Man Sized Wall-e
Our first task was what motions should we include in Wall-e.So we had total 9 motions.we used a Couple of 24V 300rpm as a base motors. We used them in a sync with other pulleys and a belt drive to make wall-e’s belt driven base motion.
Then we had the hand movements. To use that at first we thought about using motors. But we do had a few pneumatic cylinders from Janatics pneumatics here in our lab so we thought why not use them instead of motors. so we used them almost everywhere like in the hand motions hand extensions and also in our lap jack extensions and then for head motion we used a Motor for horizontal movement and another cylinder for neck.
Again our power source was 21V LiPo Battery and a couple of Lead acids of 12V. As the wall-e being human size, it sure eats up a lot of juice.
As we published last week the way to communicate serially without using a Microcontroller. We had a module of RF 433MHz module linked through a serial link by the use of our very favorite HT12E and HT12D ICs. So we firstly thought why not to make it wireless? yeah it was fine idea but there was only one problem. HT12D can provide only 4 data bits and as you can see we needed a lot more than that. so what we did is, we formed a combination of data bits and we made a total possibility of 2^4 that is 16 combinations of I/o’s. It did limit our simultaneous usage but it was totally fine because a simultaneous motion wasn’t needed.
So we desiggned a remote with 3 DPDT switches for motors and 5 toggle switches for the pneumatics. And thats where our tansmitter module resides. and our receiver was inside the WALL-E.
On transmitter side we converted the I/O’s combinations into 4 bits of data and gave it to the HT12E. (refer code below) and again on receiver side we took the data interpreted the outputs and then the output was given to the Motor drivers and pneumatic relays. and as expected it worked totally fine. Here is the code if you would like to make use of HT12E and HT12D to provide more than 4 I/O’s to your application. The data formatting was done using atmega 8 at transmitter side and at receiver it was Atmega16. (Atmel we love you for giving us free AVR samples, thanks a ton )
P.S. the circuitry and pneumatics pipe lining sure looks lousy
Transmitter Side Code:
​
#include
#include
#include "PORT.h"
#define del _delay_ms(0)
void modes()
{
if(bit_is_clear(PINB, 6) && bit_is_set(PINB, 7) && bit_is_clear(PIND, 5) && bit_is_set(PIND, 6) )
{
PORTD |= 1<<0; //move fwd 1001
PORTD &= ~(1<<1);
PORTD &= ~(1<<2);
PORTD |= (1<<3);
}
else if(bit_is_clear(PINB, 7) && bit_is_set(PINB, 6) && bit_is_clear(PIND, 6) && bit_is_set(PIND, 5) )
{
PORTD &= ~(1<<0); //move back 1010
PORTD |= (1<<1);
PORTD &= ~(1<<2);
PORTD |= (1<<3);
}
else if(bit_is_clear(PINB, 6) && bit_is_set(PINB, 7) && bit_is_clear(PIND, 6) && bit_is_set(PIND, 5))
{
PORTD |= (1<<0);
PORTD |= (1<<1);
PORTD &= ~(1<<2);
PORTD |= (1<<3); //right fwd left back 1011
}
else if(bit_is_clear(PINB, 7) && bit_is_set(PINB, 6) && bit_is_clear(PIND, 5) && bit_is_set(PIND, 6))
{
PORTD &= ~(1<<0);
PORTD &= ~(1<<1);
PORTD |= (1<<2);
PORTD |= (1<<3); //right back left forward 1100
}
/*else if(bit_is_clear(PINB, 2) && bit_is_clear(PINB, 1))
{
PORTD &= ~(1<<0); //head pneu open and meteor poster out 0100
PORTD &= ~(1<<1);
PORTD |= (1<<2);
PORTD &= ~(1<<3);
}*/
else if(bit_is_clear(PINC, 1) && bit_is_set(PINC, 0) )
{
PORTD |= 1<<0; //head left 0101
PORTD &= ~(1<<1);
PORTD |= (1<<2);
PORTD &= ~(1<<3);
}
else if(bit_is_clear(PINC, 0) && bit_is_set(PINC, 1) )
{
PORTD &= ~(1<<0); //head right 0110
PORTD |= 1<<1;
PORTD |= (1<<2);
PORTD &= ~(1<<3);
}
else if(bit_is_clear(PIND, 5) && bit_is_set(PIND, 6) )
{
PORTD |= 1<<0; //left motor fwd 0111
PORTD |= (1<<1);
PORTD |= (1<<2);
PORTD &= ~(1<<3);
}
else if(bit_is_clear(PINB, 6) && bit_is_set(PINB, 7) )
{
PORTD &= ~(1<<0); //right motor fwd 1000
PORTD &= ~(1<<1);
PORTD &= ~(1<<2);
PORTD |= (1<<3);
}
else if(bit_is_clear(PINC, 3) && bit_is_set(PINC, 2))
{
PORTD |= 1<<0;
PORTD &= ~(1<<1);
PORTD |= (1<<2);
PORTD |= (1<<3); //winding string motor 1101
}
else if(bit_is_clear(PINC, 2) && bit_is_set(PINC, 3))
{
PORTD &= ~(1<<0);
PORTD |= (1<<1);
PORTD |= (1<<2);
PORTD |= (1<<3); //unwinding string motor 1110
}
else if(bit_is_clear(PINB, 0))
{
del;
PORTD &= ~(1<<0); //pneu 1 left & RIGHT hand open 0000
PORTD &= ~(1<<1);
PORTD &= ~(1<<2);
PORTD &= ~(1<<3);
}
else if(bit_is_clear(PINB, 1))
{
PORTD |= 1<<0 ; //head pneu open 0001
PORTD &= ~(1<<1);
PORTD &= ~(1<<2);
PORTD &= ~(1<< 3);
}
else if(bit_is_clear(PINB, 2))
{
PORTD &= ~(1<<0) ;
PORTD |= (1<< 1);
PORTD &= ~(1<< 2);
PORTD &= ~(1<<3); //pneu 3 meteor poster open 0010
}
else if(bit_is_clear(PINB, 3) )
{
del;
PORTD |= 1<<0; //pneu 4(mic) open & left hand up 0011
PORTD |= 1<<1;
PORTD &= ~(1<<2);
PORTD &= ~(1<<3);
}
else
{
PORTD |= 1<<(PIND, 0) ; //else all high 1111
PORTD |= 1<<(PIND, 1); //retract all
PORTD |= 1<<(PIND, 2);
PORTD |= 1<<(PIND, 3);
}
}
int main(void)
{
DDRB =0x00;
PORTB = 0xFF;
DDRD = 0b00001111;
PORTD = 0b11110000;
DDRC = 0x00;
PORTC = 0xFF;
//pb0 - pb3 pneumatics
//pb6- pb7 pd5- pd6 manual
//pc0 - pc3 head
while(1)
{
modes();
}
}
​
Reciever Side Code:
​
#include
#include
#define cb(x,b) x&b
#define bit(x) (1<<(x))
#define del _delay_us(10)
//INITIALISATION
void pneu()
{
switch (PINB)
{
case 0b11110000:
{
PORTA |= (1<<4); //pneu 1 left UP & RIGHT hand DWN open 0000
PORTA &= ~(1<<3);
}
break;
case 0b11110001:
{
PORTA |= (1<<6);//head pneu open 0001
}
break;
case 0b11110010:
{
PORTA |= 1<<7;//pneu 3 meteor poster open 0010
}
break;
case 0b11110011:
{
PORTA |= 1<<4;//pneu 4(mic) open & left hand up 0011
PORTA &= ~(1<<3);
PORTA |= 1<<0;
}
break;
/*
case 0b11110100:
{
PORTA |= (1<<6);//head pneu open & meteor poster 0100
PORTA |= 1<<7;
}
break;
*/
case 0b11110101:
{
OCR2 = 80;//head left 0101
PORTD &= ~(1<<6);
PORTD &= ~(1<<0); //left motor off
PORTD &= ~(1<<2); //right motor off
}
break;
case 0b11110110:
{
OCR2 = 80;//head right 0110
PORTD |= 1<<6;
PORTD &= ~(1<<0); //left motor off
PORTD &= ~(1<<2); //right motor off
}
break;
case 0b11110111:
{
PORTD |= 1<<0;//left motor fwd 0111
PORTD &= ~(1<<1);
}
break;
case 0b11111000:
{
PORTD |= 1<<2;//right motor fwd 1000
PORTD &= ~(1<<3);
}
break;
case 0b11111001:
{
PORTD |= 1<<0;//left motor fwd 0111
PORTD &= ~(1<<1);
PORTD |= 1<<2;//right motor fwd 1000
PORTD &= ~(1<<3); //move fwd 1001
}
break;
case 0b11111010:
{
PORTD |= 1<<0;//left motor BACK 0111
PORTD |= (1<<1);
PORTD |= 1<<2;//right motor BACK 1000
PORTD |= (1<<3); //move back 1010
}
break;
case 0b11111011:
{
PORTD |= 1<<2;//right motor fwd 1000
PORTD &= ~(1<<3);
PORTD |= 1<<0;//left motor BACK 0111
PORTD |= (1<<1); //right fwd left back 1011
}
break;
case 0b11111100:
{
PORTD |= 1<<0;//left motor fwd 0111
PORTD &= ~(1<<1);
PORTD |= 1<<2;//right motor BACK 1000
PORTD |= (1<<3); //right back left forward 1100
}
break;
case 0b11111101:
{
PORTC |= 1<<0;
PORTC &= ~(1<<3);//winding string motor 1101
}
break;
case 0b11111110:
{
PORTC |= 1<<3;
PORTC |= (1<<0);//unwinding string motor 1110
}
break;
case 0b11111111:
{
PORTA &= ~(1<<4); //LEFT DOWN
del;
PORTA |= (1<<3); //RIGHT UP
del;
PORTA &= ~(1<<6); //HEAD DOWN
del;
PORTA &= ~(1<<7); //METOR CLOSE
del;
PORTA &= ~(1<<0); //MIC CLOSE
del;
OCR2 = 0; //STOP HEAD
del;
PORTD &= ~(1<<0); //LEFT MOTOR STOP
del;
PORTD &= ~(1<<2); //RIGHT MOTOR STOP
del;
PORTC &= ~(1<<0); //WINDING STOP
del;
PORTC &= ~(1<<3);
del;
PORTD &= ~(1<<6); //stop head motor
del;
//else all high 1111
//retract all
}
break;
}
}
int main(void)
{
DDRA = 0xFF;
PORTA = 0x00;
DDRB = 0x00;
PORTB = 0xFF;
DDRC= 0xFF;
PORTC = 0x00;
DDRD =0xFF;
PORTD= 0x00;
TCCR1A |= 1<<COM1A1 | 1<<WGM11 | (1<<COM1B1);
TCCR1B |= 1<<CS10 | 1<<WGM13 | 1<<WGM12;
TCCR2 = 0x68 | 0<<CS21 | 0<<CS22 | 1<<CS20;
ICR1= 20000;
OCR2 = 0;
while(1)
{
pneu();
}
}