Line Follower report

2

The L-293D is quadruple high-current half-H drivers. The L-293D is mainframe to provide

bidirectional drive currents of up 600mA at voltages from 4.5V to 36V. Both devices are designs to

drive inductive load such as relays, solenoids, DC and bipolar servo motor. For examples as an L-293D

is used for power supply both servo motor operated.

Programmable Interface Controller (PIC) Microcontroller is a computer control system on a

single chip. It has many electronic built into it, which can decode written instructions and convert it to

electrical signals. For example like PIC16F84 used for control machine type signal receiver and

operated in specified action when the signal received.

In the end of this project, the line follower robot should be able to drive autonomously to finish

the whole route without any control by human being.

3

METHODOLOGY

A. Introduction Assembly Component

We need combining a lot of circuits to make a line follower robot; infrared sensor is control for

direction turning, LM7805 voltage regulator to convert a constant 5V output from high voltage,

Quadruple Half-H driver L-293D connect to power supply both of the servo motor and etc. The below

is shown what the function of all the components we have been using during the experiment.

1. Electronics Components

1.1. LM7805 Voltage Regulator

The LM7805 voltage regulators of three terminal positive regulators are available in the

TO-220 package and with several fixed output voltage, making them useful in a wide range

of application. Each type employs internal current limiting, thermal shut down and safe

operating area protection, making it essentially indestructible. Figure 1.1a is proving the

graphical diagram of LM7805 voltage regulator. Figure 1.1b is proving the schematic

diagram of LM7805 voltage regulator.

4

Figure 1.1a: The graphical diagram of

LM7805 voltage regulator.

Figure 1.1b: The schematic diagram of

LM7805 voltage regulator.

1.2. Infrared Sensor (IR Sensor)

An infrared sensor is an electronic device that transmitter (white) and receiver (black)

infrared radiation in order to sense some aspect of its surroundings. Infrared sensors can

measure the heat of an object, as well as detect motion. The function of infrared sensor in

the robot is corrected move on the route when the routes are curved. Figure 1.2a is showing

graphical diagram of infrared sensor; figure 1.2b is showing schematic diagram of infrared

sensor.


infrared sensor.


infrared sensor.

5

1.3. Capacitors

Capacitors store electric change. They are used to smooth varying DC power supplies by

acting as a reservoir of charge. Basically, capacitors easily pass AC (changing) signals but

they block DC (constant) signals. There have three type capacitor are Polarized Capacitors,

Unpolarized Capacitors and Variable Capacitors.

Polarized Capacitors are polarize and must be connected in the correct way, because a leads

have separated two part are „‟+‟‟ and „‟-„‟. The voltage rating of polarized capacitors can

supply minimum 25V, to supply large values and up to 1µF ++. Figure 1.3a is showing the

graphical diagram of Polarized Capacitors; figure 1.3b is showing the schematic diagram of

Polarized Capacitors.





Unpolarized Capacitors is small value capacitors and connected either way round. But it has

high voltage ratings of at least 50V, usually 250V or so, to supply small value and up to 1µF

only. Figure 1.3c is showing the graphical diagram of Unpolarized Capacitors; figure 1.3d is

showing the schematic diagram of Unpolarized Capacitors.

6

Figure 1.3c: The graphical diagram of

Unpolarized Capacitors.

Figure 1.3d: The schematic diagram of

Unpolarized Capacitors.

Variable capacitors are mostly used in radio tuning circuit. It has very small capacitance

values, generally between 100pF and 500pF. The type illustrated usually has trimmers built

in as well as the main variable capacitor. . Figure 1.3e is showing the graphical diagram of

Variable Capacitors; figure 1.3f is showing the schematic diagram of Variable Capacitors.

Figure 1.3e: The graphical diagram of

Variable Capacitors.

Figure 1.3f: The schematic diagram of

Variable Capacitors.

7

1.4. Diode

Diodes allow electricity to flow in only one direction. The arrow of the circuit symbol show

the direction in which the current can flow. Besides that, diode must be connected the

correct way round, the diagram may be labeled either + for anode and k or – for cathode.

Figure 1.4a is showing the graphical diagram of diode; figure 1.4b is showing the schematic

diagram of diode.


diode.

Figure 1.4b: The schematic diagram of diode.

Zener diodes also one of the diode and used to maintain a fixed voltage. They are designed

to “breakdown” in a reliable and non-destructive way so that they can be used in reverse to

maintain a fixed voltage across their terminal. Figure 1.4c is showing the graphical diagram

of zener diode; figure 1.4d is showing the schematic diagram of zener diode.


zener diode.


zener diode.

8

1.5. Light Emitting Diodes (LEDs)

LED when an electric current flow through them. LED is same as diode‟s connection. The

application of LED is indicating what frequency signal transmit out. . Figure 1.5a is

showing the graphical diagram of LED; figure 1.5b is showing the schematic diagram of

LED.


LED.


LED.

1.6. Relays

A relay is an electrically operated switch. Current flowing through the coil of the relay

creates a magnetic field which attracts a lever and changes the switch contact. There are two

type of contact, normally close (NC) and normally open (NO). Used the relay to switch on

the directional signal LED for specified turn left or turn right of line follower robot. Figure

1.6a is showing the graphical diagram of relays; figure 1.6b is showing the schematic

diagram of relays.


relays.


relays.

9

1.7. Resistors

Resistors restrict the flow of electric current, for example a resistor is places in series with a

light-emitting diode (LED) to limit the current flowing through the LED. In addition,

resistor values are normally shown using color bands. The following below is a table of

each colour represents a number.

The Resistor Colour

Code

Colour Number

Black 0

Brown 1

Red 2

Orange 3

Yellow 4

Green 5

Blue 6

Violet 7

Grey 8

White 9

Figure 1.7a is showing the graphical diagram of resistors; figure 1.7b is showing the schematic

diagram of resistors.


resistors.


resistors.

10

1.8. Variable Resistors

Variable resistors consist of a resistance track with connect at both ends and a wiper which

moves along the track as you turn the spindle. The track may be made from carbon, ceramic

and metal mixture or a coil of wire. The Figure 1.8a is a terminal diagram of variable

resistors. Besides that, variable resistors have separated two type are potentiometer and

preset variable resistors.

Figure 1.8a: Terminal diagram of

variable resistors.

The potentiometer and preset variable resistors have all three terminals connected.

However, presets are much cheaper than potentiometer so we are used this preset in our

project. Figure 1.8b is showing the graphical diagram type of variable resistors; figure

1.8c is showing the schematic diagram type of variable resistors.

Figure 1.8b: The graphical diagram type of

variable resistors.

Figure 1.8c: The schematic diagram type of

variable resistors.

11

1.9. Transistor

Transistors amplify current, for example like can be used to amplify the small output current

from a logic IC so that it can operate a lamp, relay or other high current devices. In addition,

the transistors can be used as a switch and as an amplifier. There are two types of standard

transistor, NPN and PNP, with different circuit symbols. The NPN transistor is the easiest

type to produce from silicon. The transistors have three leads are labeled base (B), collector

(C) and emitter (E). Figure 1.9a is showing the graphical diagram type of transistor; figure

1.9b is showing the schematic diagram type of transistor.

Figure 1.9a: The graphical diagram type of

transistor.

Figure 1.9b: The schematic diagram type of

transistor.

1.10. Switches

In electronics, a switch is an electrical component that can terminate an electrical, stop the

current or contact with one conductor to another. There are much type of switch like SPST

(single pole, single throw) switch, SPDT (single pole, double throw) switch, DPST (double

pole, single throw) switch, DPDT (double pole, double throw), Push-button switch and etc.

Line follower robot have used two types of switches, there are SPDT switch and Push-

button switch.

The SPDT Switch can be on in both positions, switching on a separate device in each case.

It is often called changeover switch. We are used this switch to contact with the battery

12

9.6V and 6.5V. Figure 1.10a is showing the graphical diagram of SPDT Switch; figure

1.10b is showing the schematic diagram of SPDT Switch.


SPDT Switch.


SPDT Switch.

A push-button switch is a simple switch mechanism for controlling some aspect of a

machine or a process. We use the push-button to control line follower robot on remote

control circuit. Figure 1.10c is showing the graphical diagram of Push-button Switch; figure

1.10d is showing the schematic diagram of Push-button Switch.


Push-button Switch.


Push-button Switch.

1.11. Crystal Oscillator

A crystal oscillator is an electronic that uses the mechanical resonance of a vibrating crystal

of piezoelectric material to create an electrical signal with a very accuracy frequency.

Figure 1.11a is showing the graphical diagram of crystal oscillator; figure 1.11b is showing

the schematic diagram of crystal oscillator.

13


crystal oscillator.


crystal oscillator.

1.12. LED Arrow Display

LED Arrow Display is used to indicate direction of turning in the line follower robot (I-Car).

Figure 1.12a is showing the graphical diagram of LED Arrow Display.

Figure 1.12a: The graphical diagram of LED

Arrow Display.

2. Integrated Circuits (IC)

2.1. LM393 Dual Differential Comparator

LM393 consist of two independent voltage comparators designed to operate from a single

power supply over a wide voltage range. There are two inputs, labelled inverting and non-

inverting because of the phase relation of the input and output signals. So we used inverting

amplifier connected with infrared sensor. When non- detect object the infrared sensor the

14

input is 1 (high) then inverting the signal of infrared sensor become 0 (low); the input is 0

(low) when the infrared sensor is touched, the voltage regulator will invert the signal

become 1 (high). Operation from split power is also possible and the low power supply

current drain is in dependent of the magnitude of the power supply voltage. The LM393

series is available in standard DIP-8, SOP-8 and TSSOP-8 packages. Figure 2.1a is showing

LM393 series standard‟s graphical diagram. Figure 2.1b is showing schematic diagram of

LM393.

2.2. 74LS04 Hex Inverters

74LS04 hex inverter is a device contains six independent

positive inverters. Pins 14 and 7 provide power for all six

logic gates. Inverter is a logic gate which operated logical

negation. The truth table is shown on the left. The 7404 is

an inverting buffer, especially useful when the output of

one circuit cannot sink much current. Used this logic gate is getting signal from LM393

Figure 2.1a: The LM393 series

standard‟s graphical diagram.


LM393

Input Output

0 1

1 0

0 = low, 1 = high

15

Dual Differential Comparator then transfer to Quadruple Half-H driver L-293D to make the

servo changed direction when touched the infrared sensor. Figures 2.2a is showing

graphical diagram of 74LS04 Hex Inverters; figure 2.2b is showing schematic diagram of

74LS04 Hex Inverters.

Figure 2.2a: The graphical diagram

of 74LS04 Hex inverters.


74LS04 Hex Inverters.

2.3. Quadruple Half-H driver L-293D

The L-293D is quadruple high-current half-H drivers. The L-293D is designed to provide

bidirectional drive current of up to 600-mA at voltages from 4.5V to 36V. Both devices are

designed to drive inductive loads such as relays, solenoids, DC and bipolar servo motor, as

well as other high-current/high-voltage loads in positive supply applications. If want to

drive 1 and 2 channels, the 1,2EN must enabled by 5V or OV. In same driver, want to drive

3 and 4 channels, make sure the 3,4EN have been enabled. This device is enabled in pairs.

Figure 2.3a is showing graphical diagram of Quadruple Half-H driver L-293D; figure 2.3b

is showing schematic diagram of Quadruple Half-H driver L-293D.

16


Quadruple Half-H driver L-293D.


Quadruple Half-H driver L-293D.

2.4. Multiplexer IC PT2262

PT2262 is a remote control encoder paired with PT2272. It encodes data and address pins

into a serial coded waveform suitable for RF or IR modulation. PT2262 has a maximum of

12 bits of tri-state address pins providing up to 312

address codes. PT2262 is a transmitter

for sent signal to receiver PT2272. Figure 2.4a is showing the graphical diagram of

Multiplexer IC PT2262; figure 2.4b is showing the schematic diagram of De-Multiplexer IC

PT2262.


De-Multiplexer IC PT2262.

Figure 2.4b: The schematic diagram of De-

Multiplexer IC PT2262.

17

2.5. De-Multiplexer PT2272

PT2272 is a remote control decoder paired with PT2262. It has 12-bit of tri-state address

pins providing a maximum of 312 address codes. PT2272 is available in several options to

suitable each application need; variable number of data output pins, latch or momentary

output type. Figure 2.5a is showing the graphical diagram of De-Multiplexer IC PT2272;

figure 2.5b is showing the schematic diagram of De-Multiplexer IC PT2272.

Figure 2.5a: The graphical diagram of De-


Figure 2.5b: The schematic diagram of De-


2.6. PIC16F84A Microcontroller

A microcontroller is a computer control system on a single chip. It has many electronic

circuits built into it, which can decode written instructions and convert them to electrical

signal. The microcontroller will then step through these instructions and execute them one

by one. PIC16F84A Microcontroller is one of PIC microcontroller used into our project, it

has 18 pins to control system and provided 64-bytes of data EEPROM memory have the

address range 0h-3Fh.

The PIC16F84A can operate at up to 20MHz clock speed. It offer 1024 x 14 flash program

memory, 68 bytes of RAM data memory, 8-bit timer with pre-scaler, 13 I/O pins, external

18

and internal interrupt sources, and large current sink and source capability. Figure 2.6a is

showing the graphical diagram of PIC16F84A Microcontroller; figure 2.6b is showing the

schematic diagram of PIC16F84A Microcontroller.


PIC16F84A Microcontroller.


PIC16F84A Microcontroller.

2.7. USB ICSP PIC Programmer & ICSP Programmer Socket

USB ICSP PIC Programmer is designed to program popular Flash PIC microcontroller. It is

supported 8 bit, 16 bit and 32 bit PIC microcontroller. ICSP Programmer Socket is an

optional socket that can be used with USB ICSP PIC Programmer to program several types

of 18/28/40 pins PIC microcontroller. Figure 2.7a is showing the graphical diagram of USB

ICSP PIC Programmer & ICSP Programmer Socket.

Figure 2.7a: The graphical diagram of USB ICSP PIC Programmer & ICSP

Programmer Socket.

19

3. Hardware Equipment

3.1. Cables and Connectors

A cable is an assembly of one or more conductors with some flexible. A wire is one of cable

that is a single conductor which may have an outer layer of insulation usually plastic. We

use single core equipment wire to links between points of a circuit board. This is one solid

wire with a plastic coating available in a wide variety of colors. Use it for connection which

will not be disturbed external elements. Figure 3.1a is showing the graphical diagram of

single core equipment wire; figure 3.1b is showing the schematic diagram of single core

equipment wire.


single core equipment wire.

Figure 3.1b: The schematic diagram of single

core equipment wire.

3.2. Heat Sinks

Release heat is produced in transistors and voltage regulator due to current flowing through

it. Transistor and voltage regulators are becoming hot to touch it certainly needs a heat sink!

The heat sink helps to remove the heat by transferring it to surrounding air. Figure 3.2a is

showing the graphical diagram of heat sinks.

20

3.3. Multimeter

Multimeter are very useful test instruments. By operating a multi-position switch on the

meter it can be quickly and easily set to be a voltmeter, an ammeter or an ohmmeter. They

have several settings called range for each type of meter and the choice of AC and DC. This

also have two probes for testing components, it consist of “+” (Red) and “–” (Black). This is

most important to test instrument and component of line follower robot. Figure 3.3a is

showing the graphical diagram of Multimeter.


Multimeter.

Figure 3.2a: The graphical

diagram of heat sinks.

21

3.4. Breadboard

A breadboard is used to build up temporary circuits for testing or try out an idea. No

soldering required so it is easy to change connection and replace components. We used

breadboard to make up some basic circuit to be available re-use afterwards. Figure 3.4a is

showing the graphical diagram of Breadboard.


Breadboard.

3.5. Stripboard

Stripboard is used to hope up permanent, soldered circuits. It is ideal for small circuits with

one or two ICs (chips) but with large number of holes it is very easy to connect a

component in the wrong place. However, it is cheaper than PCB. Figure 3.5a is showing the

graphical diagram of Stripboard.

Figure 3.5a: The graphical diagram of Stripboard. (Left Hand Side = Front

View), (Right Hand Side = Behind View).

22

3.6. Printed Circuit Boards (PCBs)

Printed Circuit Boards have copper tracks connecting the holes where the components are

placed. They are design especially for each circuit and make construction very easy. Figure

3.6a is showing the graphical diagram of Printed Circuit Boards (PCBs).

Figure 3.6a: The graphical diagram of Printed Circuit

Boards (PCBs).

3.7. Soldering Iron Equipments

Soldering Iron Equipment help us to build up a circuit on fixed position. For electronics

work the best type is one powered by mains electricity‟s 230V in the Malaysia, it should be

a heatproof cable for safety. Figure 3.7a is showing the graphical diagram of Soldering Iron.

Figure 3.7a: The graphical diagram of Soldering

Iron.

23

Besides that, soldering iron stand give a safe place to put the iron when not holding it.

Figure 3.7b is showing the graphical diagram of Soldering Iron Stand.

When we are desoldering a joint to correct a mistake or replace a component, must used

a tool for removing solder is called Solder Sucker (Desoldering Pump). Figure 3.7c is

showing the graphical diagram of Solder Sucker (Desoldering Pump).

Figure 3.7c: The graphical diagram of Solder

Sucker (Desoldering Pump).

Reel of solder is the most important to melt into the circuit, make it fixed position. Solder is

allowing of tin and lead, typically 60% tin and 40% lead. It melts at a temperature of about

200°C. ). Figure 3.7d is showing the graphical diagram of Reel of Solder.

Figure 3.7b: The graphical diagram of Soldering

Iron Stand.

24

Figure 24d: The graphical diagram of Reel of

solder.

Solder paste also known as solder cream is used connecting the termination of integrated

chip packages with land patterns on the printed circuit board. Figure 3.7e is showing the

graphical diagram of Solder paste.

Figure 3.7e is showing the graphical diagram of

Solder paste.

3.8. Side Cutter

A side cutter is for trimming component leads close to the circuit board. Figure 3.8a is

showing the graphical diagram of Side Cutters.

25

Figure 3.8a: The graphical diagram of Side

Cutters.

3.9. Small Pliers (Snipe Nose)

A small plier is usually called „snipe nose‟ pliers; those are for bending component leads etc.

Figure 3.9a is showing the graphical diagram of Small Pliers.

Figure 3.9a: The graphical diagram of Small

Pliers.

3.10. Wire Stripper

Besides that, wire strippers are the most designs include a cutter as well, but it‟s not suitable

for trimming component leads. Figure 3.10a is showing the graphical diagram of Wire

Strippers.

26

Figure 3.10a: The graphical diagram of Wire Strippers.

3.12. Slip Knife

Slip knife is useful for cut the wrong connected terminal with each other components on the

PCB and Stripboard. It also can be drilling holes to prevent shock circuit on the Stripboard.

Figure 3.12a is showing the graphical diagram of Slip Knife.


Slip Knife.

3.13. Portable Mini Torque Electric Drill

Portable mini torque electric drill is used to drill holes on Print Circuit Board when want to

insert component on the Print Circuit Board. This is more convenience than small electric

drill machine with stand. Figure 3.13a is showing the graphical diagram of Portable Mini

Torque Electric Drill.

27

Figure 3.13a: The graphical diagram of Portable

Mini Torque Electric Drill.

3.14. Sandpaper

Sandpaper is a form of paper to sharpen materials and fixed to its surface. Purposely, we

have been using sandpaper to remove the mask of PCB. Figure 3.14a is showing the

graphical diagram of Sandpaper.

Figure 3.14a: The graphical diagram of Sandpaper.

3.15. Screw Driver Set

Screw driver set have much type screw driver to help adjust and open something in ours

project. Figure 3.15a is showing the graphical diagram of Screw Driver Set.

28

Figure 3.15a: The graphical diagram of Screw Driver Set.

3.16. Battery

An electrical battery is one or more electrochemical cells that convert stored chemical

energy into electrical energy. It also portable power supplier to the circuit and become

common power source for many household and industrial applications. There have two type

of battery are rechargeable and disposable battery.

The rechargeable battery designed to use repeatedly and to be recharged. However, the

disposable battery is designed to use each time. Figure 3.16a is showing the graphical

diagram of Rechargeable Battery; figure 3.16b is showing the graphical diagram of

Disposable Battery.


Rechargeable Battery

Figure 3.16b: The graphical diagram of

Disposable Battery.

29

3.17. Black Carpet

We are used a black carpet become line follower robot‟s route. Wherefore, the infrared

sensor couldn‟t detect black colour surface, this will cause the line follower robot can‟t turn

to others side and just follow the black line to move. Figure 3.17a is showing the graphical

diagram of Black Carpet.

Figure 3.17a is showing the graphical diagram of

Black Carpet.

3.18. Servo motor

A servo motor is an electromechanical device in which an electrical input determines the

position of the armature of a motor. Servo motor is used to drive the line follower robot

because it can stop immediately without slip. Figure 3.18a is showing the graphical diagram

of Servo Motor.

30

Figure 3.18a: The graphical diagram of Servo

Motor.

3.19. Hot Melt Adhesive

Hot melt adhesive (HMA), also known as hot glue that is melt a solid cylindrical sticks

paste the components on the fixed place. Figure 3.19a is showing the graphical diagram of

Hot Melt Adhesive.

Figure 3.19a: The graphical diagram of Hot Melt

Adhesive.

3.20. Battery Charger

A battery charger is a device used to charge up energy into rechargeable battery by forcing

an electric current flow through it. Figure 3.20a is showing the graphical diagram of Battery

Charger.

31

Figure 3.20a is showing the graphical diagram of

Battery Charger.

3.21. D.I.Y Glue

The D.I.Y Glue is made from potato starch and water, this is for save cost and paste the

route on the Mahjong Paper. Figure 3.21a is showing the graphical diagram of D.I.Y Glue.


D.I.Y Glue.

3.22. Mahjong Paper

Mahjong paper is drawn and designed the specified route on the paper. Figure 3.22a is

showing the graphical diagram of Manjong Paper.

32


Manjong Paper.

3.23. Welding Power Supply

A welding power supply is a device that provides an electric current to perform welding.

Figure 3.23a is showing the graphical diagram of Welding Power Supply.


Welding Power Supply.

3.24. Stick Welding

A stick welding is a manual arc welding process that used a consumable electrode coated in

flux to lay the weld. Figure 3.24a is showing the graphical diagram of Stick Welding.

33

Figure 3.24a is showing the graphical diagram of Stick

Welding.

3.25. Sticker Paper

This is a white matter paper for use paste on the PCB surface. Figure 3.25a is showing the

graphical diagram of Sticker Paper.


diagram of Sticker Paper.

3.26. Ironing

Ironing is the work of using a heated tool and used it to heat sticker paper involved route

paste into the PCB surface. Figure 3.26a is showing the graphical diagram of Ironing.

34


Ironing.

3.27. Maker Pen

Maker Pen is used for modify and redesigns the circuit on the Printed Circuit Board surface.

Figure 3.27a is showing the graphical diagram of Maker Pen.

Figure 3.27a: The

graphical diagram

of Maker Pen.

35

3.28. Iron Robot Chasis

Iron Robot Chasis is used to platform of several circuits and protect them from damage.

Figure 3.28a is showing the graphical diagram of Iron Robot Chasis.


diagram of Iron Robot Chasis.

3.29. Screw

A screw is type of fastener to fix some component in the fixed place. Figure 3.29a is

showing the graphical diagram of Screw.

Figure 3.29a is showing the

graphical diagram of Screw

36

3.30. Laser Printer

Laser Printer is used to print out the PCB diagram on sticker paper for make the Printed

Circuit Board. Figure 3.30a is showing the graphical diagram of Laser Printer.


Laser Printer.

3.31. Ink-Jet Printer

Ink-Jet Printer is used to print out the Final Year Project Report on A4 paper. Figure 3.31a

is showing the graphical diagram of Ink-Jet Printer.

Figure 3.31a: The graphical diagram of Ink-Jet

Printer.

37

4. Socket

4.1. Molex 2-Pin Power Connector

Molex 2-Pin Power Connector is a battery cable‟s are available at the positive (+) and

negative (-). This is easier to fix the wire of power supply to circuit and no need connected

with many crocodile clip. Figure 4.1a is showing the graphical diagram of Molex 2-Pin

Power Connector.

Figure 4.1a: The graphical diagram of Molex

2-Pin Power Connector.

4.2. 40-Pin Header Single Row

40-pin header single row is using for easy clip between headers and hard to plug off. Figure

4.2a is showing the graphical diagram of 40-Pin Header Single Row.

Figure 4.2a: The graphical diagram of 40-

Pin Header Single Row.

38

4.3. 2-Pin PSU Connector

These connectors are come with set of 40-pin header single row and also clip many wires in

the fixed place. Figure 4.3a is showing the graphical diagram of 2-Pin PSU Connector.


2-Pin PSU Connector.

39

5. Software

We have been using many type of software to design layout our final year project such as Paint,

MPLAB, Eagle Software, Microsoft Word, Microsoft Power Point, PIC Kit. The following

below is shown the table of software used in final year project:

No. Software Description Logo Destination

1. MPLAB Writing and coding

the programming

part

www.microchip.com

2. Eagle Design PCB diagram

www.eagle.com

3. Microsoft

Word

Writing report

4. Microsoft

PowerPoint

Presentation slide

5. PIC Kit Burning conversion

PIC burning set

6. Paint Draw and repair the

circuit diagram

B. Testing assembly component

Testing assembly component is most important to build up the circuit in the line follower robot.

Purposely, it can be learned how to operate for each components and which one have spoiled or not.

The following below is how to test each circuit and what are functions of it.

http://www.microchip.com/

http://www.eagle.com/

40

1. LM7805 Voltage Regulator

Firstly, used a wire connection link to 9V power supply to LM7805‟s pin no.01, and then

connected LM7805‟s pin no.02 to ground for activated the LM7805. The pin no.03 has been

connected with ohmmeter red probe on voltage‟s range 10V; the black probe of ohmmeter

connects back to the ground. After that, the ohmmeter will give the stability result is 5V

output voltage. Figure 1a is showing the graphical diagram of LM7805 voltage regulator.

Figure 1b is showing the schematic diagram of LM7805 voltage regulator.

Figure 1a: The graphical diagram of LM7805 voltage regulator.

41

Figure 1b: The schematic diagram of LM7805 voltage regulator.

2. Infrared Sensor

This stage is known as the function of infrared sensor and the way to test it. Firstly, the

infrared sensor connected to one resistor 330Ω for prevent damage by over voltage 5V.

After that, used a digital camera or mobile phone camera to open snap mode of camera

sighted the transmitter. The purple light will come out from the transmitter when camera

sighted it. This is to prove the transmitter functioning. Figure 2a is showing the graphical

diagram of Infrared Sensor Circuit. Figure 2b is showing the schematic diagram of Infrared

Sensor Circuit.

42

Figure 2a: The graphical diagram of Infrared Sensor Circuit.

Figure 2b: The schematic diagram of Infrared Sensor Circuit.

43

3. LM393 Voltage Comparator

LM393 consist of two independent voltage comparators designed to operate from a single

power supply over a wide voltage range. There are two inputs, labelled inverting and non-

inverting because of the phase relation of the input and output signals. So we used inverting

amplifier connected with infrared sensor. When non- touch the infrared sensor the input is 1

(high) then inverting the signal of infrared sensor become 0 (low); the input is 0 (low) when

the infrared sensor is touched, the voltage regulator will invert the signal become 1 (high).

Besides that, there are two type voltage will influence the result of circuit are voltage

reference and voltage in. Figure 3a is showing differential of the input voltage and voltage

reference. When voltage reference is highest than input voltage, the output signal will

become 1 (high). In the opposite case, the voltage reference is lowest than voltage in, the

output signal will become 0 (low).

Figure 3a: Differential of the voltage in and voltage reference.

How to adjust the voltage in and voltage reference by multimeter? Firstly, the

multimeter red probe is connected with variable resistor no.1 10KΩ (VR1) between

infrared sensors – Receiver and the black probe connected to the ground. The

44

multimeter range must be 10Vfor measure value of voltage in. After that, the wiper of

variable resistor no.1 10KΩ (VR1) adjusted to voltage value 3V following by

multimeter. When touched the transmitter will affect the voltage in and the value will be

down depended on sensitive transmitter. Figure 3b is showing the schematic diagram

how to test and adjusted the voltage in.

Figure 3b: The schematic diagram how to test and adjusted the voltage in.

In the same way, the red probe of multimeter connected with LM393 pin no.3 between

the variable resistor no.2 10KΩ (VR2) and black probe connected to the ground. The

value of voltage reference is 2.4V between 2.8V adjusted by variable resistor‟s wiper.

Figure 3c is showing the schematic diagram how to test and adjusted the voltage

reference.

45

Figure 3c: The schematic diagram how to test and adjusted the voltage reference.

4. Relays

A relay is used to isolate one electrical circuit from another. It allows a low current control

circuit to make or break an electrically isolated high current circuit path. The relay used to

control direction turn of the F1 line follower robot. Figure 4a is showing the schematic diagram

of completed circuit of line follower robot using by relay control. In addition, testing relay is

most important and know about how function of them. Firstly, prepare one push-button switch

(NO), L7805 voltage regulator, battery 9V and relays. One of the lead on push-button

connected to 5V power supply, and another lead connected to the relay pin no.1. The relay pin

no.16 connected to the ground. When push down the push-button connected with relay and then

you will hear the voice of “Dip Dap” that means the relay of coil is operated by 5V power

supply; the current will cut off on normally close, then the current will switch on normally open.

When release the push-button, the relay will return back previous condition and will come out

the same voice. Figure 4b is showing schematic diagram of how to test the relay.

46

Figure 4a: The schematic diagram of completed circuit of line follower robot using by relay

control.

Figure 4b: The schematic diagram of how to test the relay.

47

C. Procedures of Assembly Components

1. Making PCB Steps Involved

1.1. Prepare the required circuit diagram.

1.2. List out the components in the eagle software.

1.3. Drawn the connection of circuit diagram in PCB format.

1.4. Finish the drawn connection of circuit diagram then print out the circuit diagram on

sticker paper using by laser printer.

1.5. Cut the board to final size and shape using by handsaw or jet saw.

1.6. Ironing the circuit diagram pasted on the bare board (coated with a thin layer of

copper) from sticker paper and

1.7. Carefully take out the sticker paper from bare board and fixer the back line is not

clear.

1.8. After that, drill holes on the specified places using by Portable Mini Torque Electric

Drill.

1.9. This stage is removing all non-masked copper using by Etching Powder and give

the board a good wash under boiling water to remove all trances of the etchant.

1.10. Carefully scrub off the mask with sandpaper on PCB.

48

1.11. Used soldering iron to solder each component into PCB and test each soldering

point have short the circuit or not using by multimeter.

1.12. Complete the PCB in this stage.

49

RESULTS & DISCUSSION

The result to make the line follower robot have been learned some skill and how to co-operation

with group mate in this project. We have made two type of line follower robot are toy racing car

without remote control and Intelligence Car known as I-Car.

1. Toy Racing Car

Toy racing car have a high speed motion in the specified route. The toy racing car cannot turn to

less than 90º, this make for maintain balance of toy racing car and avoid out of the route. Purposely,

toy racing car is drive in high speed to become fast line traffic in public and can be also extinguish

fire on the path. The robot can be used in the rescue operation. The following below is showing

information about full complete set of toy racing car.

1.1 Components List

No Name of Item Range / Value Quantity

1. Battery 9.6V 1

2. Battery 4.8V 1

3. SPDT Switch PCS 2

4. Voltage Regulator LM7805 1

5. Heat Sink PCS 1

50


6. Capacitor 0.1µF 2

7. Resistor 330Ω 2

8. Resistor 1KΩ 4

9. Resistor 470Ω 2

10.

Variable Resistor

(Preset)

10KΩ 4

11.

Dual-Voltage

Comparator

LM393 1

12. Relay 5VDC 2

13. Transistor C9013 2

14. Diode IN4001 10

15 DC Motor 5VDC 2

16. IR Sensor Set 2

51

1.2 The schematic diagram of Full Complete Set of Toy Racing Car.

1.3 The PCB diagram of Full Complete Set of Toy Racing Car

52

1.4 The graphical diagram of Full Complete Set of Toy Racing Car (Please Refer to

Appendix No.1.4.)

Bottom View Top View

Front View

Behind View

Left View Right View

53

1.5 Procedures of Operate Toy Racing Car

1. Single pole double throw (SPDT) switch 01 must connect with battery 9V but the SPDT

switch 01 is off (on the left side).

2. Switch on the SPDT switch 01 (turn to the right from left).

3. LM7805 voltage regulator can direct convert 9V became to 5V.

4. However, the whole circuit can support 5V only. (cannot over 5V)

5. The transistor (signal to the base, then the collector connected to emitter) will trigger relay

(from normally close to normally open) when touched the infrared sensor.

6. Touched the left infrared sensor, in the front of a pair wheels will turn to right. In the same

way, touched the right infrared sensor then the pair of wheels will turn to left. When the

infrared sensors detected black surface materials will not reaction. The infrared sensors have

a reaction when detected the non black surface materials. Whenever, the two sensors

detected the non black surface materials at the same time then will dysfunction and forward.

7. Single pole double throw (SPDT) switch 02 must connecting with battery 4.8V but the

SPDT switch 02 is off (on the left side).

8. Switch on the SPDT switch 02 (turn to the right from left).

9. The current will flow through four diodes (for decrease the speed of motor); this will drop

the voltage from 4.8V to 2V.

10. The battery life can consume less than 15 minutes (in the process).

11. The battery to be charged at least 2 hours.

54

2. Intelligence Car (I-Car)

Intelligence car also known as I-Car, this can be turned to any degree point and have some

detectors for automotive drive without any control by human being. The aim of the I-Car is to reduce

accident in the highway because have much detector to sense the surrounding area of barrier and can

help disabled people go to another place with safe.

Besides that, the line follower robot able saves natural resources in our earth such as petrol and

natural gas. In the future, the line follower robot drive in the magnetic technology and the power supply

turn the robot into unlimited.

We made line follower robot have been used PIC16F84 microcontroller to control I-Car. The

PIC16F84 to control whole circuit such as signal light, motor rotate direction, infrared sensor circuit,

and wireless remote control circuit.

2.1 Components List

No. Name of Item Range/ Value Quantity

1. Battery 9.6V 2



4. Heat Sink PCS 2


6. Wireless Remote Control

(Transmitter)

Set 1


(Receiver)

Set 1

55


8. Resistor 330Ω 5

9. Resistor 470 Ω 5

10. Resistor 1K Ω 10

11. Variable Resistor (Preset) 10K Ω 10

12. Dual-Voltage Regulator LM393 3

13. IR Sensor Set 5

14. LED PCS 3


16. Hex Inverter 74LS04 1

17. Quadruple Half-H Driver L-293D 1

18. Diode IN4001 8

19. PIC Microcontroller 16F84A 1

20. Capacitor 104 3

21. Crystal 32KHz 1

22. Relay 5VDC 2

23. LED Arrow Display PCS 1

24. Servo Motor PCS 2

25. Wheels PCS 2

26. Castor PCS 2

27. Printed Circuit Board A4 2

28. Screw & Nut Set 20

56


29. 40-Pin Header Single Row PCS 2

30. 2-Pin PSU Connector PCS 40

31. Molex 2-Pin Power Connector Set 2

32. Socket* PCS 1

33. USB ICSP PIC Programmer &

ICSP Programmer Socket

Set 1

34. Mahjong Paper PCS 10

35. Poster Color Black 1

36. Poster Color White 1

37. Maker Pen Black 1

38. Poster Color Pen* PCS 1

39. Hot Glue PCS 1

40. Iron Robot Chasis PCS 1

41. Sticker Paper A4 10

42. Jumper Wire ( Red, Black,

Yellow, White, Blue, Orange,

Violet, Grey)

3 meter 8

43. 8-pins Socket PCS 3




47. Sand Paper A4 3

57


48. Acid* 3KG 1

49. Breadboard PCS 6

50. Mini Jumper* SET 2

2.2 The Wireless Remote Control (Transmitter)

2.2.1 The schematic diagram of Wireless Remote Control (Transmitter) Circuit

58

2.2.2 The PCB diagram of Wireless Remote Control (Transmitter) Circuit

2.2.3 The graphical diagram of Wireless Remote Control (Transmitter) Circuit

59




2. Turn on the SPDT switch 01(turn to right from left). The indicate light (green) will light up.

3. Voltage Regulator LM7805 is converted 9V became to 5V.

4. Heat sink is for protect the Voltage Regulator LM7805 and decrease its temperature.

5. Capacitor is used to maintain DC voltage because it is like a filter for current.

6. When press the push-button K1 that signal will sent to Multiplexer IC PT2262 pin no. 7. The

zener diode connected with push-button for amplifier high-speed signal.

8. The signal will come out from Multiplexer IC PT2262 pin no.17 to transmitter module pin

no.03

9. The transmitter module will receive the signal, then the antenna pin .no 01 sent signal to

receiver module.

10. The frequency value of transmitter module is 315MHz.

11. The distance of transmitter module depended on battery life.

12. An address code is a password for the transmitter module.

13. The input signal is pin no.10, pin no.11, pin no.12, and pin no.13.

14. When the both direction signal send frequency it will get the signal output.

60

2.3 The Wireless Remote Control (Receiver)

2.3.1 The schematic diagram of Wireless Remote Control (Receiver) Circuit

2.3.2 The PCB diagram of Wireless Remote Control (Receiver) Circuit

61

2.3.3 The graphical diagram of Wireless Remote Control (Receiver) Circuit

2.3.4 Procedures of Wireless Remote Control (Receiver)

1. A receiver module switches on from PIC microcontroller‟s power supply.

2. The receiver module will receive the signal from the transmitter module (antenna) pin no.04.

3. The receiver module pin no.02 and pin no.03 will sent signal to the De-Multiplexer IC

PT2272 pin no.14.

4. When the receiver module receives the signal that indicates light (yellow) will flash. This

means receiver module is functioning.

5. The output signal are pin no.10, pin no.11, pin no.12, and pin no.13.

6. When the both direction signal send frequency it will get the signal output.

7. An address code is a password for the receiver module.

62

8. The frequency value of receiver module is 315MHz.

9. The distance of receiver module depended on battery life.

2.4. PIC Microcontroller Circuit

2.4.1. The schematic diagram of PIC Microcontroller Circuit

2.4.2. The PCB diagram of PIC Microcontroller Circuit

63

2.4.3. The graphical diagram of PIC Microcontroller Circuit

2.4.4 Procedures of PIC Microcontroller Circuit



2. Turn on the SPDT switch 01(turn to right from left). The indicate light (green) will light up.

3. Voltage Regulator LM7805 is converting from 9V to 5V.

4. Heat sink is for protect the Voltage Regulator LM7805 and decrease its temperature.

5. Capacitor is used to maintain DC voltage because it is like a filter for current.

6. PIC16F84A pin no.03 and pin no.04 is a Master Clear that will clear all previously file in the

PIC16F84A while the 5V voltage flow in. (Please refer to appendices about assembly

language)

7. PIC16F84A pin no.15 and pin no.16 is clock pulse for PIC16F84 because a clock frequency

to orchestrate the movement of the data around its electronic circuit.

8. Port of input signals are pin no.01, pin no.02, pin no.17, and pin no.18

64

9. When signal send to PIC16F84A pin no. 01 connected by infrared sensors then the pin no.8

will operated. The motive is sensor barrier.

10. The PIC16F84A pin no. 02 receives the signal from wireless remote control then the

PIC16F84A pin no.09 will operate. This is control by wireless remote control.

11. The PIC16F84A pin no. 18 and pin no.17 link to pin no.06 and pin no.07 for direction of

turning by infrared sensors.

2.5. Sensor Barrier Circuit

2.5.1 The schematic diagram of Sensor Barrier Circuit

65

2.5.2. The PCB diagram of Sensor Barrier Circuit

2.5.3. The graphical diagram of Sensor Barrier Circuit

66

2.5.4. Procedures of Sensor Barrier Circuit

1. The sensor barrier circuit will switch on from 5V power supply.

2. Two of IR sensor (transmitter) will come out the purple beam capture by camera.

3. Used screw driver to adjust the value of voltage in and voltage reference.

4. Voltage in is represented R3 then the value of voltage in between 2.8V and 3V; Voltage

references are R5, so the value of voltage references between 2.4V and 2.6V.

5. IR sensors touched by any non-black materials then will send signal from pin no.05 and pin

no.06 to pin no.07 connected by PIC16F84A pin no.01 and call the function in the I-Car.

6. When IR sensor detect some barrier then will trigger transistor (base) connected by

PIC16F84A pin no.08.

7. The sensitive of IR sensor is depended on value between of input voltage and voltage

reference. If the value of input voltage is far away with voltage reference‟s value then

sensitive of IR sensor will be less. In the opposite case, IR sensor is most sensitive because

nearly value of voltage in between voltage reference.

67

2.6 Infrared Sensor Circuit

2.6.1. The schematic diagram of Infrared Sensor Circuit

2.6.2. The PCB diagram of Infrared Sensor Circuit

2.6.3. The graphical diagram of Infrared Sensor Circuit

68

2.6.4. Procedures of Infrared (IR) Sensor Circuit

1. The infrared sensor circuit will switch on from PIC16F84 for trigger the transistor then the

power supply will flow the circuit.


3. Used screw driver to adjust the value of input voltage and voltage reference.

4. Voltage in is represented R3 and R7 then the value of voltage in between 2.8V and 3V;

Voltage references are R4 and R8, so the value of voltage references between 2.4V and 2.6V.

5. Two of infrared sensors touched by any non-black materials then will send signal to

PIC16F84A and call the function in the I-Car.

6. When two of the infrared sensors detected black surface materials will forward. Touched the

left infrared sensor, right wheels will operate to anti-clockwise and turn to right. In the same

way, touched the right infrared sensor then the left wheels will operate to anti-clockwise and

turn to right. The infrared sensors have a reaction when detected the non black surface

materials. Whenever, the two sensors detected the non black surface materials at the same

time then turn to behind.

7. The sensitive of IR sensor is depended on value between of voltage in and voltage reference.

If the value of voltage in is far away with voltage reference‟s value then sensitive of IR

sensor will be less. In the opposite case, IR sensor is most sensitive because nearly value of

voltage in between voltage reference.

69

2.7 Motor Drive Circuit

2.7.1 The schematic diagram of Motor Drive Circuit

2.7.2 The PCB diagram of Motor Drive Circuit

70

2.7.3 The graphical diagram of Motor Drive Circuit

2.7.3 Procedures of Motor Drive Circuit

1. The whole circuit will switch on from PIC16F84A transistor T2.

2. LM393 dual voltage comparator pin no.01 connected with 420Ω and to PIC16F84A pin

no.17; pin no.02 is connected with the left motor and IR sensor (receiver); pin no.03

connected with variable resistor 10KΩ pin no.02 and left motor; pin no.04 connected to the

ground; pin no.05 connected to right motor and variable resistor 10KΩ pin no.02; pin no.06

is connected with right motor and IR sensor (receiver); pin no.07 is connected with

PIC16F84A pin no.18 and resistor 420Ω; pin no.08 is connected to 5V power supply.

3. 74LS04 hex inverter pin no.14 is connected to 5V power supply and pin no.07 is connected

to group; pin no.13 is connected with L293D pin no.02 and PIC 16F84A pin no.06; pin no.12

is connected to L293D pin no.07; pin no.11 is connected to L293D pin no.10 and

PIC16F84A pin no.07; pin no.10 is connected to L293D pin no.15;

71

4. L293D Quadruple Half-H Driver pin no.01, pin no.08 and pin no.16 are connected to 5V

power supply; pin no.04, pin no.05, pin no.12 and pin no.13 is connected to the ground; pin

no. 03 and pin no.07 are connected with one motor and between two diode; pin no.11 and pin

no.14 are connected to the one motor and between two diode.

5. Cathode of diode IN4001 is connected to 5V power supply and anode of diode IN4001 is

connected to the ground.

2.8 LED Arrow Display

2.8.1 The schematic diagram of LED Arrow Display

72

2.8.2 The PCB diagram of LED Arrow Display

2.8.3 The graphical diagram of LED Arrow Display

73

2.8.4 Procedures of LED Arrow Display

1. The infrared sensor circuit will switch on using by 5V power supply.


3. Used screw driver to adjust the value of voltage in and voltage reference.

4. Voltage in is represented R3 and R9 the value of voltage in between 2.8V and 3V; Voltage

references are R6 and R12, so the value of voltage references between 2.4V and 2.6V.

5. Two of infrared sensors touched by any non-black materials will send signal to two piece of

5VDC relay through LM393.

6. The IR sensor will trigger relay, when touched the IR sensor the relay will cut off current of

normally close then current pass to normally open.

7. When two of the infrared sensors detected black surface materials will not show any indicate

light. Touched the left infrared sensor, left indicate light will light up. In the same way,

touched the right position of infrared sensor then the right indicate light will light up.

Whenever, the two sensors detected the non black surface materials at the same time then

two direction of indicated light will light up.

8. The sensitive of IR sensor is depended on value between of input voltage and voltage

reference. If the value of voltage in is far away with voltage reference‟s value then sensitive

of IR sensor will be less. In the opposite case, IR sensor is most sensitive because nearly

value of voltage in between voltage reference.

74

2.9 The graphical diagram of Full Complete Set of Toy Racing Car (Please Refer to

Appendix No. 2.9)

Bottom View

Top View

Front View

Behind View

Left View

Right View

75

2.10 Modified and Added Some Application into I–Car

The application of I–Car is using to transportation something else to another place, and we have

been used iron box to store something link with behind I–Car. Then this will transfer to

specified location and automatically put down the iron box. In addition, we have been adding

some LED into shell of I–Car. The below following is a graphical of application and modified

with I–Car.

Iron Stand

Iron Box

DEE 0508

^U ^

Y S T

K I

76

2.11 Programming Assembly Language into I–Car

We have been using assembly language for coding to control our I–Car and few step to

programming (Please refer appendices No. 2.11). The following below shown assembly

language coding

I–Car Coding

; I–Car Coding

TMR0 EQU 1

STATUS EQU 3

PORTA EQU 5

PORTB EQU 6

TRISA EQU 85H

TRISB EQU 86H

OPTION_R EQU 81H

ZEROBIT EQU 2

COUNT EQU 0CH

;===================================================

LIST P=16F84

ORG 0

GOTO START

__CONFIG H'3FF0'

;===================================================

DELAY5 CLRF TMR0

LOOPA MOVF TMR0,W

SUBLW .1

BTFSS STATUS,ZEROBIT

GOTO LOOPA

RETLW 0

START BSF STATUS,5

MOVLW B'00011111'

MOVWF TRISA

MOVLW B'00000000'

MOVWF TRISB

MOVLW B'00000111'

MOVWF OPTION_R

77

BCF STATUS,5

CLRF PORTA

CLRF PORTB

CLRF COUNT

;===================================================

SW0 BTFSS PORTA,0

GOTO TURNON0

BCF PORTB,0

SW1 BTFSS PORTA,1

GOTO TURNON1

BCF PORTB,1

SW2 BTFSS PORTA,2

GOTO TURNON2

BCF PORTB,2

SW3 BTFSC PORTA,3

GOTO TURNON3

BCF PORTB,3

GOTO SW0

TURNON0 BSF PORTB,0

BSF PORTB,6

GOTO SW1

TURNON1 BSF PORTB,1

BSF PORTB,7

GOTO SW2

TURNON2 BSF PORTB,2

GOTO SW3

TURNON3 BSF PORTB,3

GOTO SW0

END

;===================================================

78

Running Light Coding

; Running Light Coding

TMR0 EQU 1

STATUS EQU 3

PORTA EQU 5

PORTB EQU 6

TRISA EQU 85H

TRISB EQU 86H

OPTION_R EQU 81H

ZEROBIT EQU 2

COUNT EQU 0CH

LIST P=16F84

ORG 0

GOTO START

__CONFIG H'3FF0'

;===================================================

DELAY1 CLRF TMR0

LOOPA MOVF TMR0,W

SUBLW .10

BTFSS STATUS,ZEROBIT

GOTO LOOPA

RETLW 0

START BSF STATUS,5

MOVLW B'00011111'

MOVWF TRISA

MOVLW B'00000000'

MOVWF TRISB

MOVLW B'00000111'

MOVWF OPTION_R

BCF STATUS,5

CLRF PORTA

CLRF PORTB

CLRF COUNT

ON BSF PORTB,0

BSF PORTB,5

79

BSF PORTB,6

CALL DELAY1

BSF PORTB,1

BSF PORTB,2

BCF PORTB,5

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

BSF PORTB,3

BSF PORTB,4

BSF PORTB,5

BSF PORTB,6

BCF PORTB,7

CALL DELAY1

BCF PORTB,0

BCF PORTB,5

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

BSF PORTB,5

BCF PORTB,1

BCF PORTB,2

BSF PORTB,6

BCF PORTB,7

CALL DELAY1

BCF PORTB,5

BCF PORTB,3

BCF PORTB,4

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

BSF PORTB,5

BSF PORTB,4

BSF PORTB,3

BSF PORTB,6

BCF PORTB,7

80

CALL DELAY1

BCF PORTB,5

BSF PORTB,2

BSF PORTB,1

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

BSF PORTB,5

BSF PORTB,0

BSF PORTB,6

BCF PORTB,7

CALL DELAY1

BCF PORTB,5

BCF PORTB,4

BCF PORTB,3

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

BSF PORTB,5

BCF PORTB,2

BCF PORTB,1

BSF PORTB,6

BCF PORTB,7

CALL DELAY1

BCF PORTB,5

BCF PORTB,0

BSF PORTB,7

BCF PORTB,6

CALL DELAY1

GOTO ON

END

81

Alpha Numeric Displays Coding

; Alpha Numeric Displays Coding

TMR0 EQU 1

STATUS EQU 3

PORTA EQU 5

PORTB EQU 6

TRISA EQU 85H

TRISB EQU 86H

OPTION_R EQU 81H

ZEROBIT EQU 2

COUNT EQU 0CH

;******************************************************************

LIST P=16F84 ;we are using the 16F84.

ORG 0 ;the start address in memory is 0

GOTO START ;goto start!

;******************************************************************

__CONFIG H'3FF0';selects LP oscillator, WDT off, PUT on,

;******************************************************************

;

; SUBROUTINE SECTION.

;3 SECOND DELAY

DELAY3 CLRF TMR0 ;Start TMR0

LOOPA MOVF TMR0,W ;Read TMR0 into W

SUBLW .96 ;TIME - W

BTFSS STATUS,ZEROBIT ;Check TIME-W ? 0

GOTO LOOPA

RETLW 0 ;return after TMR0 ? 96

;P1 SECOND DELAY

DELAYP1 CLRF TMR0 ;Start TMR0

LOOPC MOVF TMR0,W ;Read TMR0 into W

SUBLW .3 ;TIME - W

BTFSS STATUS,ZEROBIT ;Check TIME-W ? 0

GOTO LOOPC

RETLW 0 ;return after TMR0 ? 3

CLOCK BSF PORTA,2

NOP

82

BCF PORTA,2

NOP

RETLW 0

;***************************************************************

A MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 1H ;41 is code for A

MOVWF PORTB

CALL CLOCK ;clock character onto display.

RETLW 0

BB MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 2H ;42 is code for B

MOVWF PORTB


RETLW 0

C MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB


RETLW 0

D MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 4H

MOVWF PORTB


RETLW 0

E MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

83

MOVWF PORTB

CALL CLOCK

MOVLW 5H

MOVWF PORTB


RETLW 0

F MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 6H

MOVWF PORTB


RETLW 0

G MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 7H

MOVWF PORTB


RETLW 0

H MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 8H

MOVWF PORTB


RETLW 0

I MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 9H

MOVWF PORTB


RETLW 0

84

J MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 0AH

MOVWF PORTB


RETLW 0

K MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 0BH

MOVWF PORTB


RETLW 0

L MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 0CH

MOVWF PORTB


RETLW 0

M MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 0DH

MOVWF PORTB


RETLW 0

N MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB


MOVLW 0EH

MOVWF PORTB

85


RETLW 0

O MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 4H

MOVWF PORTB

CALL CLOCK

MOVLW 0FH

MOVWF PORTB


RETLW 0

P MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB


RETLW 0

Q MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 1H

MOVWF PORTB


RETLW 0

R MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 2H

MOVWF PORTB


RETLW 0

S MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

86

CALL CLOCK

MOVLW 3H

MOVWF PORTB


RETLW 0

T MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 4H

MOVWF PORTB


RETLW 0

U MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 5H

MOVWF PORTB


RETLW 0

V MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 6H

MOVWF PORTB


RETLW 0

WW MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 7H

MOVWF PORTB


RETLW 0

X MOVLW 2

87

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 8H

MOVWF PORTB


RETLW 0

Y MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 9H

MOVWF PORTB


RETLW 0

Z MOVLW 2

MOVWF PORTA

MOVLW 5H

MOVWF PORTB

CALL CLOCK

MOVLW 0AH

MOVWF PORTB


RETLW 0

NUM0 MOVLW 2 ;enables the display

MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 1H

MOVWF PORTB


RETLW 0

88


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 2H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB


MOVLW 4H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 5H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 6H

89

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 7H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 8H

MOVWF PORTB


RETLW 0


MOVWF PORTA

MOVLW 3H

MOVWF PORTB

CALL CLOCK

MOVLW 9H

MOVWF PORTB


RETLW 0

GAP MOVLW 2

MOVWF PORTA

MOVLW 2H

MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB


RETLW 0

DOT MOVLW 2

MOVWF PORTA

MOVLW 2H

90

MOVWF PORTB

CALL CLOCK

MOVLW 0EH

MOVWF PORTB


RETLW 0

CLRDISP CLRF PORTA

MOVLW 0H

MOVWF PORTB


MOVLW 1

MOVWF PORTB

CALL CLOCK

CALL DELAYP1

RETLW 0

;*********************************************************

; CONFIGURATION SECTION.

START BSF STATUS,5 ;Turns to Bank1.

MOVLW B'00000000' ;PORTA is O/P

MOVWF TRISA

MOVLW B'00000000'

MOVWF TRISB ;PORTB is OUTPUT

MOVLW B'00000111' ;Prescaler is /256

MOVWF OPTION_R ;TIMER is 1/32 secs.

BCF STATUS,5 ;Return to Bank0.

CLRF PORTA ;Clears PortA.

CLRF PORTB ;Clears PortB.

;Display Configuration

MOVLW 03H ;FUNCTION SET

MOVWF PORTB ;8bit data (default)

CALL CLOCK

CALL DELAYP1 ;wait for display


MOVWF PORTB ;change to 4bit

CALL CLOCK ;clock in data



MOVWF PORTB ;must repeat command



MOVLW 08H ;4 bit micro

91

MOVWF PORTB ;using 2 line display.


CALL DELAYP1

MOVLW 0H ;Display on, cursor off

MOVWF PORTB ;0CH

CALL CLOCK

MOVLW 0CH

MOVWF PORTB

CALL CLOCK

CALL DELAYP1

MOVLW 0H ;Increment cursor, 06H

MOVWF PORTB

CALL CLOCK

MOVLW 6H

MOVWF PORTB

CALL CLOCK

;********************************************************

BEGIN CALL CLRDISP

CLRF PORTA

MOVLW 8H ;Cursor at top left, 80H

MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL GAP

CALL G;display M

CALL DELAYP1 ;wait 0.1 seconds

CALL O ;display I

CALL DELAYP1 ;wait 0.1 seconds

CALL O ;Etc.

CALL DELAYP1

CALL D

CALL DELAYP1

CALL GAP

CALL DELAYP1

CALL M

CALL DELAYP1

CALL O

CALL DELAYP1

CALL R

CALL DELAYP1

CALL N

92

CALL DELAYP1

CALL I

CALL DELAYP1

CALL N

CALL DELAYP1

CALL G

CALL DELAYP1

CLRF PORTA

MOVLW 0CH ;Cursor on 2nd line

MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL L

CALL DELAYP1

CALL E

CALL DELAYP1

CALL C

CALL DELAYP1

CALL T

CALL DELAYP1

CALL U

CALL DELAYP1

CALL R

CALL DELAYP1

CALL E

CALL DELAYP1

CALL S

CALL DELAY3 ;wait 3 seconds

CALL CLRDISP


MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB

CALL CLOCK

CALL P

CALL DELAYP1

CALL R

CALL DELAYP1

93

CALL E

CALL DELAYP1

CALL S

CALL DELAYP1

CALL E

CALL DELAYP1

CALL N

CALL DELAYP1

CALL T

CALL DELAYP1

CALL E

CALL DELAYP1

CALL D

CALL DELAYP1

CALL GAP

CALL GAP

CALL GAP

CALL BB

CALL DELAYP1

CALL Y

CLRF PORTA


MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL GAP

CALL GAP

CALL S

CALL DELAYP1

CALL GAP

CALL T

CALL DELAYP1

CALL GAP

CALL Y


CALL CLRDISP

CLRF PORTA


MOVWF PORTB

CALL CLOCK

MOVLW 0H

94

MOVWF PORTB

CALL CLOCK

CALL WW

CALL DELAYP1

CALL E

CALL DELAYP1

CALL L

CALL DELAYP1

CALL C

CALL DELAYP1

CALL O

CALL DELAYP1

CALL M

CALL DELAYP1

CALL E

CALL GAP

CALL DELAYP1

CALL GAP

CALL T

CALL DELAYP1

CALL O

CALL DELAYP1

CALL GAP

CALL GAP

CALL O

CALL DELAYP1

CALL U

CALL DELAYP1

CALL R

CALL DELAYP1

CLRF PORTA


MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL GAP

CALL GAP

CALL T

CALL DELAYP1

CALL A

95

CALL DELAYP1

CALL L

CALL DELAYP1

CALL K

CALL DELAYP1

CALL S


CALL CLRDISP

CLRF PORTA


MOVWF PORTB

CALL CLOCK

MOVLW 0H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL GAP

CALL L

CALL DELAYP1

CALL I

CALL DELAYP1

CALL N

CALL DELAYP1

CALL E

CALL GAP

CALL DELAYP1

CALL F

CALL DELAYP1

CALL O

CALL DELAYP1

CALL L

CALL DELAYP1

CALL L

CALL DELAYP1

CALL O

CALL DELAYP1

CALL WW

CALL DELAYP1

CALL E

CALL DELAYP1

CALL R

CALL DELAYP1

CLRF PORTA


96

MOVWF PORTB

CALL CLOCK

MOVLW 3H

MOVWF PORTB

CALL CLOCK

CALL GAP

CALL GAP

CALL R

CALL DELAYP1

CALL O

CALL DELAYP1

CALL BB

CALL DELAYP1

CALL O

CALL DELAYP1

CALL T

CALL DELAYP1

CALL I

CALL DELAYP1

CALL C

CALL DELAY3

GOTO BEGIN

END

97

2.12 Alpha Numeric Displays

We used LCD Display to show greet message and 16F84A Microcontroller control whole the

circuit.

2.12.1 The schematic diagram of Alpha Numeric Display

2.12.2. The graphical diagram of Alpha Numeric Display

98

2.12.2 The graphical diagram of Alpha Numeric Display

99

FINDINGS / PROBLEM

This is intended as a step-by step guide to what to do when things go wrong. One of the projects

successful is debug the solution from failure, for example like line tracking of line follower robot must

know how to calculate the degree of turning, interrupt of infrared sensor circuit, wire socket‟s

connection problem, front motor of racing toy car spoiled and etc. The following below is showing list

of the troubleshooting to build line follower robot.

1. Make sure the voltage regulator LM7805 convert largest voltage like 30V to 5V, and used

the multimeter for measure voltage output of LM7805.

2. Infrared sensor (transmitter and detector) must give some distance and cannot too close

together.

3. Used a black tape put on the infrared sensor – transmitter and detector surface and observed

a LED is lighted or not. (please refer to appendix figure 3c) If the LED is lighted that means

the infrared sensor – transmitter in the bad condition because infrared sensor cannot detect

any black colour surface. In opposite case, the infrared sensor is the good condition when

the LED is lighted up.

4. Used camera and mobile phone camera to capture the infrared sensor, when it connected

with 5V power supply. This is test for infrared sensor functioning or not, if the purple light

will come out from the transmitter when camera sighted it. This is a good condition of

infrared sensor.

100

5. In the sunshine condition, the infrared sensor will be dysfunction because ultraviolet light

affect the infrared sensor and always detected ultraviolet light to make the reflection to

infrared sensor.

6. An infrared sensor place in the correct side, for example such as left infrared sensor detect

the white surface

7. Make sure all IC chip pins not spoiled, this will affect the operated of line follower robot.

Insert and pull out all IC chip from breadboard with carefully to avoid IC chip pin spoiled.

8. Make sure wire connected with the Printed Circuit Board (PCB) are not loose for

dysfunction. The large number of wire connection in the circuit made it too difficult to

solder.

9. Please double check the soldering point in Printed Circuit Board (PCB) for confirm all

soldering point on the Printed Circuit Board (PCB) are corrected and without short circuit.

10. Soldering iron/gun place in the safety area when soldering component into the Printed

Circuit Board (PCB).

11. All wire must keep into fixed place for avoid any blocking example like wheel of racing toy

car, base racing toy car and etc.

12. A variable resistor must connect with one resistor before to 5V power supply because

protection and prevent burn off the variable resistor.

10. A servo motor cannot support over 5V, if not there will be burn off the servo motor.

101

11. Connected the diode with DC Motor (toy racing car) for avoid feedback current spoiled the

whole circuit.

12. Cut the black carpet must careful because route have a turning point, if wrongly cut then

will make racing toy car out of the route.

13. The distance between two pair of infrared sensors is 2cm; the path for line follower robot

must be over 2cm.

14. The surface of route without any white dot or else, this will affect result of operated.

15. Make sure connection of the PIC16F84 in the correct position, if not there will spoil the

microcontroller.

16. The program was difficult to implement as it was our first time encounter with

microcontroller programming in assembly language.

17. Used the screw to fix the position of motor and wheel for prevent the wheel loose and lost

when line follower robot operated.

18. In the model designed to show line follower robot (toy racing car), DC motor should be

decreased high voltage by diode and should draw less current otherwise high motor current

will damage the entire circuit.

19. Wrongly wire connection on PLC to make the project application.

20. Make sure drill holes on strip boards with carefully, because this will make the strip board

shock circuits.

102

SUMMARY

This chapter is introduced what is the line follower robot, explain each circuit how to function

and basic structure. We have been using a lot of components to make a line follower robot, for example

such as LM7805 voltage regulator, Infrared Sensor (IR Sensor), LM393 Dual Differential Comparator,

74LS04 Hex Inverters, Quadruple Half-H driver L-293D and etc.

The result to make the line follower robot have been learned some skill and how to co-operation

with group mate in this project. We have made two type line follower robot are racing toy car without

wireless remote control and Intelligence Car known as I-Car. One of the projects successful is debug

the solution from failure. We have been facing a lot of problem about this project and used what

method solved it.

103

CONCLUSION & RECOMMENDATION

There are a lot of problems met along the whole trimester for this project. Firstly, designing the

schematic of the project is quite time consuming for a beginner who never design one before. A lot of

hard works need to be done to complete the schematic. Besides that, PCB design will wasting a lot of

time for the project. If want to design a good and efficient PCB trace, more time will be spend and

more hard works needed to done the PCB design, if not, poor PCB design will be produced and it will

cause future problems like hardware problems.

Hardware problems are hard to be debugged and solved, which mean it is quite a time

consuming problem that will slow down the whole working process for this project. Some problems

like sensor not functioning and burned of components are met. When stuck on some problems without

solution, helps will be needed among course mate or get advises from lecturer. When hardware part

had no problem, programming part can be done rapidly unless there are fatal bugs that needed to be

solved. To solve programming problems, a lot of tries are needed and it is quite time consuming if

problem cannot be solved after few tries.

Besides that, monetary problem is also main problem occur in this project which it limiting the

growth of the project. Not enough money budget to spend, features of the project will be limited and

sometimes it will make the working process become longer because the lack of money. Some problem

like burned of components that will be let us bought back new one component.

104

After solving all those problems, the line follower robot can work very smoothly. Features like

line tracking and barrier sensing will be progress in smoothly. After the project, research on line

follower robot will be continued to add in more features and making this project to be more advanced.

Further study is needed to improve one‟s knowledge and experiences.

105

REFERENCES

1. Al Williams, 2004, Build Your Own Printed Circuit Board, published by the McGraw-Hill

Companies.

2. D. W. Smith, 2006, PIC in Pratice A Project-Based Approach, published by Newnes.

3. David Cook, 2009, Robot Building for Beginners, published by Apress.

4. Raymond Murphy, 1998, Essential Grammar in Use Second Edition, published by the press

syndicate of the University of Cambridge

5. Welcome to the Electronics Club, 23 August 2010, website:

http://www.kpsec.freeuk.com/index.htm

6. L7800 series Positive Voltage Regulators Datasheet.pdf, November 2004, published by

ST.Mircoelectronics, website:

http://www.datasheetcatalog.org/datasheet2/8/0ishsf7y9sp31h690e60g8gclc3y.pdf

7. LM393 Low Power Low Offset Voltage Dual Comparator Datasheet.pdf, 04 July 2008,

published by Taitron Compenents Incorporated, website:

http://www.taitroncomponents.com/catalog/Datasheet/LM393.pdf

8. LM193/LM293/LM393/LM2903 Low Power Low Offset Voltage Dual Comparator

Datasheet.pdf, published by National Semiconductor Corporation, website:

http://www.national.com/ds/LM/LM193.pdf

http://www.kpsec.freeuk.com/index.htm

http://www.datasheetcatalog.org/datasheet2/8/0ishsf7y9sp31h690e60g8gclc3y.pdf

http://www.taitroncomponents.com/catalog/Datasheet/LM393.pdf

http://www.national.com/ds/LM/LM193.pdf

106

9. Remote Control Decoded PT2262 Datasheet.pdf, August 1999, published by Princeton

Technology Corp, website: http://www.spelektroniikka.fi/kuvat/PT2262.pdf

10. Remote Control Decoded PT2272 Datasheet.pdf, August 1999, published by Princeton

Technology Corp, website: http://www.spelektroniikka.fi/kuvat/PT2272.pdf

11. L293, L293D Quadruple Half-H Drivers Datasheet.pdf, September 1986, Published by

Texas Instruments, website:

http://www.jvmbots.com/pafiledb/uploads/2094d75f6b33202ecab8d50ccbc2c639.pdf

12. Jaseung Ku, 17 December 2005, A Line Follower Robot.pdf, website:

http://online.physics.uiuc.edu/courses/phys405/P405_Projects/Fall2005/Robot_project_jase

ung_.pdf

13. New Reseach, 01 January 2009, Basic Component Reference Website, website:

http://e3novice.blogspot.com/2009/01/httpacademic.html

14. Mr. Aidil Bin.AB.Gani, March 2010, ** Welcome to Aidil Home Page **, website:

http://aidiel.webs.com/

15. Switch from Wikipedia, the free encyclopedia, website: http://en.wikipedia.org/wiki/Switch

16. Push-button from Wikipedia, the free encyclopedia, website:

http://en.wikipedia.org/wiki/Push-button

17. Liquid Crystal Display from Wikipedia, the free encyclopedia, website:

http://en.wikipedia.org/wiki/Liquid_crystal_display

http://www.spelektroniikka.fi/kuvat/PT2262.pdf

http://www.spelektroniikka.fi/kuvat/PT2272.pdf

http://www.jvmbots.com/pafiledb/uploads/2094d75f6b33202ecab8d50ccbc2c639.pdf

http://online.physics.uiuc.edu/courses/phys405/P405_Projects/Fall2005/Robot_project_jaseung_.pdf

http://online.physics.uiuc.edu/courses/phys405/P405_Projects/Fall2005/Robot_project_jaseung_.pdf

http://e3novice.blogspot.com/2009/01/httpacademic.html

http://aidiel.webs.com/

http://en.wikipedia.org/wiki/Switch

http://en.wikipedia.org/wiki/Push-button

http://en.wikipedia.org/wiki/Liquid_crystal_display

107

18. Battery from Wikipedia, the free encyclopedia, website:

http://en.wikipedia.org/wiki/Battery_%28electricity%29

19. Sandpaper from Wikipedia, the free encyclopedia, website:

http://en.wikipedia.org/wiki/Sandpaper

20. Eric Seale, 10 July 2003, Make a PCB, website:

http://www.solarbotics.net/library/techniques/buildpcb.html

21. Ayur Veda, 2010, Step In PCB Fabrication Process, Published by HubPages, website:

http://hubpages.com/hub/Steps-In-PCB-Fabrication-Technique

22. Perry Babin, 1998, Basic Car Audio Electronics, website: http://www.bcae1.com

23. Servomotor, website: http://people.ee.duke.edu/~cec/final/node59.html

24. Welcome to Cytron Technologies – Robot. Head To Toe: PIC Training Malaysia, PIC

Microcontroller, 2006, published by Cytron Technologies Sdn. Bhd, website:

http://www.cytron.com.my

http://en.wikipedia.org/wiki/Battery_%28electricity%29

http://en.wikipedia.org/wiki/Sandpaper

http://www.solarbotics.net/library/techniques/buildpcb.html

http://hubpages.com/hub/Steps-In-PCB-Fabrication-Technique

http://www.bcae1.com/

http://people.ee.duke.edu/~cec/final/node59.html

http://www.cytron.com.my/

108

APPENDICES

METHODOLOGY

1. Procedures of Assembly Components

1.1 Making PCB Steps Involved

1.1. Prepare the required circuit diagram.

1.2. List out the components in the eagle

software.

1.3. Drawn the connection of circuit diagram in PCB

format.

1.4. Finish the drawn connection of circuit

diagram then print out the circuit diagram

on sticker paper using by laser printer.

109

1.5.

Cut

the board to final size and shape using by handsaw or

jet saw.

1.6. Ironing the circuit diagram pasted on

the bare board (coated with a thin layer of

copper) from sticker paper and

1.7. Carefully take out the sticker paper from bare

board and fixer the back line is not clear.

1.8. After that, drill holes on the specified

places using by Portable Mini Torque

Electric Drill.

110

1.9. This stage is removing all non-masked copper

using by Etching Powder and give the board a good

wash under boiling water to remove all trances of the

etchant.

1.10. Carefully scrub off the mask with

sandpaper on PCB.

1.11. Used soldering iron to solder each component

into PCB and test each soldering point have short the

circuit or not using by multimeter.

1.12. Complete the PCB in this stage.

111

RESULTS & DISCUSSION

1. Toy Racing Car

1.1 Components List


1. Battery 9.6V 1

2. Battery 4.8V 1



5. Heat Sink PCS 1


7. Resistor 330Ω 2

8. Resistor 1KΩ 4

9. Resistor 470Ω 2

10.

Variable Resistor

(Preset)

10KΩ 4

11.

Dual-Voltage

Comparator

LM393 1

12. Relay 5VDC 2


14. Diode IN4001 10

15 DC Motor 5VDC 2

16. IR Sensor Set 2

112

1.3 The PCB diagram of Full Complete Set of Toy Racing Car

1.4 The graphical diagram of Full Complete Set of Toy Racing Car

Bottom View Top View

113

Front View Behind View

Left View Right View

114

2. Intelligence Car (I-Car)

2.1 Components List


1. Battery 9.6V 2



4. Heat Sink PCS 2



(Transmitter)

Set 1


(Receiver)

Set 1

8. Resistor 330Ω 5

9. Resistor 470 Ω 5

10. Resistor 1K Ω 10

11. Variable Resistor (Preset) 10K Ω 10

12. Dual-Voltage Regulator LM393 3

13. IR Sensor Set 5

14. LED PCS 3


16. Hex Inverter 74LS04 1

17. Quadruple Half-H Driver L-293D 1


115


18. Diode IN4001 8

19. PIC Microcontroller 16F84A 1

20. Capacitor 104 3

21. Crystal 32KHz 1

22. Relay 5VDC 2

23. LED Arrow Display PCS 1

24. Servo Motor PCS 2

25. Wheels PCS 2

26. Castor PCS 2

27. Printed Circuit Board A4 2

28. Screw & Nut Set 20

29. 40-Pin Header Single Row PCS 2

30. 2-Pin PSU Connector PCS 40

31. Molex 2-Pin Power Connector Set 2

32. Socket* PCS 1

33. USB ICSP PIC Programmer &

ICSP Programmer Socket

Set 1

34. Mahjong Paper PCS 10

35. Poster Color Black 1

36. Poster Color White 1

37. Maker Pen Black 1

116


38. Poster Color Pen* PCS 1

39. Hot Glue PCS 1

40. Iron Robot Chasis PCS 1

41. Sticker Paper A4 10

42. Jumper Wire ( Red, Black,

Yellow, White, Blue, Orange,

Violet, Grey)

3 meter 8





47. Sand Paper A4 3

48. Acid* 3KG 1

49. Breadboard PCS 6

50. Mini Jumper* SET 2

117


2.3.2 The PCB diagram of Wireless Remote Control (Receiver) Circuit

118

2.4.2. The PCB diagram of PIC Microcontroller Circuit

2.5.2. The PCB diagram of Sensor Barrier Circuit

119

2.6.2. The PCB diagram of Infrared Sensor Circuit

2.7.2 The PCB diagram of Motor Drive Circuit

120

2.8.2 The PCB diagram of LED Arrow Display

121

2.9 The Graphical Diagram of I-Car

Bottom View

Top View

Front View

Behind View

Left View

Right View

122

2.11 Programming Assembly Language into I–Car

1. Press the MPLAB IDE v8.46.

2. When opened the MPLAB v8.46, will

shown below

3. Click a new file.

4. Appear a new page.

5. Type the coding at the page.

6. Click the highlight shown below.

Documents

Line Follower report