Wireless Robotic ARM Using Flex Sensor & Accelerometer

A Project Report on

Wireless Robotic Robotic ARM ARM Using Using Flex sensor & Accelerometer 

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Table of Contents

Contents CHAPTER-1: INTR!UCTIN""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""" """""" "" #

CHAPTER-$: %ITERATURE UR'E(""""""""""""""""""""""" UR'E(""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""" """"""" "" )

CHAPTER-*: +%C, !IARAM""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""" """""" "" .

*"1" +%C, !IARAM !ECRIPTIN""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""

*"1"1" Flex ensor:""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""" "" / *"1"#" Po0er 22l3:"""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""" """""" """"""" """ / *"1")" Tr4ns5ormer:""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""" """""" """ / *"1"." Recti5ier"""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""" """ 6 *"1"/" 'olt4ge 'olt4ge Regl4tor"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""" """"""" """""" "" 6 *"1"6

Rel43s:"""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""" """ 6

CHAPTER-#: CIRCUIT %A(UT""""""""""""""""""""""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""" 17

#"1 Circit l43ot:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"$ Com2onent list:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"* A'R Microcontrollers:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"*"1 Intro8ction to A'R A'R Microcontroller"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""" """""" """""" "" 1$ #"*"$ Arc9itectre o5 A'R""""""""""""""""""""""""""""" A'R""""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""" 1$ #"*"* A'R-Microcontroller Atmeg46%;""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""" """""" """"" 1# #"*"# T9e ATmeg46%2ro
#"#"1 UART Pin Con5igr4tion"""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """""""""" """""" "" $7

•

Mo8es o5 2er4tion""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""" """ $7

#"#"$ +48 R4te ener4tion""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""" """"""" $7 #"#"* r8er o5 +its""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""" """"" $1 #") RF Mo8le:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"6 %i=i8 Cr3st4l !is2l43:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

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Table of Contents

Contents CHAPTER-1: INTR!UCTIN""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""" """""" "" #

CHAPTER-$: %ITERATURE UR'E(""""""""""""""""""""""" UR'E(""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""" """"""" "" )

CHAPTER-*: +%C, !IARAM""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""" """""" "" .

*"1" +%C, !IARAM !ECRIPTIN""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""

*"1"1" Flex ensor:""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""" "" / *"1"#" Po0er 22l3:"""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""" """""" """"""" """ / *"1")" Tr4ns5ormer:""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""" """""" """ / *"1"." Recti5ier"""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""" """ 6 *"1"/" 'olt4ge 'olt4ge Regl4tor"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""" """"""" """""" "" 6 *"1"6

Rel43s:"""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""" """ 6

CHAPTER-#: CIRCUIT %A(UT""""""""""""""""""""""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""" 17

#"1 Circit l43ot:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"$ Com2onent list:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"* A'R Microcontrollers:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"*"1 Intro8ction to A'R A'R Microcontroller"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""" """""" """""" "" 1$ #"*"$ Arc9itectre o5 A'R""""""""""""""""""""""""""""" A'R""""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""" 1$ #"*"* A'R-Microcontroller Atmeg46%;""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""" """""" """"" 1# #"*"# T9e ATmeg46%2ro
#"#"1 UART Pin Con5igr4tion"""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """""""""" """""" "" $7

•

Mo8es o5 2er4tion""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""" """ $7

#"#"$ +48 R4te ener4tion""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""" """"""" $7 #"#"* r8er o5 +its""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""" """"" $1 #") RF Mo8le:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

#"6 %i=i8 Cr3st4l !is2l43:"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

Page 2

#"6"1 Pin !escri2tions"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""" $$ #"6"$ !IARAM - %C! INTERFACIN""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""" " $/ CHAPTER > ) : CNC%UIN? FUTURE? FUTURE? CPE AN! APP%ICATIN"""""""""""""""""""""""""""" APP%ICATIN"""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""" """"""" """"" $@

)"1"

Conclsion:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

FTWARE: FTWARE: C!E'IIN A'R"""""""""""""""""""""" A'R"""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""" """ *7

te2s to Progr4m 3or Microcontroller:"""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""" """""" "" *1

ATMEA6% ATMEA6% 4n8 ATMEA1.% ATMEA1.% 2in 8i4gr4m"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""" """""" *@

PC+ !EININ""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""" """""" """ #1

PC+ %43ot !esigning"""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""" """"""" """ )*

Etc9ing

Process:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """""""""""""""""""""

Com2onent Monting 4n8 Assembling:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""

PC+ ETCHIN""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""" """""" """""" )/

PC+ Pre24r4tion""""""""""""""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""" """""" """"" )6

%!ERIN:""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

+I+%IRAPH(REFERENCE""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """""""""""""""""""""""" """""" """"""" " .@

WE+ITE:"""""""""""""""""""""""""""""""""" """""""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""""""""""" """"""""""""""""""""" """""" """"""" "" .@

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"""""""""""""""""""""

CHAPTER-1: INTRODUCTION A robotic 4rm consists o5 se
CHAPTER-2: LITERATURE UR!E"

Page 4

 Robots c4n be se8 to 2er5orm srgeries in 4 more 4ccr4te 4n8 2recise m4nner  09ere t9e srgeon c4n m4Be 8ecisions 4n8 o2er4te t9e robot 4s 4n8 09en nee8e8 4t t9e s2r o5 t9e moment" T9is ensres t94t no 9m4n error is in
CHAPTER-#: $LOC% DIA&RA' T9e blocB 8i4gr4m o5 Flex ensor b4se8 robotics ARM sing 4ccelerometer  tec9nolog3 s9o0n in 5igre1" It com2rises 2o0er s22l3 section? Flex ensor?

Page 5

 b4tter3? Microcontroller? M4x $*$ 8ri
Fig"1:-Flex sensor b4se8 robotic 4rm sing toc9 screen

#(1( $LOC% DIA&RA' DECRIPTION

Page 6

#(1(1( )le* ensor:

Flex sensors 4re 4n4log resistors" T9ese resistors 0orB 4s <4ri4ble 4n4log
#(1(+( Po,er ppl.:

Po0er s22l3 is t9e circit 5rom 09ic9 0e get 4 8esire8 8c
#(1(/( Transfor0er:

Tr4ns5ormer is t9e electric4l 8e
Page 7

9ig9 m4ins
A recti5ier is 4 circit t94t con
'olt4ge regl4tors 2ro8ce 5ixe8 !C ot2t
#(1(5

Rela.s:

A rel43 is 4n electric4l s0itc9 t94t o2ens 4n8 closes n8er t9e control o5  4not9er electric4l circit" In t9e origin4l 5orm? t9e s0itc9 is o2er4te8 b3 4n electrom4gnet to o2en or close one or m4n3 sets o5 cont4cts" +ec4se 4 rel43 is 4ble to control 4n ot2t circit o5 9ig9er 2o0er t94n t9e in2t circit"

Page 8

Figre *"# rel43s

CHAPTER-+: CIRCUIT LA"OUT

+(1 Crct la.ot:

Page 9

'4rios im2ort4nt blocBs o5 s3stem 4re: 1" Microcontroller  $" M Mo8em *" %C! !is2l43 #" Hmi8it3 ensor  )" oil Moistre sensor  ." Cr3st4l scill4tor 

+(2 Co0ponent lst:

Com2onents re=ire8 to re4lie t9e 2ro2ose8 s3stem 4re 4s 5ollo0s"

Page 10

r( No(

Co0ponent na0e

pecfcaton s

1;

RF Mo8le

#**MH

1

$;

A'R   Microcontrolle r IC

ATmeg46%

1

*;

%C!

#;

'olt4ge Regl4tor 

);

Flex ensor

.;

6antt.

1 /67)

1

1

C424citor  

/;

!io8e

6;

Resistor

@;

%E!

17;

Cr3st4l scill4tor 

6MH

1

11;

Pin Connector

M4le

$

1$;

$ Pin Connector 

cre0

$

1*;

1. Pin +4se

1#;

%C! +4se

1);

Accelerometer

1.;

Rel43 4n8 Rel43 !ri
+(# A!R 'crocontrollers:

Page 11

1B

$ 1

1 1. Pin

1 1

U%N$77*

1

+(#(1 Intro7cton to A!R 'crocontroller

T9e A!R   is 4 mo8i5ie8 H4r<4r8 4rc9itectre 09ere 2rogr4m 4n8 84t4 is store8 in se24r4te 293sic4l memor3 s3stems t94t 422e4r in 8i55erent 488ress s24ces? bt 94
EPRM?

or

EEPRM

se8

b3

ot9er 

microcontrollers 4t t9e time" +(#(2 Arc8tectre of A!R 

T9e 4rc9itectre o5 A'R 04s 8e
Page 12

o2er4tions c4n be 2er5orme8 bet0een 4n3 o5 t9e registers 4n8 c4n be store8 in eit9er o5 t9em"

A'R 5ollo0s H4r<4r8 Arc9itectre 5orm4t in 09ic9 t9e 2rocessor is e=i22e8 0it9 se24r4te memories 4n8 bses 5or Progr4m 4n8 t9e !4t4 in5orm4tion" Here 09ile 4n instrction is being execte8? t9e next instrction is 2re-5etc9e8 5rom t9e 2rogr4m memor3"

ince A'R c4n 2er5orm single c3cle exection? it me4ns t94t A'R c4n execte 1 million instrctions 2er secon8 i5 c3cle 5re=enc3 is 1MH" T9e 9ig9er is t9e o2er4ting 5re=enc3 o5 t9e controller? t9e 9ig9er 0ill be its  2rocessing s2ee8" We nee8 to o2timie t9e 2o0er consm2tion 0it9  2rocessing s2ee8 4n8 9ence nee8 to select t9e o2er4ting 5re=enc3 4ccor8ingl3"

Page 13

+(#(# A!R-'crocontroller 9At0e4a5L

T9e AT0e4a5 is 4 lo0-2o0er CM 6-bit microcontroller b4se8 on t9e A'R RIC 4rc9itectre" +3 execting 2o0er5l instrctions in 4 single clocB  c3cle? t9e ATmeg46 4c9ie
T9e A'R core combines 4 ric9 instrction set 0it9 *$ gener4l 2r2ose 0orBing registers" All t9e*$ registers 4re 8irectl3 connecte8 to t9e Arit9metic %ogic Unit A%U;? 4llo0ing t0o in8e2en8ent registers to be 4ccesse8 in one single instrction execte8 in one clocB c3cle" T9e reslting 4rc9itectre is more co8e e55icient 09ile 4c9ie
+(#(+ T8e AT0e4a5Lpro;7es t8e follo,n4 featres

6, b3tes o5 In-3stem Progr4mm4ble Fl4s9 0it9 Re48-W9ile-Write c424bilities? )1$ b3tes o5 EEPRM? 1, b3te o5 RAM? $* gener4l 2r2ose I lines? *$ gener4l 2r2ose 0orBing registers? t9ree 5lexible TimerConters 0it9 com24re mo8es? intern4l 4n8 extern4l interr2ts? 4 seri4l 2rogr4mm4ble UART? 4 b3te oriente8 t0o 0ire eri4l Inter54ce? 4 .-c94nnel A!C eig9t c94nnels in TFP 4n8 FNM%F 24cB4ges; 0it917-bit 4ccr4c3? 4  2rogr4mm4ble W4tc98og Timer 0it9 Intern4l scill4tor? 4n PI seri4l  2ort?4n8 5i
Page 14

T9e

I8le

mo8e

sto2s

t9e

CPU

09ile

4llo0ing

t9e

RAM?

TimerConters? PI 2ort? 4n8 interr2t s3stem to contine 5nctioning" T9e Po0er 8o0n mo8e s4
ATmeg46 is 4 2o0er5l microcontroller t94t 2ro
Page 15

T9e ATmeg46 A'R is s22orte8 0it9 4 5ll site o5 2rogr4m 4n8 s3stem 8e
+(#(/ Pn Da4ra0

)4( PIN DI&RA' < AT'E&A5L

+(#( Pn Descrptons

!CC: !igit4l s22l3
&ND: ron8"

Port $ 9P$3((P$=>TAL1?>TAL2?TOC1?TOC2: Port + is 4n 6-bit bi-

8irection4l I 2ort 0it9 intern4l 2ll-2 resistors selecte8 5or e4c9 bit;"

Page 16

T9e Port + ot2t b55ers 94
!e2en8ing on t9e clocB selection 5se settings? P+. c4n be se8 4s in2t to t9e in
!e2en8ing on t9e clocB selection 5se settings? P+/ c4n be se8 4s ot2t 5rom t9e in
I5 t9e Intern4l C4libr4te8 RC scill4tor is se8 4s c9i2 clocB sorce? P+/"". is se8 4s TC$""1in2t 5or t9e As3nc9ronos TimerConter$ i5  t9e A$ bit in AR is set"

Port C 9PC/((PC=: Port C is 4n /-bit bi-8irection4l I 2ort 0it9 intern4l

 2ll-2 resistors selecte8 5or e4c9 bit;" T9e Port C ot2t b55ers 94
PC?REET: I5 t9e RT!I+% Fse is 2rogr4mme8? PC. is se8 4s 4n

I 2in" Note t94t t9e electric4l c94r4cteristics o5 PC. 8i55er 5rom t9ose o5  t9e ot9er 2ins o5 Port C" Page 17

I5 t9e RT!I+% RT!I+% Fse is n 2rogr4mme8 2rogr4mme8?? PC. is se8 4s 4 Reset in2t" A lo0 le
Port D 9PD3((PD=: Port ! is 4n 6-bit bi-8irection4l I 2ort 0it9 intern4l

 2ll-2 resistors selecte8 5or e4c9 bit;" T9e Port ! ot2t b55ers 94
Reset: Reset in2t" A lo0 le
 2lse lengt9 0ill gener4te 4re set? e
A!CC:A'CC is t9e s22l3
4n8 A!C A!C /"".;" It s9ol8 be extern4ll3 connecte8 to 'CC? e
ARE): AREF is t9e 4n4log re5erence 2in 5or t9e A! Con
ADC3( ADC3(( ( 9T 9T6)P 6)P an7 6)N?' 6)N?'L) L) Pac@a Pac@a4e 4e Onl.: Onl.:

In t9e TFP 4n8

FNM%F 24cB4ge? A!C/"". ser
+(+ UART of A! A!R 'crocontroller: 'crocon troller: UART

st4n8s

5or Uni
Recei
Fll !2lex 2er4tion In8e2en8ent eri4l Recei
•

As3nc9ronos or 3nc9ronos 2er4tion"

•

M4ster or l4
•

Hig9 Resoltion +48 R4te ener4tor"

•

22orts eri4l Fr4mes 0it9 )? .? /? 6? or @ !4t4 bits 4n8 1 or $ to2 +its"

+(+(1 UART Pn Conf4raton Conf4rat on

T9e UART o5 t9e A'R occ2ies t9ree 94r804re 2ins:

1" Rx!: UART Recei
•

'o7es of Operaton

Page 19

T9e UART o5 t9e A'R c4n be o2er4te8 in t9ree mo8es? n4mel3-

1" As3nc9 As3nc9ron ronos os Norm4l Norm4l Mo8e Mo8e $" As3nc9 As3nc9ron ronos os !obl !oblee 2ee8 2ee8 Mo8e Mo8e *" 3nc 3nc9r 9ron ono oss Mo8 Mo8e" e"

+(+(2 $a7 Rate &eneraton

T9e b48 r4te o5 UARTUART is set sing t9e 1.-bit 0i8e U+RR  register" ince A'R is 4n 6-bit microcontroller? e U+RRH 9ig9; 4n8 U+RR% lo0;" T9e UART $a7 Rate Re4ster 9U$RR 4n8 t9e 8o0n-conter connecte8 to it 5nctions 4s 4

 2rogr4mm4ble 2resc4ler or b48 r4te gener4tor" T9e 8o0n-conter? 8o0n-conter? rnning 4t s3stem clocB FC;? is lo48e8 0it9 t9e U+RR <4le e4c9 time t9e conter  94s conte8 8o0n to ero or 09en t9e U+RR% Register is 0ritten" A clocB is gener4te8 e4c9 time t9e conter re4c9es ero" T9is T9is clo clocB is t9e b4 b48 r4t r4te gene ener4t r4tor clo clocB ot2 t2tt J FC FC  U+RRK1;;" 1" FC J 3stem 3stem ClocB ClocB Fre=enc Fre=enc3 3 1MH; 1MH; or 4s 2er 2er se in in c4se o5 extern4l extern4l oscill4tor; 2( U+RR J Contents o5 U+RR% 4n8 U+RRH +(+(# Or7er of $ts

Page 20

1" t4rt bit Al043s lo0; $" !4t4 bits %+ to M+; )-@ bits; *" P4rit3 bit o2tion4l; C4n be o88 or e
+(/ R) 'o7le:

T9e RF mo8le? 4s t9e n4me sggests? o2er4tes 4t R48io Fre=enc3" T9e corres2on8ing 5re=enc3 r4nge <4ries bet0een *7 BH & *77 H" In t9is RF Page 21

s3stem? t9e 8igit4l 84t4 is re2resente8 4s <4ri4tions in t9e 4m2lit8e o5 c4rrier  04
Page 22

Pn Descrpton: R) Trans0tter P n No

)ncton

Na0e

1

ron8 7';

ron 8

$

eri4l 84t4 in2t 2in

!4t4

*

22l3
'cc

#

Antenn4 ot2t 2in

ANT

R) Rece;er P

)ncton

Na0e

Page 23

n No

1

ron8 7';

ron 8

$

eri4l 84t4 ot2t 2in

!4t4

*

%ine4r ot2t 2inG not connecte8

NC

#

22l3
'cc

)

22l3
'cc

.

ron8 7';

ron 8

/

ron8 7';

ron 8

6

Antenn4 in2t 2in

ANT

+(5 L7 Cr.stal Dspla.: In t9e recent 3e4rs %C! is 5in8ing 0i8es2re48 se re2l4cing t9e %E!s  se
•

T9e 8eclining 2rices o5 %C!s" Page 24

•

T9e 4bilit3 to 8is2l43 nmbers? c94r4cters 4n8 gr429ics" T9is is in contr4st to %E!s? 09ic9 4re limite8 to nmbers 4n8 onl3 4 5e0 c94r4cters"

•

Incor2or4tion o5 4 re5res9ing controller into t9e %C!? t9ereb3 reli
•

E4se o5 2rogr4mming 5or c94r4cters 4n8 gr429ics"

+(5(1 Pn Descrptons

T9e %C! 94s 1# 2ins" T9e 5nction o5 e4c9 2in is 8escribe8 belo0

!ccB !ss an7 !ee

W9ile 'cc 4n8 'ss 2ro
RB re4ster select

T9ere 4re t0o
selecte8? 4llo0ing t9e ser to sen8 4 comm4n8 sc9 4s cle4r 8is2l43? crsor 4t 9ome etc" I5 RJ1 t9e 84t4 register is selecte8 4llo0ing t9e ser to sen8 84t4 to be 8is2l43e8 on t9e %C!"

R?B Rea7?rte

RW in2t 4llo0s t9e ser to 0rite in5orm4tion on t9e %C! or to re48 in5orm4tion 5rom t9e %C!" RWJ1 5or re48ing 4n8 RWJ7 5or 0riting"

EB Enable

T9e en4ble 2in is se8 b3 t9e %C! to l4tc9 in5orm4tion 2resente8 on its 84t4 2ins" W9en 84t4 is s22lie8 to 84t4 2ins? 4 9ig9-to-lo0 2lse mst be 422lie8 to t9e 2in in or8er 5or t9e %C! to l4tc9 84t4 2resent 4t t9e 84t4 2ins" T9is 2lse mst be 4 minimm 7o5 #)7 ns 0i8e"

D=-D3

T9e 6-bit 84t4 2ins? 4re se8 to sen8 in5orm4tion to t9e %C! or re48 t9e contents o5 t9e %C!Ds intern4l registers" To 8is2l43 letters 4n8 nmbers? 0e sen8 ACII co8es 5or t9e letters A-? 4-? 4n8 nmbers 7-@ to t9e 2ins 09ile m4Bing RJ1"

T9ere 4re 4lso instrction comm4n8 co8es t94t c4n be sent to t9e %C! to cle4r t9e 8is2l43 or 5orce t9e crsor to 9ome 2osition or blinB t9e crsor" T9e t4ble s9o0n belo0 s9o0s some instrction comm4n8 co8es-

Page 26

LCD co00an7 co7es:

Co7e 9He*

Co00an7 to LCD nst re4ster

1

Cle4r 8is2l43 screen

$

Retrn 9ome

#

!ecrement crsor  

.

Increment crsor  

)

9i5t 8is2l43 rig9t

/

9i5t 8is2l43 le5t

6

!is2l43 o55? crsor o55  

A

!is2l43 o55? crsor on

C

!is2l43 on? crsor o55  

E

!is2l43 on? crsor on

F

!is2l43 on? crsor blinBing

17

9i5t crsor 2osition to le5t

1#

9i5t crsor 2osition to rig9t Page 27

16

9i5t t9e entire 8is2l43 to le5t

1C

9i5t t9e entire 8is2l43 to rig9t

67

Force crsor to beginning o5 1st line

C7

Force crsor to beginning o5 $n8 line

*6

$ lines 4n8 )L/ m4trix

4m2le co8e 5or 8is2l43ing on %C!:

Incl8ing necess4r3 9e48er 5iles

incl8e4
Incl8es 4ll necess4r3 initi4li4tions 5or %C!

8ecl4ring m4cros 5or 5rt9er se

8e5ine lc8Q2ort 8e5ine %C!QR

PRTC 7x71

8e5ine %C!QRW

7x7$

8e5ine %C!QEN

7x7#

'oi8 m4in ;

Page 28

 lc8Qinit ;G

Initi4liing %C!

lc8Qcm8 7x71;G

comm4n8 5or cle4ring t9e %C!

lc8Qcm8 7x61;G

 9i5ting crsor to t9e 5irst line

lc8Q2ts 1.$ %C! !EM;G W9ile 1; S

S

Page 29

+(5(2 DIA&RA' - LCD INTER)ACIN&

In t9e 8i4gr4m belo0 0e connecte8 t9e 2ins o5 %C! to PRTC"

Page 30

CHAPTER < / : CONCLUIONB )UTUREB COPE AND APPLICATION /(1( Conclson:

T9e 242er 8iscsse8 4 94r804re 4n8 so5t04re co 8esign o5 robotic 4rm controller sing 5or ser
Page 31

O)TARE: CODE!IION A!R  INTRODUCTION:

Co8e 'ision A'R is 4 C cross-com2iler? Integr4te8 !e
488e8 to t4Be 48<4nt4ge o5 s2eci5icit3 o5 t9e A'R 4rc9itectre 4n8 t9e embe88e8 s3stem nee8s" Inte4rate7 De;elop0ent En;ron0ent - t9e I!E 4s bilt-in A'R  C9i2 In-3stem Progr4mmer so5t04re t94t en4bles t9e 4tom4tic tr4ns5er

o5 t9e 2rogr4m to t9e microcontroller c9i2 45ter sccess5l com2il4tion4ssembl3" Ato0atc pro4ra0 4enerator- Co8e'isionA'R 4lso cont4ins Co8eWi4r8 A'R 4tom4tic 2rogr4m gener4tor t94t 4llo0s 3o to 0rite? in

4 m4tter o5 mintes? 4ll t9e co8e nee8e8 5or im2lementing t9e 5ollo0ing 5nctions: • • • • •

In2tot2t 2ort initi4li4tion %C! mo8le initi4li4tion A!C initi4li4tion UART initi4li4tion Extern4l Interr2ts initi4li4tion? etc"

Page 32

teps to Pro4ra0 .or 'crocontroller:

1" Cre4ting 4 Ne0 File (o c4n cre4te 4 ne0 5ile sing t9e FI%ENEW men comm4n8 or b3  2ressing t9e cre4te ne0 5ile btton on t9e toolb4r"

$" A 8i4log box 422e4rs? in 09ic9 3o mst select t9e 5ile t32e2roect 4n8  2ress t9e , btton

Page 33

*" A 8i4log box 0ill o2en 4sBing 3o to con5irm i5 3o 0ol8 liBe to se t9e Co8e Wi4r8 A'R to cre4te t9e ne0 2roect" Press 3es 4n8 contine"

#" +3 selecting 8i55erent t4bs o5 Co8e Wi4r8? (o c4n get re483m48e co8e 5or initi4li4tion o5 8i55erent 5e4tres o5 3or  microcontroller" ClicB on CHIP t4b 4n8 select t9e c9i2 3o 4re 0orBing on" Also select t9e 5re=enc3 to 1"777777 MH"

Page 34

)"ClicB on PRT t4b 4n8 select 09ic9e
Page 35

/" No0 to 4tom4tic4ll3 gener4te t9e co8e go to 5ile JJO s4
6" Co8e Wi4r8 0ill 4tom4tic4ll3 gener4te t9e co8e" (o 94
t9e 5ile in

NTE: All t9e 5iles s9ol8 94
Page 36

6" T9e 2rogr4m 0ill 422e4r initi4liing e4c9 5e4tre" No0 3o 94
@"Com2ile t9e 2roect b3 clicBing on t9e 9ig9lig9te8 btton in t9e tool b4r"

Page 37

.nta* c8ec@  > b3 clicBing on t9is icon 0e c4n 5in8 s3nt4x comm4n8; errors in t9e 2rogr4m co8e" Co0ple project  'a@e project  > T9is o2tion is 5or com2iling 5in8ing more errors in 2rogr4m co8e? c9ecBing 9e48er 5iles; 09ile m4Be 2roect is o2tion4l" 'a@e all project fles  - To con C!E to HE C!E"

@" n sccess5l com2letion o5 com2il4tion? t9e con5irm4tion 0in8o0 0ill o2en" Vst clicB on  O% " r else list o5 errors 0ill  be 8is2l43e8 on co8e n4
No0 3o 94
%HAA'A A!R PRO&RA''ER soft,are 2ro
t4rt ,HAAMA A'R PRRAMMER so5t04re

11"To c9ecB 09et9er 3or 2rogr4mmer is correctl3 connecte8 4n8 0orBing? c9i2 sign4tre is 8one"

1$"%o48 t9e 5ile 3o 04nt to 2rogr4m in t9e controller"

Page 39

1*"No0 er4se t9e memor3 o5 3or c9i2 & brn 3or ne0 2rogr4m co8e into it b3 clicBing AUT-PRRAM icon"

AT'E&A5L an7 AT'E&A1L pn 7a4ra0

AT'E&A5l pn 7a4ra0

Page 40

AT'E&A1l pn 7a4ra0

Page 41

tep 1 of 3: Intro7cton

T9is ttori4l s9o0s 3o 9o0 to 8esign 4n8 m4Be 4n electronic circit 0it9 PC+ Wi4r8" (o s9ol8 5ollo0 t9is ttori4l to le4rn t9e b4sic sBills 3o 0ill nee8 to se PC+ Wi4r8 e55ecti
&ettn4 starte7

In t9is ttori4l 3o 0ill cre4te 4 tr4nsistor  sensing circit simil4r to t9e one s9o0n on t9e rig9t" T9e circit 0ill lig9t 4n %E! 09en t9e tem2er4tre gets too col8" Along t9e 043? 3o 0ill le4rn 9o0 to: A88 com2onents 5rom t9e 4ller3 Wire com2onents toget9er  C94nge com2onent <4les 4n8 mo8els Con
To m4Be t9is circit 3o 0ill nee8: T9ermistor NTC t32e; +C)#6+ tr4nsistor  reen %E! 1, o9m resistor:

PC$ DEI&NIN&

177, o9m <4ri4ble resistor  PP* b4tter3 4n8 cli2  plus suitable PCB making equipment 

Page 42

PC$ Far7 # Ttoral 1  Drawing a transistor sensing Circuitt  To m4Be t9e tr4nsistor sensing circit 3o 0ill 4lso nee8 se
In t9e Circit 3mbol 4ller3 0in8o0? 3o 0ill be 4ble to selecttee 4ll t9e com2onents t94t 4re 4<4il4ble 0it9in PC+ Wi4r8" Com2onents 0it9in t9e 4ller3 4re gro2e8 4ccor8ing to t9eir 5nction" At t9e to2 o5  t9e 0in8o0? 4 8ro2-8o0n list box 4llo0s 3o to select 09ic9 gro2 is s9o0n

From t9e Po,er pples gro2? 488 4 $atter. com2onent 5rom t9e 4ller3 to 3or circit" o do t!is" In elect crsort9e 0ill 422e4r 4s 4 st4n84r8 2ointer  Mo
Page 43

,,,(ne,-,a;e-concepts(co0

PC$ Far7 # Ttoral 1  Drawing a transistor sensing circuit tep # of 3: rn4 co0ponents to4et8er nce t9e com2onents 94
b;

 btton 5rom t9e to2 toolb4r:

 Next? mo
Page 44

4;

c;

(o c4n no0 0ire 2 t9e rest o5 t9e circit sing t9e 8i4gr4m on t9e rig9t 4s 4 gi8e" Remember t94t i5 3o get stcB? 3o c4n 4l043s st clicB on t9e Un8o btton to correct 4n3 mist4Bes:

Fin4ll3? 5or more 8et4ile8 9el2 4n8 in5orm4tion on 0iring circits? re5er to t9e to2ic entitle8 Wiring com2onents toget9er in t9e Hel2 Co23rig9t  1@@/-$77* Ne0 W4
,,,(ne,-,a;e-concepts(co0

Page 45

PC$ Far7 # Ttoral 1  Drawing a transistor sensing circuit 

tep + of 3: C8an4n4 co0ponent ;ales an7 0o7els

Wit9 t9e circit 8i4gr4m 8r40n? 3o c4n no0 st4rt to 48st t9e com2onents" In 3or circit? resistor  R# 0ill be se8 to limit t9e 4mont o5 crrent t94t  24sses t9rog9 t9e %E!" It is goo8 2r4ctice to incl8e crrent-limiting resistors 09en sing %E!sG 0it9ot t9em? %E!s m43 be 84m4ge8 or e
T9e <4le 5iel8 5or t9e resistor is s9o0n 4t t9e bottom o5 t9e 0in8o0 4n8 consists o5   bot9 <4le 4n8 4 mlti2lier" T9e resistors <4le in o9ms; is c4lcl4te8 b3 mlti2l3ing t9e <4le b3 t9e mlti2lier" '4le Mlti2lier? 09ere:

Enter .67 in t9e 5irst <4le box 4n8 t9en clicB once on t9e 8o0n 4rro0 to t9e rig9t o5  t9e secon8 box to c94nge t9e mlti2lier 5rom , x 1?777; to bl4nB x 1;

Page 46

To com2lete t9e tr4nsistor sensing circit? 3o 0ill nee8 to s2eci53 ex4ctl3 09ic9 t32e o5 tr4nsistor is to be se8" T9ese t32es 4re Bno0n 4s mo8els" ClicB t9e rig9t mose btton o
(o 0ill notice t94t t9e tr4nsistor is no0 l4belle8 4s 4 +C)#6+ on t9e circit 8i4gr4m" Most com2onents 0it9in PC+ Wi4r8 s22ort 8i55erent mo8els" %E!s? 5or ex4m2le? 4re 4<4il4ble in 4 r4nge o5 8i55erent colors" Tr3 t9is no0" ClicB t9e rig9t elect mo8el mose btton on t9e %E! 4n8 select reen 5rom t9e 5rom list list o5 4<4il4ble mo8els" Co23rig9t  1@@/-$77* Ne0 W4
,,,(ne,-,a;e-concepts(co0

Page 47

PC$ Far7 # Ttoral 1 Drawing a transistor sensing circuit 

te2 ) o5 /: Con
T9ese 24ges co
Page 48

T9e tr4cB t9icBness is 8etermine8 b3 t9e &r7 o2tion" It is so n4me8 bec4se rote8 tr4cBs 4re 2l4ce8 on 4 gri8 4n8 it is t9is gri8 sie t94t 8etermines t9e sie o5 t9e tr4cBs" Wit9 sim2le circits? sc9 4s 3or tr4nsistor sensor t94t 94
4bot 1mm;" T9is 0ill m4Be t9e 5in4l 2rinte8 circit bo4r8 e4sier to m4Be" ClicB on t9e &r7 list 4n8 select t9e =(1== 4r7 ,t8 =(=+= trac@s  o2tion"

Co23rig9t  1@@/-$77* Ne0 W4
,,,(ne,-,a;e-concepts(co0

Page 49

PC$ Far7 # Ttoral 1 Drawing a transistor sensing circuit  tep  of 3: Con;ertn4 t8e crct nto a PC$ la.ot 92

Wit9 t9e &r7 o2tion c94nge8? clicB on t9e Ne*t btton t0ice to re4c9 t9e 5in4l 24ge o5 t9e 0in8o0

4s s9o0n belo0" (o 4re no0 re483 to con
PC+ Wi4r8 0ill no0 cre4te 4 2rinte8 circit bo4r8 5or 3or tr4nsistor circit" T9e 5irst ste2 in t9e con
" PC+ Wi4r8 c4lcl4tes t9e o2timm 2osition 5or  e4c9 com2onent in 3or circit" As t9e com2onents 4re 2ositione8? 3o 0ill

Page 50

4lso see 4 series o5 green lines" T9ese 4re Bno0n 4s nets 4n8 re2resent electric4l connections bet0een t9e com2onents" 0it9 t9e com2onents in  2osition? PC+ Wi4r8 0ill t9en 488 t9e necess4r3 co22er tr4cBs 8ring 4 2rocess Bno0n 4s ato0atc rotn4(  A 24t9? or rote? is 5on8 5or e4c9 connection sc9 t94t it 8oes not toc9 4n3 existing tr4cBs on 3or circit" UnliBe 0ires on 4 circit 8i4gr4m? co22er tr4cBs on 4 2rinte8 circit bo4r8 c4nnot o
Co23rig9t  1@@/-$77* Ne0 W4
,,,(ne,-,a;e-concepts(co0

Page 51

PC$ Far7 # Ttoral 1  Drawing a transistor sensing circuit  tep 3 of 3: !e,n4 8o, t8e fns8e7 PC$ ,ll loo@ 

Wit9 3or 2rinte8 circit bo4r8 no0 cre4te8? 3o c4n see 9o0 it 0ill looB 09en m48e" n t9e le5t-94n8 si8e o5 t9e m4in PC+ Wi4r8 0in8o0? 3o 0ill see t9e t3le toolb4r" T9is toolb4r s9o0s t9e 8i55erent 043s in 09ic9 3or circit c4n be
(o c4n se t9e 4bo
,,,(ne,-,a;e-concepts(co0

Page 52

4;

PC$ La.ot Des4nn4 %43ot o5 t9e 8esire8 CIRCUIT is t9e most im2ort4nt in 4n3 circit bo4r8 m4n54ctring 2rocess" T9e 5ollo0ing 2oints 4re to be obser
55icient s24ce s9ol8 be m4int4ine8 bet0een t0o com2onents"

•

Hig9 9e4t 8issi24tion com2onents liBe 9ig9
•

Com2onents l43ot s9ol8 m4Be 2ro2er combin4tion 0it9 co22er si8e circit l43ot"

•

Circit co22er line t9icBness s9ol8 be 8eci8e8 t4Bing into 4ccont t9e crrent 8r4in in t9e circit" Preparaton of creen:

 N3lon bolting clot9 ilB screen clot9; is stretc9e8 4n8 4tt4c9e8 to 4 0oo8en 5r4me" P9otosensiti
T9e screen is 2l4ce8 on sit4ble co22er l4min4te8 s9eet on co22er si8e 4n8 circit bl4cB 2rinting inB 4ci8 resist4nt 24int; is s2re48 on it" A5ter 2rinting t9e PC+ s9ol8 be 4llo0e8 to 8r3 5or 4t le4st 17 9rs" in 4 8st 2roo5 c94mber" Etc8n4:

T9e remo<4l o5 excess co22er on t9e co22er l4min4te8 PC+ 424rt 5rom t9e  2rinte8 circit is Bno0n 4s etc9ing" ener4ll3 PC+ is 2l4ce8 in F*C1* soltion 4n8 Be2t 5or one 9or" Page 53

Etc8n4 Process:

Etc9ing 2rocess re=ires t9e se o5 c9emic4ls 4ci8 resist4nt 8is9es 4n8 rnning 04ter s22l3 Ferric c9lori8e is m4ximm se8 soltion bt ot9er  enc94nts sc9 4s 4mmonim 2er sl54te c4n be se8" Nitric 4ci8 c4n be se8 bt in gener4l it is not se8 8e to 2oisonos 5mes" T9e 24ttern 2re24re8 is gle8 to t9e co22er sr54ce o5 t9e bo4r8 sing 4 l4tex t32e o5 489esi
!rill 4ll 9oles 0it9 t9is sie 5irst t9ose t94t nee8 to be l4rger c4n be e4sil3 8rille8 4g4in 0it9 t9e 422ro2ri4te l4ger sie"

Drlln4:

Un8er t9is o2er4tion 8rilling s9ol8 be 8one 4s 2er circit l43 0it9 t9e sit4ble 8rill 4n8 9ig9 s2ee8 m4c9ine" !rilling s9ol8 4l043s be 8one 5rom co22er si8e to 4
It is 4n electro2l4ting 2rocess tin 2l4ting; 8one to incre4ses t9e con8cti
All com2onents 4re monte8 4t t9eir res2ecti
Page 55

monting t9e sm4llest 5irst 4n8 2rogressing t9rog9 to t9e l4rgest" +e5ore st4rting m4Be cert4in t94t no 5rt9er 8rilling I liBel3 to be necess4r3 bec4se 4ccess m43 be im2ossible l4ter" Next 0ill 2rob4bl3 be t9e resistor sm4ll sign4l 8io8es o5 ot9er simil4r sie com2onents some c424citor 4re
A sol8ere8 connection ensres met4l continit3" T9e sol8ering 2rocess in
ol8ering iron

•

ol8ering 0ire

•

ol8ering 2roce8re

•

Re2l4cing com2onents Page 56

PC$ ETCHIN& T9e PC+ l43ot is 4 mirrore8 2ositi
 Positi#e layout 

mirrored

(top

#iew)

Page 57

Component (top #iew) layout 

PC$ Preparaton T9e PC+ l43ot 242er is 8renc9e8 0it9 sn5lo0er-see8 oil" n5lo0er-see8 oil is common 4<4il4ble 5rom 3or loc4l grocer3 or 04ll m4rBet" 2er5los oil s9ol8 be remo
Page 58

!renc9 l43ot 0it9 sn5lo0er-see8 oil

%43ot 5ll3 8renc9e8

re4s3 l43ot

PC$ U! E*posre

T9e 2rotecti
Page 59

Home-bilt U' ex2osre box 0it9 *77W U' blb?

PC+ 0it9 24rtl3 2eele8 b4cB 2rotecti
 polis!ed tile and window pane

Place layout wit! toner side on copper o$ t!e PCB

Co#er PCB and layout wit!

Page 60

window%pane

 &'posure

PC$ De;elop0ent

T9e PC+ is 8e
Page 61

PC$ Etc8n4

T9e 8e
Page 62

Etc9ing 4t 4mbient tem2er4tre mig9t t4Be o
Page 63

 Rock t!e etc!ing tray

!e epo'y o$ t!e PCB becomes #isible

 lmost $inis!ed

!e etc!ing solution colors slig!ty blue

Page 64

 *inis!ed 

Troble s8ootn4

T9e 4bo
Page 65

'ore e*a0ples

Page 66

Drlln4: Holes t9rog9 4 PC+ 4re t32ic4ll3 8rille8 0it9 sm4ll-8i4meter 8rill bits m48e o5  soli8 co4te8 tngsten c4rbi8e" Co4te8 tngsten c4rbi8e is recommen8e8 since m4n3 bo4r8 m4teri4ls 4re
connect onl3 some o5 t9e co22er l43ers? r4t9er t94n 24ssing t9rog9 t9e entire  bo4r8" T9ese 9oles 4re c4lle8 blin8
 

OLDERIN&:

ol8ering is 4 2rocess in 09ic9 t0o or more met4l items 4re oine8 toget9er b3 melting 4n8 5lo0ing 4 5iller met4l sol8er; into t9e oint? t9e 5iller met4l 94
Page 68

t9e melting o5 t9e 5iller" o5t sol8er 5iller met4ls 4re t32ic4ll3 4llo3s o5ten cont4ining le48; t94t 94
 

$I$LIO&RAPH"?RE)ERENCE

$OO% :

1"

Electronic 8e
$"

Electronic 2roects^ b3 '4rn +4ns4l"

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Microelectronic circits^ b3 e8r4 4n8 mit9"

#"

Electronic 5or 3o^ b3 V"+ 2t4"

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67)1 4n8 embe88e8 s3stem^ b3 M4i8i 4n8 M4i8i"

Page 69