
char a[300];
int count=0;
int s = 0;
DigitalOut busy(LED1);
int main()
{
sensor.setOTPReload(false);
sensor.setResolution(true);
busy = true;
sensor.update();
busy = false;
sensor.setScale(false);
float pp1 = (sensor.getTemperature()-2.0);
char halftemp[60];
sprintf(halftemp, "%f", pp1);
float pp2 = sensor.getHumidity();
char halftemp2[60];
sprintf(halftemp2, "%f", pp2);
do{
while(1) {
count = 0;
if (device.readable()) {
do {
s=device.getc();
a[count]=s;
count++;
} while(s != '\r');
if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='8' && a[10]=='7' && a[11]=='8' && a[12]=='0' && a[13]=='7' && a[14]=='2' )
{
lcd.cls();
lcd.printf("Temperature in C: %s\n", halftemp);
myled3=!myled3;
h1=0;h2=0;h3=0;g1=0;g2=0;g3=0;
while (1) {
if(g1==0) {
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
left.speed(0.4);
right.speed(0.8);
wait(0.5);
// Turn off motors - coast one and brake one
right.speed(0); //////for turning right......
left.speed(0); ////for turning left
++g1;
wait(1);
}
if(g2==0 ) {
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
left.speed(0.2);
right.speed(0);
wait(1);
// Turn off motors - coast one and brake one
left.stop(0); ////for turning left
++g2;
wait(1);
}
if(g3==0) {
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
left.speed(0.4);
right.speed(0.8);
wait(0.5);
// Turn off motors - coast one and brake one
right.speed(0); //////for turning right......
left.speed(0); ////for turning left
++g3;
++jill;
wait(1);
}
if(jill==1)
break;
}
}
/////////////// TESTING SECOND CARD...F0RWARD THEN RIGHT TURN TERN BACK
if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='9' && a[10]=='1' && a[11]=='1' && a[12]=='2' && a[13]=='5' && a[14]=='0' )
{
lcd.cls();
lcd.printf("Humidity is\n: %s %%\n", halftemp2);
myled2=!myled2;
myled4=!myled4;
g1=0;g2=0;g3=0; h1=0;h2=0;h3=0;
while (1) {
if(h1==0 ) {
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
left.speed(0.4);
right.speed(0.8);
wait(0.5);
// Turn off motors - coast one and brake one
right.speed(0); //////for turning right......
left.speed(0); ////for turning left
++h1;
g1=0;
wait(1);
}
if(h2==0 ) {
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
right.speed(0.2);
left.speed(0);
wait(1);
// Turn off motors - coast one and brake one
right.stop(0); //////for turning right......
//left.stop(0); ////for turning left
++h2;
g2=0;
wait(1);
}
if(h3==0) {
//myled=1;
// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
left.speed(0.4);
wait(0.5);
// Turn off motors - coast one and brake one
right.speed(0); //////for turning right......
left.speed(0); ////for turning left
++h3;
g3=0;
++dhaval;
wait(1);
}
if(dhaval==1)
break;
}
}
}
}
} while(ss==0);
}
Images
Demo
Reference
Please log in to post comments.