DifferentialDrive www.eXtremeElectronics.co.

in
AVRATmega8BasesLineFollower.
EasytomakePIDLFRRobot.

Differentialdriveisadrivesysteminwhichbothmotionandsteeringcanbedonebytwosetofpoweredwheels.In
differentialdrivetheirisaLEFTwheelandRIGHTwheels.Botharepowered.Itdoesnotrequiresturningoffront
wheelforthesteeringlikewesteercarorbikes.Toturnthevehicle(orrobo)theLEFTandRIGHTwheelsare
rotatedat"different"speeds.That'swhyitscalleddifferentialdrive.ForexampleIftheRIGHTwheelsrotatesfaster
thantheLEFTwheelsthentherobotwillturntowardsLEFT.

Forthisrobotwewillusethefollowingrotationofwheelforthesteeringandstraightmotion.

Motion LEFTWheel RIGHTWheel

Forward CounterClockwise Clockwise
Backward Clockwise CounterClockwise
RotateLEFT Clockwise Clockwise
RotateRIGHT CounterClockwise CounterClockwise

Thefollowingdiagramexplainsrobotsdifferentialdriveindetails
 RoboticDifferentialDriveSystem

Fig.1DifferentialDriveSystem

SomovingandsteeringtherobotisjustthematterofcontrollingtwoDCmotors.YoucaneasilyaccessDCmotors
fromxAPI.

OnceyougothroughthearticlesyouknowhowtostartaparticularmotoreitherinCWorCCWdirection.Here
MotorAwillbetherightmotorandtheMotorBwillbetheleftmotor.Sothefollowingcodesnippetsdoesthejob.

MoveRoboForward

MotorA(MOTOR_CW,255); //RightMotorMovesClockwise(CW)withFullSpeed(255)
MotorB(MOTOR_CCW,255);//LeftMotorMovesCounterClockwise(CCW)withFullSpeed(255)

MoveRoboBackward

MotorA(MOTOR_CCW,255); //RightMotorMovesCounterClockwise(CCW)withFullSpeed(255)
MotorB(MOTOR_CW,255);//LeftMotorMovesClockwise(CW)withFullSpeed(255)

RotateRoboLeft

MotorA(MOTOR_CW,255); //RightMotorMovesClockwise(CW)withFullSpeed(255)
MotorB(MOTOR_CW,255);//LeftMotorMovesClockwise(CW)withFullSpeed(255)

RotateRoboRight

MotorA(MOTOR_CCW,255); //RightMotorMovesCounterClockwise(CCW)withFullSpeed(255)
MotorB(MOTOR_CCW,255);//LeftMotorMovesCounterClockwise(CCW)withFullSpeed(255)

Ihaveexplainedthecodeheresoitdoesnotcreateconfusionwhenthewholeprogram(whichisreasonably
large)oftherobotispresentedtoyou.

ToknowmoreaboutthefunctionsMotorAandMotorBpleaseseetheirdocumentationhere.

SampleCode#1
Thiscodemovestherobotforwordforsometime(t)andthenmovestherobotbackwordsforsametime(t).

/*********************************************************************

LFRBoardSamplePrograms

Description:Demonstrateforwardandbackwardmotionofrobot.

Author:AvinashGupta2012
Web:www.eXtremeElectronics.co.in

**********************************************************************/

#include<avr/io.h>
#include<util/delay.h>

#include"lib/motor/motor.h"

//SimpleDelayFunction
voidWait();

voidmain()
{
//Initializemotorsubsystem
MotorInit();

while(1)
{

//MoveRobotForward
MotorA(MOTOR_CW,255);
MotorB(MOTOR_CCW,255);

//Wait
Wait();

//MoveRobotBackward
MotorA(MOTOR_CCW,255);
MotorB(MOTOR_CW,255);

//Wait
Wait();

voidWait()
{
uint8_ti;

for(i=0;i<250;i++)
_delay_loop_2(0);

HEXFileReadytoBurn
ThehexfilereadytoburncanbefoundinthePrecompiledHEXFilesfolderintheSupportDVD.

DiffDriveDemo1

SampleCode#2
Turingdemo.Thiswillshowyouhowtomakeleftandrightturns.Therobotrotatesleftfromsometimethenrotates
rightforsometime.Thisprocessisrepeatedaslongastherobotissuppliedwithpower.

/*********************************************************************

LFRBoardSamplePrograms

Description:Turingdemo.Thiswillshowyouhowtomakeleftandrightturns.
Therobotrotatesleftfromsometimethenrotatesrightforsometime.
Thisprocessisrepeatedaslongastherobotissuppliedwithpower.

Author:AvinashGupta2012
Web:www.eXtremeElectronics.co.in

**********************************************************************/

#include<avr/io.h>
#include<util/delay.h>
#include"lib/motor/motor.h"

//SimpleDelayFunction
voidWait();

voidmain()
{
//Initializemotorsubsystem
MotorInit();

while(1)
{

//TurnRobotRight
MotorA(MOTOR_CW,255);
MotorB(MOTOR_CW,255);

//Wait
Wait();

//TurnRobotLeft
MotorA(MOTOR_CCW,255);
MotorB(MOTOR_CCW,255);

//Wait
Wait();

voidWait()
{
uint8_ti;

for(i=0;i<250;i++)
_delay_loop_2(0);

HEXFileReadytoBurn
ThehexfilereadytoburncanbefoundinthePrecompiledHEXFilesfolderintheSupportDVD.

DiffDriveDemo2

SampleCode#3
Thiswillshowyouhowtomakeyourrobottaketurnwhilemovingforward.Thatmeanstherobotwillkeepmoving
forwardwhilealwaystakingaslowleftturn.Thiswillmakerobotgoroundinananticlockwisecircle.

Thiseffectisachivedmyrunningtheleftwheelslowincomparisiontotherightwheel.

/*********************************************************************

LFRBoardSamplePrograms

Description:Turingdemo.Thiswillshowyouhowtomakeyourrobottake
turnwhilemovingforward.Thatmeanstherobotwillkeep
movingforwardwhilealwaystakingaslowleftturn.This
willmakerobotgoroundinananticlockwisecircle.

Author:AvinashGupta2012
Web:www.eXtremeElectronics.co.in

**********************************************************************/

#include<avr/io.h>
#include<util/delay.h>

#include"lib/motor/motor.h"

voidmain()
{
//Initializemotorsubsystem
MotorInit();

//Runtheleftmotor(B)slowincomparisontorightmotor.
//Thiswillmaketherobottakeleftturnwhilemovingforward.
MotorA(MOTOR_CW,255);
MotorB(MOTOR_CCW,128);

SampleCode#4
ZigZagmotiondemo.

/*********************************************************************

LFRBoardSamplePrograms

Description:ZigZagMotiondemo

Author:AvinashGupta2012
Web:www.eXtremeElectronics.co.in

**********************************************************************/

#include<avr/io.h>
#include<util/delay.h>

#include"lib/motor/motor.h"
#include"lib/led/led.h"
voidWait();

voidmain()
{
//Initializemotorsubsystem
MotorInit();

//InitializeLEDsubsystem
LEDInit();

LEDOn(1);

MotorA(MOTOR_CW,128);
MotorB(MOTOR_CCW,255);

Wait();

while(1)
{
LEDOn(5);
LEDOff(1);
MotorA(MOTOR_CW,255);
MotorB(MOTOR_CCW,128);

Wait();
Wait();

LEDOn(1);
LEDOff(5);
MotorA(MOTOR_CW,128);
MotorB(MOTOR_CCW,255);

Wait();
Wait();
}

voidWait()
{
uint8_ti;

for(i=0;i<60;i++)
{
_delay_loop_2(0);
}

HEXFileReadytoBurn
ThehexfilereadytoburncanbefoundinthePrecompiledHEXFilesfolderintheSupportDVD.

DiffDriveDemo4

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 Copyright20082012AvinashGupta
www.eXtremeElectronics.co.in
DocumentVersion1.0(29June2012)
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