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The iBot Guide

An 8051 based autonomous robotics platform

Welcome to the world of autonomous robotics!


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The iBot Controller Board


The iBot Controller Board is based around the Philips 89V51RD2 microcontroller.

Features:

• Built around the popular 89V51RD2 microcontroller with ample of program memory
(64Kb)
• 8 channels of motor control, capable of driving 4 dc motors or 2 stepper motors at a time.
• Onboard detachable 16x2 LCD for enhanced interaction.
• 8 digital input channels for sensor interfacing.
• Onboard RS232 level shifter for direct communication with a computer.
• 4 general purpose LEDs and Switches.

Parts identification:

Power On Switch: It’s a basic push to on - push to off type switch.


IC 7805: It’s a three terminal linear 5 volt regulator used to supply the microcontroller and other
peripherals.
Motor Enable switch: This switch is used to enable/disable the motor driver chips hence in turn
enabling/disabling the motors.

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Reset Switch: This switch is used to reset the microcontroller.


IC 555: This general purpose timer is used in the mono-stable mode to automatically reset the
microcontroller during programming.
MAX 232: This chip takes care of the voltage conversions needed to communicate with the PC’s
RS232 (Serial/ COM) port.
L293D: It is a 4 channel motor driver with 600mA of current per channel and has inbuilt clamp
diodes. The board contains two such chips.
Potentiometer (Pot): The potentiometer is used to vary the contrast of the LCD.
Sensor port: At a time, 8 individual sensor modules can be connected to this port. The port also
provides a 5V supply needed drive the sensors.
DB 9 connector: This is a 9 pin connector used to connect to the PC’s COM port during
programming or for general UART communications.
Switch array: Four general purpose switches are connected in the active-low configuration.
Crystal: The crystal sets the microcontroller’s clock frequency to 11.0592 MHz.
Beeper: Connected in the active low mode, the beeper can easily be used to get audible
feedbacks from the controller.

Motor Connections PORTS


M1 P2.0, P2.1
M2 P2.2, P2.3
M3 P2.4, P2.5
M4 P2.6, P2.7
Switches (active low)
Sw1 P3.2
Sw2 P3.3
Sw3 P3.4
Sw4 P3.5
LEDs (active low)
D1 P3.0
D2 P3.1
D3 P3.6
D4 P3.7
LCD
Data P0.4 to P0.7
Control pins P0.0 to P0.2
ISP
RXD P3.0
TXD P3.1
Sensor Connectors P1.0 to P1.7

Misc
Buzzer P0.3
Crystal (11.0592Mhz) Pin 18 and 19
Reset Switch Pin 9

© TRI Technosolutions Pvt. Ltd. www.triindia.co.in


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The line sensing module


The line sensing module is designed to detect a white line on a black surface from an ideal
distance of 10mm to 20mm. The module detects the line by measuring the intensity of reflected
Infrared (IR) light. The sensor can be tuned to detect various contrasts, say white line on a green
surface or a white line on a black surface.

The red indicator led lights up whenever in encounters a reflecting surface (white line)

Tuning the line sensing module:


You need the power supply/battery, controller board, sensor module and a screw driver.

Step 1: Connect you module to one of the sensor port on the iBot controller. Refer the adjoining
figure for reference.

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Step 2: Turn on the power supply of your iBot controller.

Step 3: Place your sensor at a distance of approximately 2cm


above the surface that you “don’t” want to detect, eg., a black
surface.

Step 4: Using the screw driver, turn the potentiometer in either


direction. You will notice that the indicator LED lights up at a
particular point and goes off at another point. Now, in order to
properly tune to the sensor, you need to turn the pot to such a
point that the LED just turns off.

Step 5: Now when you place you sensor on a reflective surface


(such as white) you’ll see the indicator LED glows. That’s it!
We now have our Line Sensing Module all tuned up!

Specifications
Input Voltage: 5Volts
Optimum detecting distance: 10mm

© TRI Technosolutions Pvt. Ltd. www.triindia.co.in


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IR Proximity Sensor Module


The IR proximity sensor module is based around the TSOP sensor, commonly used in TV remote
receivers. This module is able to detect objects at a distance of 5cm to 15cm. The maximum
detectable distance varies in accordance with the color and texture of the object. For example, a
white object can be easily detected from a distance of 15cm while a black object would be
detectable from a maximum distance of 5cm.

Tuning the obstacle detection module:


You need the power supply/battery, controller board, IR proximity sensor module and a screw
driver.
The sensors can be tuned so as to change the maximum detectable distance. This can be varied
by changing the intensity of the IR emitter.
Step 1: Connect you module to one of the sensor port on the iBot controller. Refer the adjoining
figure for reference.

© TRI Technosolutions Pvt. Ltd. www.triindia.co.in


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Step 2: Turn on the power supply of your iBot controller.

Step 3: With the help of a screw driver, turn


the potentiometer in such a way that the
indicator LED just turns off. (if its already
turned off, skip this step)

Step 4: Place an object (non-black) in front of


the module at a distance of about 10cm and
turn the potentiometer such that the indicator
LED just lights up. This step makes sure that
the same object would always be detected at a
maximum distance of 10cm.

Similarly, you could move the object and turn


your potentiometer to achieve an optimum
distance.

Specifications:
Operating Voltage: 5Volts
Detectable distance: 5cm to 15cm

NOTE: IR light is invisible to the human eye but digital cameras like webcams or cell-phone
cameras are capable of detecting it. Point your camera towards the IR emitter (while turned on)
and see for yourself! This is a very handy debugging tool.

© TRI Technosolutions Pvt. Ltd. www.triindia.co.in


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The DC Power Supply and Battery


Power Supply:
The DC Power supply provides 9Volts and a max current of up to 1A. It also has a provision to
safely charge the 9.6V Ni-Mh battery pack at a constant preset current.
(Photo of the power supply)
Add schematic.

The Battery Pack:


The battery pack consists of 8 AA Ni-Mh Cells of 1.2V each, rated at 1300mAh. Thus, the total
voltage rating of the battery pack is of 9.6Volts. In order to charge the pack, simply connect its
plug to the charger port and turn on the supply. A full charge would take about 10 to 12hrs.

© TRI Technosolutions Pvt. Ltd. www.triindia.co.in

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