1
ĐỒ ÁN TỐT NGHIỆP
VI ĐIỀU KHIỂN ROBOT DÒ ĐƯỜNG
2
MỤC LỤC
MỤC LỤC ......................................................................................................................2
Bài báo cáo vi điều khiển Robot dò đường ......................................................................3
I. Mạch............................................................................................................................3
Mạch điều khiển 89S52 ...................................................................................................3
Mạch nguyên lý...............................................................................................................3
Mạch in...........................................................................................................................4
Mạch điều khiển động cơ “ IC MC 33486”......................................................................5
Mạch nguyên lý...............................................................................................................5
Mạch in...........................................................................................................................6
Mạch so sánh (“IC LM358”) ...........................................................................................6
Mắt dò đường..................................................................................................................8
Mạch nguyên lý...............................................................................................................8
Mạch in...........................................................................................................................8
II. CODE Robot dò đường...............................................................................................9
TR0=1;..........................................................................................................................10
TR0=1;..........................................................................................................................10
TR1=1;..........................................................................................................................11
TR1=1;..........................................................................................................................11
TR1=1;..........................................................................................................................11
TR1=0;..........................................................................................................................12
TR1=1;..........................................................................................................................12
TR0=0;..........................................................................................................................12
TL0=256-tocdo1; ..........................................................................................................12
TR0=1;..........................................................................................................................12
TR0=0;..........................................................................................................................12
TR0=1;..........................................................................................................................12
TR0=0;..........................................................................................................................17
TR1=0;..........................................................................................................................17
IT0=1;...........................................................................................................................17
IP=0; .............................................................................................................................17
III. Đồ án Robot dò đường dùng vi điều khiển 89S52 ...................................................18
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Bài báo cáo vi điều khiển Robot do đường
I. Mạch
Mạch điều khiển 89S52
Mạch nguyên lý
T2/P1.0
1
T2 EX/P1.1
2
P1.2
3
P1.3
4
P1.4
5
P1.5
6
P1.6
7
P1.7
8
RESET
9
RXD/P3.0
10
TXD/P3.1
11
INT0/P3.2
12
INT1/P3.3
13
T0/P3.4
14
T1/P3.5
15
WR/P3.6
16
RD/P3.7
17
XTAL1
18
XTAL2
19
P2.0/A8 21
P2.1/A9 22
P2.2/A10 23
P2.3/A11 24
P2.4/A12 25
P2.5/A13 26
P2.6/A14 27
P2.7/A15 28
PSEN 29
ALE/PROG 30
EA/VPP 31
P0.0/AD0 39
P0.1/AD1 38
P0.2/AD2 37
P0.3/AD3 36
P0.4/AD4 35
P0.5/AD5 34
P0.6/AD6 33
P0.7/AD7 32
IC1
DK0
DK1
PWM0
PWM1
1
2
3
4
5
6
7
8
9
10
DD1
GND
VCC
A0 A1
A2 A3
A4 A5
A6 A7
A0
A1
A2
A3
A4
A5
A6
A7
R N 1
10K
R N 2
10K
SW0
SW1
SW2
SW3
SW4
SW5
SW6
SW7
VCC
1
2
3
4
5
6
7
8
9
10
DD2
GND
VCC
SW0 SW1
SW2 SW3
SW4 SW5
SW6 SW7
D C R 0
D C L 0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
HDC1
DCR0
DCL0
+24V
VCC
DK0
C1
104
GND
PWM0
D C R 1
D C L 1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
HDC2
DCR1
DCL1
+24V
VCC
DK1
C2
104
GND
PWM1
RN3
10K
R2
250
LR1
LED
VCC
GND
VCC SW2
R3
47
C4
2200uF/16VC6
104
C5
2200uF/16V C7
104
VCC
GND
LD1
R4
270
1
2
3
PNP1
+24V
VCC
X1
12Mhz
Cx2 33pF
Cx1 33pF
GND
RES
R1
1K
C3
10uF
21
3 4
SW3
GNDVCC RES
1
2
3
JP1
1
2
HD3
1
2
HD4
IN
1
GND
2
OUT 3
IC2
1
2
HD1
1
2
HD2
D1
BUT0
BUT1
21
3 4
SW1
21
3 4
SW2
GND GND
BUT0BUT1
4
Mạch in
5
5
1
2 3
4
1
2
3
4
1
2
1
2
2
1
1
2
2
1
2
1
21 21
3 12
0 0
3
2
1
2
1
2
1
2
1
1
2
3
4
2
1
1 2 3
2
1
2
1
1 2
8
6
4
3
2
1
5
7
9
8
6
4
3
2
1
5
7
9
8
6
4
3
2
1
5
7
9
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
2
1
2
1
1 2
12
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
2121
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Mạch điều khiển động cơ “ IC MC 33486”
Mạch nguyên lý
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
HD-MC1
CHAN CAM
DCR0
PWM0
DK0
VCC
DCL0
GND
+24V LD4
LD3
LD2
LD1
R1 10K
R2 270
R3 270
R4270
GND
PWM0
DK0
VCC
+24V
C1
47uF/50V
VCC
VCC
+24V
PWM0
DK0
GND
G
1
2
3
S
DQ1
IRF840
G
1
2
3
S
DQ2
IRF840
GND
GND
DCR0
DCL0
NC
10
NC
12
V+
21
GND
1
Cur R
2
IN1
3
GLS1 4
OUT1 5
OUT2 13
GLS2 17
IN2
18
ST
19
WAKE
20
MC1