PTK40A Examples Guide - Robot Projects Using Microcontroller Board

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Examples Guide PTK40A
PTK40A
PIC16F EXAMPLES GUIDE
V1.3
Sep 2014
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Created by Cytron Technologies Sdn. Bhd. All Rights Reserved
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Index
1. Introduction
2. Getting Started
2.1 Power and Programmer
2.2 Using MPLAB
2.3 PICkit 2 Programmer
10
2.4 Using Hyperterminal
12
2.5 PTK40A Jumpers Section
13
3.
Examples:
3.1 LED Blinking
14
3.2 BUZZER
15
3.3 7-Segment: 00 to 99
16
3.4 Display Hello World on LCD
17
3.5 Read Keypad, display on 7 segment
18
3.6 Read Keypad, display on LCD
19
3.7 ADC (temperature) on 7 Segment
20
3.8 ADC (potentiometer) control DC motor
21
3.9 ADC (potentiometer) to control stepper motor rotation speed
22
3.10 ADC (potentiometer) to control RC Servo motor position
24
3.11ADC: Read Ultrasonic Range Finder
26
3.12 ADC: Read Infrared Distance Sensor
28
3.13 Digital Input with IR01A
30
3.14 Digital input with PIR sensor
32
3.15 Tachometer in RPM
34
3.16 UART, motor control from keyboard
35
3.17 Real Time Clock from Timer 1
37
3.18 I2C with DS1307 RTC
38
3.19 UART, motor control from SKPS
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3.20 Wireless with SKXBee
41
3.21 Wireless with BlueBee, Bluetooth
43
3.22 Digital Infrared Sensor
45
3.23 Password Door Security System
49
3.24 Using SD02B from PTK40A via normal digital output pin (JP26)
52
3.25 Using SD02B from PTK40A via UART interface
54
3.26 Using MD10C from PTK40A via normal digital output pin (JP27)
57
3.27 Using MD10C from PTK40A - Locked Antiphase mode
59
4.Troubleshooting and Error
63
5. Conclusion
65
Appendix A - Revision History
66
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1. INTRODUCTION
PTK40A Training Board is developed based on Microchip 8-bit 40 pins PIC MCU
(MicroController Unit). It is compatible between PIC16F and PIC18F. It covers
programming, interfacing, and applications of microcontroller and mechanical hardware to
help users in learning and developing their project with PIC MCU.
The systems hardware is well configured so that it can be programmed by any compatible
programming language such as assembly, BASIC and C (for PIC MCU). MPLAB IDE from
Microchip Technology .Inc is included in this kit which has assembler that enable user to
develop the program with assembly language. However, the explanation and sample
programs provided in the users manual are based on C language due to its relatively
flexibility and easiness in understand and developing program.
This document provides guidance to operate the examples code/applications.
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PTK40A LAYOUT
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2.GETTING STARTED
2.1 The Power and Programmer
Please connect the power supply from adapter and the USB (mini) cable provided as shown
in the below picture, please make sure the PTK40A is being powered up.
2.2 Open Example from MPLAB IDE

Please refer to the guide to install MPLAB IDE and HI-TECH C Compiler from PTK40A
Users Manual. After installation completed, double click the project file Example 1.mcp
to open the project. All examples should be under PTK40A Examples folder in PTK40As
CD.
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Or open it from MPLAB IDE Open Project icon, click on the icon shown in the picture:
Choose the desire project file to open:
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The example project will appears as the picture shown:
Please check the settings at: Programmer ->Settings (On MPLAB IDE Toolbar), ensure the
settings are same as picture shows.
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You can start editing the example program or compile it and load into PTK40A by clicking
the Build All icon as shown::
If the USB cable is connected correctly and PTK40A is powered up, the program will be
loaded into PTK40A and the output window in MPLAB IDE will show this:
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2.3 PICkit 2 Programmer

Please refer to UIC00B Users Manual to install PICkit 2 Programmer. Another method to
load example code is to use the standalone PICkit 2 Programmer GUI. Connect the USB
cable to PTK40A and ensure the PTK40A is powered up. After installation is completed,
click the PICkit2 to open the program.
This is the interface of the PICkit2:
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First, check the communication.
If the Programmer is connected and detected, import the HEX file from the desire example
folder.
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Click on write to load program after the file is being imported..
Once Programming is successful, you can check the result on PTK40A.
2.4 Using HyperTerminal

Please refer to this page for setting up HyperTerminal, click HERE
Setting USB to UART Converter
learn the UART Protocol
how to interface with computer
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2.5 PTK40A Jumpers Section
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3. Examples
3.1 LED BLINKING
Jumpers Configuration
JUMPER
NUMBER
PIN NAME
CONDITION
Jumpers Section
(refer Jumpers Section)
JP10
BUZZER
CONNECT TO BUZZER
Please load the Example1.hex (Using MPLAB IDE or PICkit 2 Programmer) after setting up
the jumpers.
Additional Hardware:
None
Expected Result:
The LED of RD4 will keep blinking after the buzzer beep for once.
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3.2 BUZZER
JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
the jumpers.
None
Expected Result:
Press SW1,
SW2 to stop buzzer sound.
buzzer will sound; Press
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3.3 7-Segment: 00 to 99
JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
the jumpers.
None
Expected Result:
7-segment will display value from 00 to 99 with increment of 1, and interval of 500ms.
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3.4 Display Hello World on LCD

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
the jumpers.
None
Expected Result:
After pressing SW1 the LCD will display Cytron PTK40A and Hello World.
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3.5. Read Keypad, display on 7 segment

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
the jumpers.
None
Expected Result:
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Keypad value will appear on 7-segment display according to button pressed.
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3.6 Read Keypad, display on LCD

Jumper Configuration
JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
the jumpers.
None
Expected Result:
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Keypad value will appear on LCD according to button pressed.
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3.7. ADC (temperature) on 7 Segment

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
JP14
TEMP
CONNECT TO TEMPERATURE
the jumpers.
None
Expected Result:
Temperature reading from LM35 is display on 7-segment. Touch the temperature sensor to
see the temperature changes.
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3.8 ADC (potentiometer) control DC motor

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
PWM
CONNECT TO PWM
JP20
DC MOTOR
CONNECT TO DC MOTOR
JP21
DC MOTOR
CONNECT TO DC MOTOR
JP14
POT
CONNECT TO POTENTIOMETER
the jumper
None
Expected Result:
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Turn the potentiometer to see the speed changes at the DC motor.
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3.9 ADC (potentiometer) to control stepper motor rotation speed

JUMPER NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
PWM
PWM
JP14
POT
CONNECT TO
POTENTIOMETER
JP20
STEPPER
CONNECT TO STEPPER
MOTOR
JP21
STEPPER
CONNECT TO STEPPER
MOTOR
JP23
UNIPOLAR
STEPPER MOTOR IN
UNIPOLAR
JP24
UNIPOLAR
STEPPER MOTOR IN
UNIPOLAR
the jumpers.
None
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Expected Result:
The stepper motor rotation speed will based on the ADC value from potentiometer.
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3.10 ADC (potentiometer) to control RC Servo motor position

JUMPER NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP9
SERVO
CONNECT TO SERVO
JP10
BUZZER
CONNECT TO BUZZER
JP14
POT
CONNECT TO
POTENTIOMETER
Please load the Example10.hex (Using MPLAB IDE or PICkit 2 Programmer) after setting
up the jumper.
None
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Expected Result:
Turn the potentiometer to see the servo motor turning.
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3.11 ADC: Read Ultrasonic Range Finder

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
JP14
EXT
CONNECT TO ULTRASONIC
up the jumpers.
Ultrasonic sensor x 1, please refer to the datasheet for further details.
Ultrasonic Connection:
Ultrasonic Pin
PTK40A External Analog Pin
GND
GND
+5V
5V
AN
IN
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Expected Result:
Once the connections are done and example code is loaded into PTK40A, the distance
detected by Ultrasonic will be displayed on LCD.
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3.12 ADC: Read Infrared Distance Sensor

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
JP14
EXT
CONNECT TO IR SENSOR
up the jumper
Sharp Analog Distance Sensor x 1, please refer to the datasheet for further
details.
IR Analog Distance Sensor Connection:
IR Distance Sensor Pin
PTK40A External Analog Pin
Vo
IN
GND
GND
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Vcc
5V
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Expected Result:
The LCD will display the result of the IR sensor, distance from IR sensor until obstacle.
This is how to measure distance using IR sensor.
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3.13 Digital Input with IR01A

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
JP15
5V
CONNECT TO 5V
up the jumpers.
IR01A Sensor x 1, please refer the Users Manual for further detail.
IR01A connection:
IR01A Pin
PTK40A External Digital Input Pin
V+
GND
IN
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Expected Result:
The buzzer will sound if the IR01A sensor detected obstacle.
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3.14 Digital input with PIR sensor

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
JP15
5V
CONNECT TO 5V
up the jumpers.
PIR Sensor
PIR sensor connection:
Please refer to the PIR Users Manual for more information.

PIR Sensor Pin
GND
OUT
IN
V+
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Expected Result:
The LED at RD5 will active (ON) there is change in environment. The PIR sensor detect
infrared.
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3.15 Tachometer in RPM

JUMPER NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
PWM
CONNECT TO PWM
JP20
DC MOTOR
CONNECT TO DC MOTOR
JP21
DC MOTOR
CONNECT TO DC MOTOR
JP14
POT
CONNECT TO
POTENTIOMETER
up the jumpers.
None
Expected Result:
Turn the potentiometer to control the speed of motor and further display the RPM on LCD. If
the encoder is too sensitive please adjust the threshold for the encoder by turning the
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potentiometer labeled Threshold.

3.16 UART, motor control from keyboard
JUMPER NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
PWM
CONNECT TO PWM
JP14
TEMP
SENSOR
JP20
DC MOTOR
CONNECTED TO DC MOTOR
JP21
DC MOTOR
CONNECTED TO DC MOTOR
up the jumpers.
UC00A or UC00B
Connection:
Please refer to Using HyperTerminal to setup the necessary connection and COM port. .
Connect UC00A or UC00B to PTK40A UART pin. Please refer to respective Users Manual
for details, UC00A Users Manual, UC00B Users Manual. This example will use UC00A.
UC00A/B
PTK40A UART PORT
RX
TX
TX
RX
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GND
Expected Result:
The brush motor will turn according to the key pressed from computer keyboard.
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While you control the motor from keyboard, PTK40A will also send temperature update to
HyperTerminal.
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3.17 Real Time Clock from Timer 1

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
up the jumpers.
None
Expected Result:
Time is displayed on LCD as shown.

instruction
SW1 = increase hours
SW2 = increase minutes
SW3 = increase seconds
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3.18 I2C with DS1307 RTC

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP3
I2C
CONNECT TO I2C
JP5
I2C
CONNECT TO I2C
JP10
BUZZER
CONNECT TO BUZZER
up the jumpers.
None
Expected Result:
The LCD will display the seconds, minutes, hours, date, month and year as shown.
To configure the clock information:
SW1 = choose mode
SW2 = increase the value
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3.19 UART, motor control from SKPS

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP9
SERVO
CONNECT TO SERVO
JP10
PWM
CONNECT TO PWM
JP20
DC MOTOR
CONNECT TO DC MOTOR
JP21
DC MOTOR
CONNECT TO DC MOTOR
up the jumpers.
SKPS, please refer to SKPS Users Manual for further information.
PS2 controller
Connection:
Connect the SKPS with PS2 controller to dedicated slot on PTK40A as shown. Please ensure
the pin is connected correctly and properly as wrong connection will most probably
damage the SKPS.
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Expected Result:
Push the knob up,down,left and right of the both joystick to see the result at servo and DC
motor.
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3.20 Wireless with SKXBee

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
(refer Jumpers Section))
JP10
BUZZER
CONNECT TO BUZZER
JP14
TEMP
up the jumpers.
Xbee Starter Kit x 2 units, please refer to SKXBee Users Manual for further
information.
Setup of SKXBee with X-CTU, please refer to this tutorial.
Red circle part is to pairing the XBee and PanID must same
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SKXBee Connection:
Please connect one of the SKXBee on PTK40A as shown, please ensure the connection is
correct and proper to avoid any damage. Another SKXBee connect to computer via USB
cable as shown.
Expected Result:
Reading from temperature sensor will shown in X-CTU and motor will turn if pressed key
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from the keyboard for motor speed, slow speed from 1, and increase until 9.
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3.21 Wireless with BlueBee, Bluetooth

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
BUZZER
CONNECT TO BUZZER
up the jumpers.
Additional Hardware :
BlueBee x1, please refer to BlueBee Users Manual for further details.
Bluetooth USB doggle x1
To setup the Bluetooth connection, please refer to here.
Connection:
Please connect the USB Bluetooth Dongle to any available USB port on computer or laptop.
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Please connect the BlueBee module on SKXBee further connect it onto PTK40A as shown.
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Expected Result:
After Bluetooth SPP (Serial Port Profile) link is created and HyperTerminal is setup, please
press the Reset button on PTK40A.
HyperTerminal will show the message to request for value from keyboard.
The number (only number value) pressed on computer keyboard will be displayed on 7segment, PTK40A.
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3.22 Digital Infrared Sensor

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
(refer location chart above)
JP10
BUZZER
CONNECT TO BUZZER
JP15
5V
5V TO POWER UP THE DEVICE
up the jumpers.
Low cost infrared sensor x 1, please refer to the Users Manual for further
details.
Connection:
Please connect the digital sensor to External Digital Port of PTK40A as shown.
Digital Sensor Pin
Brown (Vcc)
V+
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Blue (Ground)
GND
Black (Signal output)
IN
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Expected Result:
Indicator LED helps to identify the output of its signal.
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3.23 Password Door Security System

JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP7
RELAY
CONNECT TO RELAY
JP10
BUZZER
CONNECT TO BUZZER
up the jumpers.
Magnetic Door Lock x 1
Connection:
Connect the magnetic lock as shown in picture.
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The magnetic is activated when the relay is off.

Expected Result:
When switch on the power, the magnetic lock is activated and you need to key in 6 digit
password.
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If wrong password is key-in, Error message will appear and the program restart in 3 second.
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If correct password is correct, SUCCESS will appear on LCD and the lock release the metal.
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3.24 Using SD02B from PTK40A via normal digital output pin (JP26)
JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP10
PWM
CONNECT TO PWM
up the jumpers.
SD02B x1, please refer to SD02B Users Manual for further information.
STEPPER MOTOR x1
Connection:
Please connect the Stepper motor according to SD02B Users Manual. Further connect
SD02B to PTK40A Stepper port as shown in above diagram. Move the jumper on SD02B
to Vmotor.
SD02B
PTK40A SDXXX Stepper Port
Vmotor
VIN
GND
GND
PULSE
PULSE
DIR
DIR
EN
EN
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Expected Result:
Follow the instructions on LCD. SW1 to increase speed while SW2 to decrease speed. SW3
will activate/deactivate the turning of Stepper motor. SD02B have default step to
microstepping of 10:1, so it might be very slow, try to increase speed to maximum.
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3.25 Using SD02B from PTK40A via UART interface

JUMPER NUMBER
JP10
PIN NAME
CONDITION
LOCATION NUMBER
BUZZER
CONNECT TO BUZZER
up the jumpers.
SD02B x1, please refer to the Users Manual for further information.
STEPPER MOTOR x1
Connection:
Connection of SD02B to PTK40A
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Connection from PTK40A to SD02B board
Power supply from the PTK40A board
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Expected Result:
SW1 and SW 2 is to change direction, SW3 is for active or deactivate the SD02B.
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3.26 Using MD10C from PTK40A via normal digital output pin (JP27)
JUMPER NUMBER
JP10
PIN NAME
CONDITION
LOCATION NUMBER
PWM
CONNECT TO PWM
up the jumpers.
DC Brushed Motor x 1
MD10C x1, please refer to the Users Manual for further details.
Connection:
This is the basic diagram of the connection
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MD10C connection
Connection at the PTK40A board

MD10C
PTK40A MDXXX Port
VIN
VIN
DIR
CW
PWM
PWM
GND
GND
Please move the jumper for BOARD SUPPLY to VIN on MD10C.

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Expected Result:
The DC brush motor will rotate in a direction when SW1 is pressed, while in another
direction when SW2 is pressed.
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3.27 Using MD10C from PTK40A: Locked Antiphase mode

JUMPER NUMBER
JP10
PIN NAME
CONDITION
LOCATION NUMBER
PWM
CONNECT TO PWM
up the jumpers.
Connection:
Full connection
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MD01C Connection
PTK40A Connection
MD10C
PTK40A MDXXX Port
VIN
VIN
DIR
PWM
PWM
CCW
GND
GND
Expected result:
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MOTOR EXPECTED TO STOP TURNING
MOTOR EXPECTED TO TURN CW DIRECTION
MOTOR EXPECTED TO TURN AT CCW DIRECTION

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The DC brush motor will rotate in a direction when SW1 is pressed, while in another
direction when SW2 is pressed.
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3.28 reserve
JUMPER
NUMBER
PIN NAME
CONDITION
LOCATION NUMBER
JP3
I2C
NOT APPLICABLE
JP5
I2C
NOT APPLICABLE
JP6
SPI
NOT APPLICABLE
JP7
SPI
NOT APPLICABLE
JP9
SK_RST
NOT APPLICABLE
JP10
BUZZER
CONNECT TO BUZZER
JP14
POT
NOT APPLICABLE
JP15
5V
NOT APPLICABLE
JP18
OUT
NOT CONNECTED
JP20
STEPPER
NOT APPLICABLE
JP21
STEPPER
NOT APPLICABLE
JP23
UNIPOLAR
NOT APPLICABLE
JP24
UNIPOLAR
NOT APPLICABLE
Please load the Example 22.hex (Using MPLAB IDE or PICkit 2 Programmer) after setting
up the jumpers.
Connection:
Expected Result:
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4.TROUBLESHOOTING & ERROR

4.1 Compiler Version
There are differences in code when different version of HI-TECH C Compiler is used. The
examples given (Jul 2012) is being compiled under MPLAB IDE v8.63 with HI-TECH C
Compiler for PIC10/12/16 V9.80. Yet, it is compatible with V9.82. So, if you are using
different version of HI-TECH, please re-install it either with V9.80 or V9.82. We cannot
ensure the compilable of the code if you are using other version of compiler.
The examples code are compiled under HI-TECH C Compiler V9.80, if you are using later
version such as V9.82, please follow the steps below.
1st, click on the system.h
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2nd, change version support code
Thats all.
4.2 PICkit 2 not detected or error message
Connection and power of PTK40A might sometime lead to problem to load program. So
when you see the PICkit2 cannot get the ID of the PTK40A, please check weather the power
of PTK40A is activated and the USB cable is connected properly.
If problem still occur please check weather the setting is correct according to above setting.
4.3 Other Problems

If you still encounter problem which are unable to be solved. You are welcome to discuss it
in our technical forum anytime. Please explain the condition and capture photo of the
PTK40A problem.
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5. CONCLUSION
Examples provided for PTK40A is aiming as references, not as a complete project. Please
feel free to modify it and suite it to your own purpose.
If you have any inquiry/problem, please do discuss in our technical forum. We prefer to have
a good learning and sharing environment where public may contribute and benefit from the
discussion, an open forum provide that.
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Appendix A - Revision History

V1.0 (July 2012) - Initial Complete Release
V1.1 (June 2014) - Correction of the steps in Example 3.2, update address and phone
number.
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Prepared by
Cytron Technologies Sdn. Bhd.
No. 16, Jalan Industri Ringan Permatang Tinggi 2,
Kawasan Industri Ringan Permatang Tinggi,
14100 Simpang Ampat,
Penang, Malaysia.
Tel:
Fax:
+604-504 1878
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PTK40A Examples Guide - Robot Projects Using Microcontroller Board

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PTK40A Examples Guide - Robot Projects Using Microcontroller Board

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ROBOT .

ROBOT . HEAD to TOE

2.1 Power and Programmer

2.2 Using MPLAB

2.3 PICkit 2 Programmer

2.4 Using Hyperterminal

2.5 PTK40A Jumpers Section

3.1 LED Blinking

3.4 Display Hello World on LCD

3.5 Read Keypad, display on 7 segment

3.6 Read Keypad, display on LCD

3.7 ADC (temperature) on 7 Segment

3.8 ADC (potentiometer) control DC motor

3.9 ADC (potentiometer) to control stepper motor rotation speed

3.10 ADC (potentiometer) to control RC Servo motor position

3.11ADC: Read Ultrasonic Range Finder

3.12 ADC: Read Infrared Distance Sensor

3.13 Digital Input with IR01A

3.14 Digital input with PIR sensor

3.15 Tachometer in RPM

3.16 UART, motor control from keyboard

3.17 Real Time Clock from Timer 1

3.18 I2C with DS1307 RTC

3.19 UART, motor control from SKPS

ROBOT . HEAD to TOE

3.20 Wireless with SKXBee

3.21 Wireless with BlueBee, Bluetooth

3.22 Digital Infrared Sensor

3.23 Password Door Security System

3.25 Using SD02B from PTK40A via UART interface

3.27 Using MD10C from PTK40A - Locked Antiphase mode

4.Troubleshooting and Error

Appendix A - Revision History

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

2.2 Open Example from MPLAB IDE

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

Choose the desire project file to open:

ROBOT . HEAD to TOE

The example project will appears as the picture shown:

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

2.3 PICkit 2 Programmer

ROBOT . HEAD to TOE

First, check the communication.

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

Click on write to load program after the file is being imported..

Once Programming is successful, you can check the result on PTK40A.

2.4 Using HyperTerminal

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

2.5 PTK40A Jumpers Section

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE

buzzer will sound; Press

ROBOT . HEAD to TOE

ROBOT . HEAD to TOE