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Software Section
Code to Detect Obstacle using IR(Infrared) Sensor
The explanation on functionality of a , and relevant circuit diagrams are provided in the electronics section of this web site, please go through this link --> Detecting obstacle with IR (Infrared).
The code provided below is written for microcontroller atmega8535 which has a crystal of 8Mhz, this means a microcontroller having a lower crystal may result in slower execution of program (program runs slower than what it does with 8Mhz crystal).
#include "E:\WinAVR-20080512\avr\include\avr\io.h"
/* function prototype */
void millisecond_delay(unsigned int count);
int main()
{
unsigned int i = 0;
unsigned int r_count = 0;
/* Initialize timer (wave generation OCR2 )*/
OCR2 = 119;
TCCR2 = 0x19;
/* Initialize LED */
DDRB = DDRB & 0x01;
/* Initialize IR receiver */
DDRD = DDRD & 0xFB;
/* Continuos Loop */
while(1)
- /* OFF LED */
{
/* Activate OCR2 wave generation for 10 milliseconds */
DDRD = DDRD | 0x80;
for (i = 0; i <10 ; i++)
{
/* Delay one millisecond */
millisecond_delay(1);
if (((PIND >> 2) & 0x01) == 0)
{
/* increment counter when a signal is received from the IR receiver module */
r_count++;
}
}
/* Deactivate OCR2 wave generation */
DDRD = DDRD & 0x7F;
/*
if (r_count >5)
{
/* ON LED */
PORTB = PORTB & 0x1;
/* Delay while the LED is ON */
millisecond_delay(200);
PORTB = PORTB & 0xFE;
}
/* Initialize IR receiver count */
r_count = 0;
/* Delay to keep maintain the OFF state of the IR transmitter */
millisecond_delay(90);
}
return 0;
}
void millisecond_delay(unsigned int count)
{
unsigned int i =0;
unsigned int j = 0;
do
{
/*One millisecond delay
The delay is measured for 8 Mhz crystal */
for (i=0;i<=400;i++)
{
/* delay */
}
j++;
}while(j<count);
}
Result :
Program runs continuously as long as the microcontroller is powered ON and the LED blinks when ever an obstacle is detected.
The circuit diagram is explained in the Electronics section,
please go through the link IR obstcale detection circuit.
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List of Topics --> Software Simple Program to Blink an LED (using embedded C language) Code to Control a Stepper Motor Code to Detect Obstacle using IR(Infrared) Sensor Articles on ‘C’ Data types (under construction)
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