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.

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.

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.

Figure 1.2a: The graphical diagram of infrared sensor.

Figure 1.2b: The schematic diagram of infrared sensor.

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 1F ++. Figure 1.3a is showing the graphical diagram of Polarized Capacitors; figure 1.3b is showing the schematic diagram of Polarized Capacitors.

Figure 1.3a: The graphical diagram of Polarized Capacitors.

Figure 1.3b: 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 1F only. Figure 1.3c is showing the graphical diagram of Unpolarized Capacitors; figure 1.3d is showing the schematic diagram of Unpolarized Capacitors.

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.

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.

Figure 1.4a: The graphical diagram of 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.

Figure 1.4c: The graphical diagram of Figure 1.4d: The schematic diagram of zener diode. zener diode.

1.5. Light Emitting Diodes (LEDs) LED when an electric current flow through them. LED is same as diodes 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.

Figure 1.5a: The graphical diagram of LED.

Figure 1.5b: The schematic diagram of 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.

Figure 1.6a: The graphical diagram of relays.

Figure 1.6b: The schematic diagram of relays.

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.

Figure 1.7a: The graphical diagram of resistors.

Figure 1.7b: The schematic diagram of resistors.

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.

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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 Pushbutton 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
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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.

Figure 1.10a: The graphical diagram of SPDT Switch.

Figure 1.10b: The schematic diagram of 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.

Figure 1.10c: The graphical diagram of Push-button Switch.

Figure 1.10d: The schematic diagram of 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.
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Figure 1.11a: The graphical diagram of crystal oscillator.

Figure 1.11b: The schematic diagram of 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 noninverting 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
13

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 standards graphical diagram. Figure 2.1b is showing schematic diagram of LM393.

Figure 2.1a: The LM393 series standards graphical diagram.

Figure 2.1b: The schematic diagram of LM393

2.2. 74LS04 Hex Inverters 74LS04 hex inverter is a device contains six independent Input 0 1 0 = low, 1 = high Output positive inverters. Pins 14 and 7 provide power for all six 1 logic gates. Inverter is a logic gate which operated logical 0 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
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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.

Figure 2.2b: The schematic diagram of 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.

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Figure 2.3a: The graphical diagram of Quadruple Half-H driver L-293D.

Figure 2.3b: The schematic diagram of 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.

Figure 2.4a: The graphical diagram of De-Multiplexer IC PT2262.

Figure 2.4b: The schematic diagram of DeMultiplexer IC PT2262.

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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 DeMultiplexer IC PT2272.

Figure 2.5b: The schematic diagram of DeMultiplexer IC PT2272.

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
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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.

Figure 2.6a: The graphical diagram of PIC16F84A Microcontroller.

Figure 2.6b: The schematic diagram of 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.
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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.

Figure 3.1a: The graphical diagram of 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.

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Figure 3.2a: The graphical diagram of heat sinks.

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.

Figure 3.3a: The graphical diagram of Multimeter.

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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.

Figure 3.4a: The graphical diagram of 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).
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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 electricitys 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.

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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.

Figure 3.7b: 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.

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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.

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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 its not suitable for trimming component leads. Figure 3.10a is showing the graphical diagram of Wire Strippers.

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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.

Figure 3.12a: The graphical diagram of 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.
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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.
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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.

Figure 3.16a: The graphical diagram of Rechargeable Battery

Figure 3.16b: The graphical diagram of Disposable Battery.

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3.17. Black Carpet We are used a black carpet become line follower robots route. Wherefore, the infrared sensor couldnt detect black colour surface, this will cause the line follower robot cant 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.

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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.
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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.

Figure 3.21a: The graphical diagram of 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.

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Figure 3.22a: The graphical diagram of 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.

Figure 3.23a: The graphical diagram of 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.

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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.

Figure 3.25a: The graphical 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.

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Figure 3.26a: The graphical diagram of 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.

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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.

Figure 3.28a: The graphical 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

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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.

Figure 3.30a: The graphical diagram of 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.

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4. Socket 4.1. Molex 2-Pin Power Connector Molex 2-Pin Power Connector is a battery cables 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 40Pin Header Single Row.

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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.

Figure 4.3a: The graphical diagram of 2-Pin PSU Connector.

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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. 1. Software MPLAB Description Writing and coding the programming part Design PCB diagram Writing report Logo Destination www.microchip.com

2. 3.

Eagle Microsoft Word Microsoft PowerPoint PIC Kit

www.eagle.com

4.

Presentation slide

5.

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.

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1. LM7805 Voltage Regulator Firstly, used a wire connection link to 9V power supply to LM7805s pin no.01, and then connected LM7805s pin no.02 to ground for activated the LM7805. The pin no.03 has been connected with ohmmeter red probe on voltages 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.

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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 330 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.

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

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

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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 noninverting 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 10K (VR1) between infrared sensors Receiver and the black probe connected to the ground. The
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multimeter range must be 10Vfor measure value of voltage in. After that, the wiper of variable resistor no.1 10K (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 10K (VR2) and black probe connected to the ground. The value of voltage reference is 2.4V between 2.8V adjusted by variable resistors wiper. Figure 3c is showing the schematic diagram how to test and adjusted the voltage reference.

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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.
45

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.

46

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.

47

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.

48

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 90 , 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 1. 2. 3. 4. 5. Name of Item Battery Battery SPDT Switch Voltage Regulator Heat Sink

Range / Value
9.6V 4.8V PCS LM7805 PCS

Quantity
1 1 2 1 1

49

No 6. 7. 8. 9.

Name of Item Capacitor Resistor Resistor Resistor Variable Resistor

Range / Value
0.1F 330 1K 470 10K

Quantity
2 2 4 2

10. (Preset) Dual-Voltage 11. Comparator 12. 13. 14. 15 16. Relay Transistor Diode DC Motor IR Sensor

LM393

5VDC C9013 IN4001 5VDC Set

2 2 10 2 2

50

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

51

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

52

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.

53

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. 1. 2. 3. 4. 5. 6. Battery SPDT Switch Voltage Regulator Heat Sink Capacitor Wireless (Transmitter) 7. Wireless (Receiver) Remote Control Set 1 Remote Control Name of Item Range/ Value 9.6V PCS LM7805 PCS 0.1F Set Quantity 2 2 2 2 4 1

54

No. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. Resistor Resistor Resistor

Name of Item

Range/ Value 330 470 1K 10K LM393 Set PCS C9013 74LS04 L-293D IN4001 16F84A 104 32KHz 5VDC PCS PCS PCS PCS A4 Set

Quantity 5 5 10 10 3 5 3 4 1 1 8 1 3 1 2 1 2 2 2 2 20

Variable Resistor (Preset) Dual-Voltage Regulator IR Sensor LED Transistor Hex Inverter Quadruple Half-H Driver Diode PIC Microcontroller Capacitor Crystal Relay LED Arrow Display Servo Motor Wheels Castor Printed Circuit Board Screw & Nut

55

No. 29. 30. 31. 32. 33.

Name of Item 40-Pin Header Single Row 2-Pin PSU Connector Molex 2-Pin Power Connector Socket* USB ICSP PIC Programmer & ICSP Programmer Socket

Range/ Value PCS PCS Set PCS Set

Quantity 2 40 2 1 1

34. 35. 36. 37. 38. 39. 40. 41. 42.

Mahjong Paper Poster Color Poster Color Maker Pen Poster Color Pen* Hot Glue Iron Robot Chasis Sticker Paper Jumper Wire ( Red, Black, Yellow, White, Blue, Orange, Violet, Grey)

PCS Black White Black PCS PCS PCS A4 3 meter

10 1 1 1 1 1 1 10 8

43. 44. 45. 46. 47.

8-pins Socket 14-pins Socket 16-pins Socket 18-pins Socket Sand Paper
56

PCS PCS PCS PCS A4

3 1 4 1 3

No. 48. 49. 50. Acid*

Name of Item

Range/ Value 3KG PCS SET

Quantity 1 6 2

Breadboard Mini Jumper*

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

57

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

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

58

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

59

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

60

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 microcontrollers 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.
61

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

62

2.4.3. The graphical diagram of PIC Microcontroller Circuit

2.4.4 Procedures of PIC Microcontroller Circuit 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. 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
63

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

64

2.5.2. The PCB diagram of Sensor Barrier Circuit

2.5.3. The graphical diagram of Sensor Barrier Circuit

65

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 references 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.

66

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

67

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

68

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

69

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 420 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 10K pin no.02 and left motor; pin no.04 connected to the ground; pin no.05 connected to right motor and variable resistor 10K 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 420; 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;

70

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

71

2.8.2 The PCB diagram of LED Arrow Display

2.8.3 The graphical diagram of LED Arrow Display

72

2.8.4 Procedures of LED Arrow Display 1. The infrared sensor circuit will switch on using by 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 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 references 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.

73

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

74

2.10 Modified and Added Some Application into ICar The application of ICar is using to transportation something else to another place, and we have been used iron box to store something link with behind ICar. 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 ICar. The below following is a graphical of application and modified with ICar.

Iron Stand

Iron Box

DEE 0508

^U ^

YST
75

KI

2.11 Programming Assembly Language into ICar We have been using assembly language for coding to control our ICar and few step to programming (Please refer appendices No. 2.11). The following below shown assembly language coding

ICar Coding ; ICar 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
76

BCF STATUS,5 CLRF PORTA CLRF PORTB CLRF COUNT ;===================================================

SW0

BTFSS GOTO BCF BTFSS GOTO BCF BTFSS GOTO BCF BTFSC GOTO BCF GOTO

PORTA,0 TURNON0 PORTB,0 PORTA,1 TURNON1 PORTB,1 PORTA,2 TURNON2 PORTB,2 PORTA,3 TURNON3 PORTB,3 SW0

SW1

SW2

SW3

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

77

Running Light Coding ; Running Light Coding TMR0 STATUS PORTA PORTB TRISA TRISB OPTION_R ZEROBIT COUNT EQU EQU EQU EQU EQU EQU EQU EQU EQU LIST ORG GOTO 1 3 5 6 85H 86H 81H 2 0CH P=16F84 0 START

__CONFIG

H'3FF0'

;=================================================== DELAY1 LOOPA CLRF MOVF SUBLW BTFSS GOTO RETLW BSF MOVLW MOVWF MOVLW MOVWF MOVLW MOVWF BCF CLRF CLRF CLRF TMR0 TMR0,W .10 STATUS,ZEROBIT LOOPA 0 STATUS,5 B'00011111' TRISA B'00000000' TRISB B'00000111' OPTION_R STATUS,5 PORTA PORTB COUNT

START

ON

BSF BSF

PORTB,0 PORTB,5
78

BSF CALL BSF BSF BCF BSF BCF CALL BSF BSF BSF BSF BCF CALL BCF BCF BSF BCF CALL BSF BCF BCF BSF BCF CALL BCF BCF BCF BSF BCF CALL BSF BSF BSF BSF BCF

PORTB,6 DELAY1 PORTB,1 PORTB,2 PORTB,5 PORTB,7 PORTB,6 DELAY1 PORTB,3 PORTB,4 PORTB,5 PORTB,6 PORTB,7 DELAY1 PORTB,0 PORTB,5 PORTB,7 PORTB,6 DELAY1 PORTB,5 PORTB,1 PORTB,2 PORTB,6 PORTB,7 DELAY1 PORTB,5 PORTB,3 PORTB,4 PORTB,7 PORTB,6 DELAY1 PORTB,5 PORTB,4 PORTB,3 PORTB,6 PORTB,7
79

CALL BCF BSF BSF BSF BCF CALL BSF BSF BSF BCF CALL BCF BCF BCF BSF BCF CALL BSF BCF BCF BSF BCF CALL BCF BCF BSF BCF CALL GOTO END

DELAY1 PORTB,5 PORTB,2 PORTB,1 PORTB,7 PORTB,6 DELAY1 PORTB,5 PORTB,0 PORTB,6 PORTB,7 DELAY1 PORTB,5 PORTB,4 PORTB,3 PORTB,7 PORTB,6 DELAY1 PORTB,5 PORTB,2 PORTB,1 PORTB,6 PORTB,7 DELAY1 PORTB,5 PORTB,0 PORTB,7 PORTB,6 DELAY1 ON

80

Alpha Numeric Displays Coding

; Alpha Numeric Displays Coding TMR0 STATUS PORTA PORTB TRISA TRISB OPTION_R ZEROBIT COUNT EQU EQU EQU EQU EQU EQU EQU EQU EQU 1 3 5 6 85H 86H 81H 2 0CH

;****************************************************************** LIST ORG GOTO P=16F84 ;we are using the 16F84. 0 ;the start address in memory is 0 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 LOOPC

CLRF MOVF SUBLW BTFSS GOTO RETLW BSF NOP

TMR0 ;Start TMR0 TMR0,W ;Read TMR0 into W .3 ;TIME - W STATUS,ZEROBIT ;Check TIME-W ? 0 LOOPC 0 ;return after TMR0 ? 3 PORTA,2
81

CLOCK

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 MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW 2 ;enables the display PORTA 4H PORTB CLOCK 2H ;42 is code for B PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 3H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 4H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H
82

MOVWF CALL MOVLW MOVWF CALL RETLW F MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW

PORTB CLOCK 5H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 6H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 7H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 8H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 9H PORTB CLOCK ;clock character onto display. 0
83

MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF

2 ;enables the display PORTA 4H PORTB CLOCK 0AH PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 0BH PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 0CH PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 0DH PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK ;clock character onto display. 0EH PORTB
84

CALL RETLW O MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF

CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 4H PORTB CLOCK 0FH PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 0H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 1H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 2H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB
85

CALL MOVLW MOVWF CALL RETLW T MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW

CLOCK 3H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 4H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 5H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 6H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 7H PORTB CLOCK ;clock character onto display. 0 2
86

WW

MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW Y MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW

PORTA 5H PORTB CLOCK 8H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 9H PORTB CLOCK ;clock character onto display. 0 2 PORTA 5H PORTB CLOCK 0AH PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 0H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 1H PORTB CLOCK ;clock character onto display. 0
87

NUM0

NUM1

NUM2

MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW

2 ;enables the display PORTA 3H PORTB CLOCK 2H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 3H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK ;clock character onto display. 4H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 5H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 6H
88

NUM3

NUM4

NUM5

NUM6

MOVWF CALL RETLW NUM7 MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW MOVWF CALL MOVLW MOVWF CALL RETLW MOVLW MOVWF MOVLW

PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 7H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 8H PORTB CLOCK ;clock character onto display. 0 2 ;enables the display PORTA 3H PORTB CLOCK 9H PORTB CLOCK ;clock character onto display. 0 2 PORTA 2H PORTB CLOCK 0H PORTB CLOCK ;clock character onto display. 0 2 PORTA 2H
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NUM8

NUM9

GAP

DOT

MOVWF CALL MOVLW MOVWF CALL RETLW CLRDISP CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL RETLW

PORTB CLOCK 0EH PORTB CLOCK ;clock character onto display. 0 PORTA 0H PORTB CLOCK ;clock character onto display. 1 PORTB CLOCK DELAYP1 0

;********************************************************* ; CONFIGURATION SECTION. START BSF MOVLW MOVWF MOVLW MOVWF MOVLW MOVWF BCF CLRF CLRF STATUS,5 ;Turns to Bank1. B'00000000' ;PORTA is O/P TRISA B'00000000' TRISB ;PORTB is OUTPUT B'00000111' ;Prescaler is /256 OPTION_R ;TIMER is 1/32 secs. STATUS,5 ;Return to Bank0. PORTA ;Clears PortA. PORTB ;Clears PortB.

;Display Configuration MOVLW MOVWF CALL CALL MOVLW MOVWF CALL CALL MOVLW MOVWF CALL CALL MOVLW 03H ;FUNCTION SET PORTB ;8bit data (default) CLOCK DELAYP1 ;wait for display 02H ;FUNCTION SET PORTB ;change to 4bit CLOCK ;clock in data DELAYP1 ;wait for display 02H ;FUNCTION SET PORTB ;must repeat command CLOCK ;clock in data DELAYP1 ;wait for display 08H ;4 bit micro
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MOVWF CALL CALL MOVLW MOVWF CALL MOVLW MOVWF CALL CALL MOVLW MOVWF CALL MOVLW MOVWF CALL

PORTB ;using 2 line display. CLOCK ;clock in data DELAYP1 0H ;Display on, cursor off PORTB ;0CH CLOCK 0CH PORTB CLOCK DELAYP1 0H ;Increment cursor, 06H PORTB CLOCK 6H PORTB CLOCK

;******************************************************** BEGIN CALL CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CLRDISP PORTA 8H ;Cursor at top left, 80H PORTB CLOCK 0H PORTB CLOCK GAP GAP G;display M DELAYP1 ;wait 0.1 seconds O ;display I DELAYP1 ;wait 0.1 seconds O ;Etc. DELAYP1 D DELAYP1 GAP DELAYP1 M DELAYP1 O DELAYP1 R DELAYP1 N
91

CALL CALL CALL CALL CALL CALL CALL CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL

DELAYP1 I DELAYP1 N DELAYP1 G DELAYP1 PORTA 0CH ;Cursor on 2nd line PORTB CLOCK 3H PORTB CLOCK GAP L DELAYP1 E DELAYP1 C DELAYP1 T DELAYP1 U DELAYP1 R DELAYP1 E DELAYP1 S DELAY3 ;wait 3 seconds

CALL MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL

CLRDISP 8H ;Cursor at top left, 80H PORTB CLOCK 0H PORTB CLOCK P DELAYP1 R DELAYP1
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CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CLRF MOVLW MOVWF CALL MOVLW

E DELAYP1 S DELAYP1 E DELAYP1 N DELAYP1 T DELAYP1 E DELAYP1 D DELAYP1 GAP GAP GAP BB DELAYP1 Y PORTA 0CH ;Cursor on 2nd line PORTB CLOCK 3H PORTB CLOCK GAP GAP GAP S DELAYP1 GAP T DELAYP1 GAP Y DELAY3 ;wait 3 seconds CLRDISP PORTA 8H ;Cursor at top left, 80H PORTB CLOCK 0H
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MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL

PORTB CLOCK WW DELAYP1 E DELAYP1 L DELAYP1 C DELAYP1 O DELAYP1 M DELAYP1 E GAP DELAYP1 GAP T DELAYP1 O DELAYP1 GAP GAP O DELAYP1 U DELAYP1 R DELAYP1

CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL

PORTA 0CH ;Cursor on 2nd line PORTB CLOCK 3H PORTB CLOCK GAP GAP GAP T DELAYP1 A
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CALL CALL CALL CALL CALL CALL CALL CALL CLRF MOVLW MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CLRF MOVLW

DELAYP1 L DELAYP1 K DELAYP1 S DELAY3 ;wait 3 seconds CLRDISP PORTA 8H ;Cursor at top left, 80H PORTB CLOCK 0H PORTB CLOCK GAP GAP L DELAYP1 I DELAYP1 N DELAYP1 E GAP DELAYP1 F DELAYP1 O DELAYP1 L DELAYP1 L DELAYP1 O DELAYP1 WW DELAYP1 E DELAYP1 R DELAYP1 PORTA 0CH ;Cursor on 2nd line
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MOVWF CALL MOVLW MOVWF CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL CALL

PORTB CLOCK 3H PORTB CLOCK GAP GAP R DELAYP1 O DELAYP1 BB DELAYP1 O DELAYP1 T DELAYP1 I DELAYP1 C DELAY3

GOTO END

BEGIN

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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

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2.12.2 The graphical diagram of Alpha Numeric Display

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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 sockets 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.
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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.

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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.

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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.

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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.

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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 ones knowledge and experiences.

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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

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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

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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

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APPENDICES METHODOLOGY 1. Procedures of Assembly Components 1.1 Making PCB Steps Involved

1.2. List out the components in the eagle 1.1. Prepare the required circuit diagram. 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.

108

1.5. Cut 1.6. Ironing the circuit diagram pasted on the board to final size and shape using by handsaw or the bare board (coated with a thin layer of jet saw. 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.

109

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 1.12. Complete the PCB in this stage. into PCB and test each soldering point have short the circuit or not using by multimeter.

110

RESULTS & DISCUSSION 1. Toy Racing Car 1.1 Components List No 1. 2. 3. 4. 5. 6. 7. 8. 9. Name of Item Battery Battery SPDT Switch Voltage Regulator Heat Sink Capacitor Resistor Resistor Resistor Variable Resistor 10. (Preset) Dual-Voltage 11. Comparator 12. 13. 14. 15 16. Relay Transistor Diode DC Motor IR Sensor 5VDC C9013 IN4001 5VDC Set 2 2 10 2 2 LM393 1 10K 4

Range / Value
9.6V 4.8V PCS LM7805 PCS 0.1F 330 1K 470

Quantity
1 1 2 1 1 2 2 4 2

111

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

112

Front View

Behind View

Left View

Right View

113

2. Intelligence Car (I-Car) 2.1 Components List No. 1. 2. 3. 4. 5. 6. Battery SPDT Switch Voltage Regulator Heat Sink Capacitor Wireless (Transmitter) 7. Wireless (Receiver) 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. No. Resistor Resistor Resistor Variable Resistor (Preset) Dual-Voltage Regulator IR Sensor LED Transistor Hex Inverter Quadruple Half-H Driver Name of Item
114

Name of Item

Range/ Value 9.6V PCS LM7805 PCS 0.1F

Quantity 2 2 2 2 4 1

Remote

Control

Set

Remote

Control

Set

330 470 1K 10K LM393 Set PCS C9013 74LS04 L-293D Range/ Value

5 5 10 10 3 5 3 4 1 1 Quantity

No. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32. 33. Diode

Name of Item

Range/ Value IN4001 16F84A 104 32KHz 5VDC PCS PCS PCS PCS A4 Set PCS PCS Set PCS Set

Quantity 8 1 3 1 2 1 2 2 2 2 20 2 40 2 1 1

PIC Microcontroller Capacitor Crystal Relay LED Arrow Display Servo Motor Wheels Castor Printed Circuit Board Screw & Nut 40-Pin Header Single Row 2-Pin PSU Connector Molex 2-Pin Power Connector Socket* USB ICSP PIC Programmer & ICSP Programmer Socket

34. 35. 36. 37.

Mahjong Paper Poster Color Poster Color Maker Pen

PCS Black White Black

10 1 1 1

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No. 38. 39. 40. 41. 42.

Name of Item Poster Color Pen* Hot Glue Iron Robot Chasis Sticker Paper Jumper Wire ( Red, Black, Yellow, White, Blue, Orange, Violet, Grey)

Range/ Value PCS PCS PCS A4 3 meter

Quantity 1 1 1 10 8

43. 44. 45. 46. 47. 48. 49. 50.

8-pins Socket 14-pins Socket 16-pins Socket 18-pins Socket Sand Paper Acid* Breadboard Mini Jumper*

PCS PCS PCS PCS A4 3KG PCS SET

3 1 4 1 3 1 6 2

116

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

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

117

2.4.2. The PCB diagram of PIC Microcontroller Circuit

2.5.2. The PCB diagram of Sensor Barrier Circuit

118

2.6.2. The PCB diagram of Infrared Sensor Circuit

2.7.2 The PCB diagram of Motor Drive Circuit

119

2.8.2 The PCB diagram of LED Arrow Display

120

2.9 The Graphical Diagram of I-Car

Bottom View

Top View

Front View Behind View

Left View

Right View

121

2.11 Programming Assembly Language into ICar

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.

122