03 Motion Control
of 87
-
Upload
venkateshduppada -
Category
Documents
-
view
227 -
download
0
description
kkjkjkjhkjhkjhkj
Transcript of 03 Motion Control
-
Motion Control Of Firebird-V Robot
E-Yantra TeamEmbedded Real-Time Systems Lab
Indian Institute of Technology-Bombay
IIT BombayOctober 16, 2012
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 1/1
-
Agenda for Discussion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 2/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion
Forward
Backward
Left
Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Various Motion (Contd..)
Soft-Right
Soft-Left
Backward Left
Backward Right
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/1
-
Direction Control of DC Motor
Anti-Clockwise MotionClockwise Motion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/1
-
Direction Control of DC Motor
Anti-Clockwise Motion
Clockwise Motion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/1
-
Direction Control of DC Motor
Anti-Clockwise Motion
Clockwise Motion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/1
-
Direction Control of DC Motor
Anti-Clockwise MotionClockwise Motion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/1
-
L293D IC
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/1
-
L293D IC
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Motor Pin Connection
1 Four Pins for Direction control is connected at PORT A
a. PA0 - Left Motor Control
b. PA1 - Left Motor Control
c. PA2 - Right Motor Control
d. PA3 - Right Motor Control
2 Two Pins for Enabling Motor Driver IC is connected at PORT L
a. PL3 - Left Channel Enable
b. PL4 - Right Channel Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward
0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward
1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left
1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right
0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left
0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right
0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop
0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Logic Table
DirectionPA(0) PA(1) PA(2) PA(3)
LB LF RF RB
Forward 0 1 1 0
Backward 1 0 0 1
Left 1 0 1 0
Right 0 1 0 1
Soft Left 0 0 1 0
Soft Right 0 1 0 0
Stop 0 0 0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/1
-
Syntax for C-Program
#include
#include
#include
#include
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL = // Enable Pin
PORTL = // Initally low
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/1
-
Syntax for C-Program
#include
#include
#include
#include
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL = // Enable Pin
PORTL = // Initally low
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/1
-
Syntax for C-Program
#include
#include
#include
#include
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL = // Enable Pin
PORTL = // Initally low
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/1
-
Syntax for C-Program
#include
#include
#include
#include
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL = // Enable Pin
PORTL = // Initally low
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/1
-
Syntax for C-Program
#include
#include
#include
#include
Pin Configuration
void motion_pin_config (void)
{
DDRA = 0x0F; // Output Port
PORTA = 0x00; // Initally motor is stop
DDRL = // Enable Pin
PORTL = // Initally low
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Main-Program
int main (void)
{
motion_pin_config ();
while(1)
{
forward();
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
Functions
void forward (void)
{
PORTC = 0x06;
}
void stop (void)
{
PORTC = 0x00;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Syntax for C-Program
Define All related motion functions and include in main function
1 Backward();
2 Right();
3 Left();
4 Soft Right();
5 Soft Left();
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/1
-
Thank You!
Post your queries on: http://qa.e-yantra.org/
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/1
Basic Movements of RobotMotion of RobotUnderstanding L293D IC
Motor Interfacing on FirebirdPin connectionsLogic TableWriting C-Code
