Automated Guided Robot Laboratory Module

LABORATORY MODULE

PLT 424 / 3
AUTOMATED GUIDED VEHICLE

EXPERIMENT 1
DC Motor Wheeled Moving Direction
(Proteus Simulation Programming)

LECTURER : Dr. Sukhairi Bin Sudin

AST. ENGINEER : En. Mohammad Abid Bin Abdul Rahman

1 | Designed by: Ts. Mr. Sofi bin Yahya

Automated Guided Robot Laboratory Module

EXPERIMENT

DC Motor Wheeled Moving Direction

1. OBJECTIVES:

1.1 To demonstrate the moving mechanism concepts of DC wheeled direction

for forward, reverse, right-turn, left-turn and braking.
1.2 To developed the hardware simulation using ISIS PROTEUS software.
1.3 To programmed the simulation using Arduino IDE software

2. COMPONENTS & EQUIPMENT:

2.1. PROTEUS Software

2.2. Arduino IDE Software

3. INTRODUCTION:

3.1. H-Bridge Motor Driver

Different types of motors are used in different applications like Robotics, precision
positioning, industrial automation etc. Generally, when a DC motor is associated
with any microcontroller-based system, it is often connected using a Motor Driver
IC. A Motor Driver IC provides the necessary current for the motor to run. It can
also control the direction of the rotation. In this project, an Arduino based speed
and direction control of DC motor with using Motor Driver IC which are L293D or
L298. A DC Motor can’t be connected directly to a Microcontroller as the output
because a current of the Microcontroller is very small and it cannot drive the motor
itself.

The L293 is a very basic H-bridge. It has two bridges, one on the left side of the
chip and one on the right, and can control 2 motors. It can drive up to 1 amp of
current and operate between 4.5V and 36V. The small DC motor you are using in
this lab can run safely off a low voltage so this H-bridge will work just fine.

The H-bridge has the following pins and features:

• Pin 1 (1,2EN) enables and disables our motor whether it gives HIGH or LOW
• Pin 2 (1A) is a logic pin for our motor (input is either HIGH or LOW)
• Pin 3 (1Y) is for one of the motor terminals

2 | Designed by: Ts. Mr. Sofi bin Yahya

Automated Guided Robot Laboratory Module

• Pin 4-5 are for ground

• Pin 6 (2Y) is for the other motor terminal
• Pin 7 (2A) is a logic pin for our motor (input is either HIGH or LOW)
• Pin 8 (VCC2) is the power supply for our motor, this should be given the rated
voltage of your motor
• Pin 9-11 are unconnected as you are only using one motor in this lab
• Pin 12-13 are for ground
• Pin 14-15 are unconnected
• Pin 16 (VCC1) is connected to 5V

Figure1 is shown a diagram of the H-bridge and which pins do what in our example.
Included in the diagram is a truth table indicating how the motor will function
according to the state of the logic pins (which are set by our Arduino).

Figure1: Diagram of L293 Pins Connection.

For this lab, the enable pin connects to a digital pin on your Arduino so you can
send it either HIGH or LOW and turn the motor ON or OFF. The motor logic pins
are also connected to designated digital pins on your Arduino so you can send it
HIGH and LOW to have the motor turn in one direction, or LOW and HIGH to have
it turn in the other direction. The motor supply voltage connects to the voltage
source for the motor, which is usually an external power supply. If your motor can
run on 5V and less than 500mA, you can use the Arduino’s 5V output. Most
motors require a higher voltage and higher current draw than this, so you
will need an external power supply in your design.

3 | Designed by: Ts. Mr. Sofi bin Yahya

Automated Guided Robot Laboratory Module

3.2. Circuit Simulation Design using ISIS Proteus Software

Proteus software is applicable to use in Arduino family and support at various of

Arduino peripheral devices. The user allows duplicating the library of devices from
Arduino website to copy into Proteus library on the user computer. When to use
the devices user will able to click pick components in Proteus Library. The
simulation will run after the hex file compiling is done and copy to Arduino
simulation hardware. Figure2 below is shown the DC moving direction including H-
bridge driver L923D design circuit via Arduino.

Figure3. DC moving direction including H-bridge driver L923D design circuit.

3.3. Arduino Coding using Arduino IDE software

Student must know to write the coding in language of Arduino coding IDE software
for DC motor moving and breaking. The coding able to get at many of programmer
Arduino website. The technique or skill how to write the coding should be learned
by own self. While finish the coding writing user must remember to open the
Preferences in File menu bar box and select the compilation before compile the
target or coding. After finish verification, the hex file is created and copy the target
to the Proteus simulation for running.

4 | Designed by: Ts. Mr. Sofi bin Yahya

Automated Guided Robot Laboratory Module

4. PROCEDURE:

i. Develop the circuit simulation using ISIS Proteus such as Figure2.

ii. Copy the Arduino Library from Arduino website to Proteus LIB and
pick the components in Proteus Library.

iii. Write the coding such as shown in Figure3 and add the coding for
reverse, right-turn and left-turn and compile the coding successfully
in Arduino IDE software

iv. Attach the hex code after compilation to Arduino hardware

simulation and run the simulation.

v. Fill in the table1 for each function of pins for L923 H-Bridge driver
for wheeled moving characteristic.

vi. Draw the flow chart in Lab Assessment below, where is the robot
car has moving forward in 4 seconds then reverse in 2 second,
after that it turn right and move forward in 2 second and it turn left
to and moving forward in 3 second then the robot car has stopped
at destination.

5 | Designed by: Ts. Mr. Sofi bin Yahya

Automated Guided Robot Laboratory Assessment

LABORATORY ASSESSMENT AND RESULT

Name:________________________________________ Matrix Num:______________

Group:__________ Date:________________ Program:_______________________

EN1 EN2 IN1 IN2 IN3 IN4 Moving

Direction

Table 1: wheeled Moving Characteristic

Flow Chart of Robot Car’s Destination

1 | FTKE
Automated Guided Robot Laboratory Assessment

DISCUSSION (5 Marks)

CONCLUSION (5 Marks)

*Attached your programming code.

2 | FTKE
 PLT 424 AUTOMATED GUIDED ROBOT - SEMESTER 1 2020/2021 ACADEMIC SESSION: LABORATORY RUBRICS (LAB 1)
Excellent
Contents
5 4
Excellent performance in
Fundamental
fundamental concepts of DC
concepts
motor moving application
Able to analyze and design the
operation DC motor moving
Circuit &
simulation and programming
Programming
without error and high
Constructing
neatness.
Very higher-order thinking
Problem
ability and independently in
Solving
troubleshooting.
Demonstrated proficiency
being able to approve in the
Demo
highest degree of confidence
in the computed results.
Able to complete the results
Result without any error and testing
successful.
Excellent explanation in
discussion of fundamental
Discussion
concepts of AGR application in
experimental
Excellent explanation in
conclusion of fundamental
Conclusion
concepts of AGR application in
experimental
PANEL SIGNATURE :
3 | FTKE
Very Good Good Fair Poor
Marks
3 2 1
Very good performance in
Satisfactory performance in Unsatisfactory performance
fundamental concepts of
fundamental concepts of DC in fundamental concepts of No efforts at all
DC motor moving
motor moving application DC motor moving application
application
Able to analyze and
Able to analyze and design Unable to analyze and
design the operation of Able to analyze and design
the operation of DC motor design the operation of
DC motor moving the operation of DC motor
moving simulation and DC motor moving
simulation and moving simulation and
programming simulation and
programming programming with minor
with major error and low programming. Fails to
without error and low error and low neatness.
neatness. meet the requirement.
neatness.
Very lower-level
Higher-order thinking Medium-level thinking ability Lower- level thinking ability
thinking ability and fully
ability and with guidance and with minor guidance in and with major guidance in
guidance in
in troubleshooting. troubleshooting. troubleshooting.
troubleshooting.
Demonstrated reasonable Demonstrated some Did not demonstrate
understanding able to similarity with the result Did not demonstrate but able and not perform the
approve in the degree of function. There is some to complete the robot necessary result.
confidence in the question about the accuracy construction results. The computed results
computed results. of the computed results. contain obvious errors.
Able to complete the
Able to complete the results Unable to complete the
results with some minor Able to complete the results
and with some errors and results and with major
and troubleshoot the and with major errors and
troubleshooting testing not errors and failed
errors and testing testing.
successful. testing.
successfully.
Very good explanation in
Satisfactory explanation in Unsatisfactory in discussion
discussion of fundamental
discussion of fundamental of fundamental concepts of Not related it all
concepts of AGR
concepts of AGR application AGR application and some discussion.
application and related
and related in experimental. related in experimental.
with experimental.
Very good explanation in
Satisfactory explanation in Unsatisfactory in conclusion
conclusion of fundamental
conclusion of fundamental of fundamental concepts of Not related it all
concepts of AGR
concepts of AGR application AGR application and some conclusion.
application and related
and related in experimental. related in experimental.
with experimental.
∕ 35