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Fire Bird V P89V51RD2: Motion Control Using I/O Ports

The document describes the motion control of a Fire Bird V robot using input/output ports. It explains that two DC motors connected to ports 1 and 3 of the microcontroller are used to control the robot's movement. An L293D IC chip is used as a driver between the microcontroller and DC motors. A logic table shows the port configurations for different motions like forward, reverse, left turn, right turn, and soft motions.

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vishnuks
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41 views

Fire Bird V P89V51RD2: Motion Control Using I/O Ports

The document describes the motion control of a Fire Bird V robot using input/output ports. It explains that two DC motors connected to ports 1 and 3 of the microcontroller are used to control the robot's movement. An L293D IC chip is used as a driver between the microcontroller and DC motors. A logic table shows the port configurations for different motions like forward, reverse, left turn, right turn, and soft motions.

Uploaded by

vishnuks
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Fire Bird V P89V51RD2

Motion Control using I/O Ports

By Pawankumar Suryawanshi

ERTS LAB
CSE IIT BOMBAY
Various Motions of Fire Bird V

Forward Reverse

Right Turn Left Turn


ERTS LAB
CSE IIT BOMBAY
Various Motions of Fire Bird V

Soft Right Soft Left

ERTS LAB
CSE IIT BOMBAY
Direction Control
• Two DC motors are connected to Port1
(P1.0-P1.4)and Port3(P3.4) of the
microcontroller.

• IC L293D is used as a driver between the


microcontroller and the DC motors.

ERTS LAB
CSE IIT BOMBAY
Block Diagram of L293D IC

ERTS LAB
CSE IIT BOMBAY
Logic table for direction control of Motors:
LEFT LEFT RIGHT RIGHT
BACKWARD FORWARD FORWARD BACKWARD
DIRECTION (LB) (LF) (RF) (RB) PWM
P1.0 P1.1 P1.2 P3.4
0 1 1 0 As per velocity
FORWARD requirement
1 0 0 1 As per velocity
REVERSE requirement
LEFT (Left wheel fwd, 0 1 0 1 As per velocity
Right wheel bckwd) requirement
RIGHT (Left wheel 1 0 1 0 As per velocity
bckwd, Right wheel fwd) requirement
SOFT LEFT (Left wheel 0 1 0 0 As per velocity
fwd, Right wheel stop) requirement
SOFT RIGHT (Left wheel 0 0 1 0 As per velocity
stop, Right wheel fwd) requirement
SOFT RIGHT 2 (Left 0 0 0 1
As per velocity
wheel stop, Right wheel
requirement
bckwd)
SOFT LEFT 2 (Left wheel 1 0 0 0 As per velocity
bckwd, Right wheel stop) requirement
0 0 0 0 As per velocity
HARD STOP requirement
SOFT STOP (Free X X X X
0
running stop)

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