Robot dò Line điều khiển qua điện thoại (Đồ án tốt nghiệp)

B

O

IH
VI N CNTT -

N-

NT

N T T NGHI P
T I:

U KHI
THO I

N

H v t n GVHD : ThS. Nguy n L.Thanh T ng
H v t n SV

: Nguy n Qu c An

Chuy n ng nh

:

L p

: DH13DD

Kh a

: 2013 - 2017

Trình

ot o:

i n

ih c

V ng T u, th ng 7 n m 2017

i nt


- VT

T

IH

A-

C NG HO

I CH
T NAM

N-

NT

c l p - T do - H
------o0o-----

PHI

T NGHI P

nh v vi c t ch c, qu
nh s

c t t nghi

-

a Hi

ng

i h c BR-VT)

Nguy n Qu c An

H
MSSV

: 13030712
o

H

L p: DH13DD

ih c

o
k thu
: K thu

nt

nt

u khi

:
2. Gi

n-

n-

n tho i.

ng d n: Th.S. Nguy

ng

n t t nghi p: 6/2017
aGI

NG D

NG B

C HI N

NG KHOA
n)

SVTH: Nguy n Qu c An

Page 2


- VT

L
i k t qu
li

uc a

u trung th

kh o t nhi u ngu

N
n i dung

u, tham
c.

t k s gian l n n
c

ih

n nh ng vi ph

n, b n quy

mv
Ac hi n

(n

Nguy n Qu c An

SVTH: Nguy n Qu c An

Page 3


- VT

,

,
ng d n

Nguy

SVTH: Nguy n Qu c An

Page 4


- VT

,

,
n bi n

Ph

SVTH: Nguy n Qu c An

u

Page 5


- VT

L IM

U

n m nh m c a khoa h
tt

i s ng, cu c s ng c a con

i nh ng trang thi t b hi

i ph c v trong

c bi
n

n t trong s nghi

t

c. Nh ng thi t b

ng d ng r
u

i s ng h

n vi x

ys

nh ng th i

tc

c kh
c nh

n

uc

bi n

ng ch

i s ng v t ch

i.
hi u qu c a nh ng ng d ng trong th c t c a
t th i gian h c t

n th

ng th
n-

nt

u khi

ng d y v
cs

nhi

is l l cc ab
i gian, ki n th

n tho

c

t k robot
m

i nh
n c a th

cs
n nh

SVTH
Nguy n Qu c An

SVTH: Nguy n Qu c An

Page 6


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L I
L

n th y Nguy
t nhi

c hi
c hi

cs

t

a th y Nguy n

c nhi u ki n th

t nhi u

c ti
Bluetooth, Module

i Arduino, Module

ch in, . . .
c hi

u kinh nghi
cs

M tl nn

c

y trong

c hi

SVTH
Nguy n Qu c An

SVTH: Nguy n Qu c An

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m c

Trang

Nh

ng d n ....................................................................................4

Nh

n bi n......................................................................................5

M C L C...................................................................................................................8
..................................................................................................................10
M

U...................................................................................................................10

1.1 Gi i thi

...............................................................................................10

1.2 M

................................................................................................10

1

c th c hi n .............................................................................10
..................................................................................................................11

GI I THI

N C A M CH ........................11

2.1 Gi i thi u v ARDUINO .................................................................................11
c v ARDUINO NANO ................................................................11
2.1.2 M

c a Arduino Nano .........................................................12

2.1.3 C ng k t n i v i Arduino Nano ................................................................13
2.1.4 L

.....................................................................13
n c a m ch: LCD 16x2 .............................................................15
c ...........................................................................15

2.2.2 Ch

............................................................................16
kh i c a HD44780 ..........................................................................17

2.2.4.T p l nh c a LCD 16x2 ............................................................................22
2.2.5 Giao ti p gi

....................................................................24

2.2.6 Kh i t o LCD ............................................................................................25

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n c a m ch: MODULE L298N.................................................27
k thu t ......................................................................................27
2.3.2 N i m ch ...................................................................................................31
2.3

.................................................................................................32

2.3.2 Giao ti p v i Module Bluetooth HC05 .....................................................33
2.3.3 Module bluetooth HC05 ............................................................................35
..................................................................................................................36
GI I THU

U KHI N .............................................36

3.1

.........................................................................................36

3.2 M ch c m bi

.....................................................................................37
.................................................................................................37

3.2.2 Layout:.......................................................................................................38
3.2.3 M ch in......................................................................................................38
3.2.4 M

nh .....................................................................................38

3.3 S n ph

n: ..........................................................................39

3.4 Gi i thu t code .................................................................................................42

..................................................................................................................51
K T LU

N ................................................................51

4.1 K t qu .............................................................................................................51
n ..............................................................................................51
U THAM KH O.........................................................................................52

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:

1
c nh
nghi

u to l n trong s n xu

i s ng. S n xu

t

p tr

nm

nh c t i mobile robot v i nh
di chuy n m
gian ho

t linh ho

ng l

n kh

th thi u trong nhi

c r t nhi u s

u.

u lo i: robot h

ng

t c
tc nd
lo

ph c v r

ng d ng nhi u trong cu c s ng. Vi
cl

n

i.

1
u ng d ng trong th c t v a d
v n d ng nh ng ki n th c ti

i nh ng k t

c

k th

cv

nt
ng Robot

ct

m t

th .
1
-

i ch t

b o b n ch

m

nh v vi c b

ng qua vi c v
-

c khung xe c a robot. Khung xe ph

ic

SVTH: Nguy n Qu c An

nm

t CNC.
nl

ng ki n th

c.

Page 10


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:

2.1
2.1
Khi ti

ti n d

tr c ti p b
c

Arduino Uno R3

c bi

c c a Arduino Nano c

b nb
ct tc

nh ng g

c

ch

g pl i2l

m

l

tc am

uh c
B

m

i thi u v m
ng d ng khi b

uv im

.

Arduino Uno
R3

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2.1
B ng

Arduino Nano
u khi n

T n s ho

ATmega328 (h 8bit)

ng

5V

DC

ng

16 MHz
30mA

ih n

7-12V

DC

6-20V

DC

S
S

i 10bit)

8
40 mA

500 mA
50 mA
32 KB (ATmega328) v i 2KB
bootloader

B nh flash
SRAM

2 KB (ATmega328)

EEPROM

1 KB (ATmega328)

c

i

1.85cm x 4.3cm
t c a Arduino Nano h

R3

u ho
t l i th c

ng

Arduino Uno

ng t

quan tr ng, nh

d ng r t nhi

c ng
cc

ng th
am
m

m tr

nh

n 2KB b nh

cho

bootloader (

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ng lo l ng, b

n t n 30KB b nh
"m t v

l

l

2.1.3
i Arduino Nano s d ng c ng USB Type B, Nano l i s d ng m t
c ng nh

mini USB.
d ng c

nhi

l

t o nhi

n thu n l i cho

ng tr c ti p cho Nano t

-

n m i h c.

2.1

i

s

.
M ch Arduino Nano

ch Arduino ph bi n, khi m i b

quen, l
Nano. Hi

n t i th h th 3.

Arduino Nano
b

u. B

n, linh ho

a ch

im i

s d
i nh ng ng d

l

cs d

ch Arduino Nano

p nh t.

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n c ng Arduino

ng Arduino b t ngu n t C/C++ ph bi n hi
hi u. N u h c t

cl

t d h c, d
r t d th

i v i b n.

SVTH: Nguy n Qu c An

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2.2
2.2.1

2.4

.5

-to(low-to-high trans

DB7.
.

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2.2.2

n

B ng 2.2

1

hi u
Vss

2

Vdd

3
4

Vee
RS

5

R/W

6

E

t cho LCD, khi thi t k m ch ta n
v i GND c a m
u khi n
p ngu n cho LCD, khi thi t k m ch ta n

i VCC=5V c a m
u khi n
u ch
n c a LCD.

n ch

c/ghi (Read/Write). N
i
LCD ho
ng ch
ghi, ho c n i v i
LCD ch
c.

bus DB07-14
15
16

DB0DB7
-

c gi m (I/D=0) b
ng ghi ho

a ch hi n th

m i khi
n theo s

CGRAM.

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2.2.3
hi

ng c
nc

2.6
A.
ng : Thanh ghi l nh IR (Instructor
li u DR (Data Register).
u khi
ng bus DB0-DB7. M i l
vi c cung c

SVTH: Nguy n Qu c An

n xu

a ch

i

a ch l nh b

Page 17


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n

t chu

tra b

l nh t

a ch

c hi n l
VD : L

n th

L

a ch l

n th
ch a d li

DDRAM ho c CGRAM ( ch

ghi) ho

ch a d li u t

i ra cho MPU ( ch
n

ch

t

c CGRAM. Ho c

a ch
c a HD44780 s

li u

c chuy

a ch

i

truy n cho MPU.

B ng 2.3 : Ch
RS

0
0
1
1

RW
0
1
0
1

Ch
ra l nh cho LCD
c ab
a ch DB0-DB6

cc b n

c d li u t DR

B. C

n BF: (Busy Flag)

Khi th c hi
th

d ng

ng

ch n

n m t kho ng

t. Khi

khi xong

C. B

a ch : (Address Counter)
kh

c ti p k t n i v
a ch AC. B

M theo ki u r

a ch l

c n i tr c ti

in iv i2

cn
c ch n l

RAM

nh.

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- R/W).

-

2.7
D.

n th DDRAM: (Display Data Ram)

2.8

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CD

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E.

CGROM: Character Generator ROM
ch

lo i 5x8 ho

m

,

a ch b ng 8 bit.
ki u 5x10 (t ng c
256 m

8

K

o DR, m ch n

t

c CGRAM. Ho
li u

a ch

SVTH: Nguy n Qu c An

a ch

ng ghi
c ghi

i c a HD44780.

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F.

h a CGRAM
n xu
t

r t h n ch : Ta ch

m
t

a ch
h

lo i 5x8

m nh, ho

lo

m

nh.

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2.2.
u t p l nh c

khi giao ti p

v i LCD :

ua

theo.

ch

5
Clear
Display

DBx = DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0

DBx = 0
0
0
0
0
0
0
1
-

Return
home

DBx = DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0
DBx = 0
0
0
0
0
0
1
*
L

Entry
mode set

DBx = DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0
DBx = 0
0

0
0
0
1 [I/D] [S]

Display

DBx = DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0

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DBx =

on/off
control

0

0

0

0

1

[D]

[C]

[B]

250kHz.
DBx = DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0

Cursor
or

DBx =

0

0

0

1

[S/C] [R/L] *

*

display
, con

shift

S/C

R/L

0

0

0

1

1

0
theo.

Khi thi t l p RS=1, R/W=1,d li u t

c chuy n ra MPU

a ch

nh b ng l

a

ch

Khi thi t l p RS=1, R/W=0, d li u c
m ch

c LCD chuy
a ch

SVTH: Nguy n Qu c An

a ch

a ch

nh t l nh
n ghi)

Page 23


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2.2.5
A.

nc

p

LCD s b h

ng, ho c ho

ng sai l ch n u b n vi ph m

kho
-GND)

Min:-0.3V , Max+7V
Min:-0.3V , Max:(Vcc+0.3V)
Min:-30C , Max:+75C
Min:-55C , Max:+125C

2.6 : Maximun Rating

-GND

-DB7)

Min 2.4V

-DB7)

(khi IOH = -0.205mA)

Max 0.4V (khi IOL = 1.2mA)
-

uA

2.

B.

n im
-

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C. Bus Timing

2.2.6
Kh i t
t

c thi t l
tl

giao th

c th c hi n 1 l n duy nh t

i v i LCD, kh i
c gi

c kh i t o ch
u khi

thi t l p sau :

SVTH: Nguy n Qu c An

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