this is the summer training report done at "I3indya Technology Delhi'

1. A
TRAINING
REPORT
ON
Embedded
Systems
&
Robotics
(Basic and Advance)
I3indya
Technology
SUBMITTED BYDEEPAK KUMAR
ROLL NO. : 11116024
CONTACT-8966967743
I3indya Group

2. DECLARATION
I Deepak Kumar,student of NIT RAIPURof B.Tech. 3rdyear
(5thsemester) hereby declare that I have completed this
VOCATIONAL project in I3indya Technologies, Delhiin
Academic year 2012-2013. The information submitted is
true and original to the best of my knowledge.
DEEPAK KUMAR
B.Tech. 2011-15 BATCH
ELECTRONICS& TELECOMMUNICATION ENGG.
ROLL NO: - 11116024
NATIONAL INSTITUTE OF TECHNOLOGY RAIPUR

3. Acknowledgment
I am truly thankful to all the faculties who imparted the lectures on various
subjects/topics and took us to the plant in a guided study visit along with detailed
explaining about the plant and machinery. An Electronics student mainly focuses
on practical applications of concepts learned projects like this one provide us with
an ideal opportunity to do the same .I acknowledge the valuable inputs provided
by Mr. GURSAHIB SINGH.
Last but not least, a big thanks to all my family members and friends, for timely
cooperation and support extended to me all the way.
Date: 11/12/2013
Name: DEEPAK KUMAR
Roll no: - 11116024
College: - National Institute of Technology Raipur
Branch: - ET&T
Semester: - 5th

4. INDEX
S.No.
content
1.
Overview of Embedded Systems
2.
Introduction to Atmega16 microcontroller
3.
Analog to Digital converter
4.
Timers in Atmega16
5.
7 segment Interfacing
6.
LCD Interfacing
7.
DC Motor interfacing
8.
IR Sensor Interfacing
9.
LM35 Interfacing
10.
Matrix keypad interfacing
11.
DTMF interfacing
12
RGB LED interfacing
13
Relay interfacing
14
Touch screen interfacing
15
RF interfacing
16
Accelerometer interfacing
17
Major and Minor projects done

5. 1. Embedded Systems
Introduction:Embedded system is a scaled down computer system which is designed to
perform a specific task or operation. The whole system is embedded into
an appliance. This reduces human effort to a great extent. A single chip
contains both hardware and software.
Some important things to note about embedded systems:
1. Once an embedded hardware is programmed for a certain task, it is
used forever for the same task. Changing the firmware afterwards is not
possible.
2. Such systems are limited in computational resources like memory, CPU
processing speed, I/O facilities but are still capable of performing the task
given to them very efficiently.
3. Embedded systems can also be having a reduced functionality version
of operating system called RTOS (Real Time Operating System) for highly
specialized applications.
4. Interacts with physical elements in our environment, viz. controlling and
driving a motor, sensing temperature, etc.
EMBEDDED SYSTEM IN DAILY LIFE
Digital Clock
DVD Player
Traffic Light
Smart Phones

6. 2.MICROCONTROLLER
A Microcontroller is a programmable digital processor with necessary peripherals.
Both microcontrollers and microprocessors are complex sequential digital circuits
meant to carry out job according to the program / instructions.
ATMEGA16 MICROCONTROLLER:
 We will be working on Atmega16 microcontroller, which is a 40-pin IC
and belongs to the MegaAVR category of AVR family.
 Some of the features of Atmega16 are:
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16KB of Flash memory
1KB of SRAM
512 Bytes of EEPROM
Available in 40-Pin DIP
8- Channel 10-bit ADC
Two 8-bit Timers/Counters
One 16-bit Timer/Counter
4 PWM Channels
Serial USART
Digital to AnalogComparator
PIN DIAGRAM

7. I/O PORTS
Input Output functions are set by Three Registers for each PORT.
• DDRX ‐‐‐‐> Sets whether a pin is Input or Output of PORTX.
• PORTX ‐‐‐> Sets the Output Value of PORTX.
• PINX ‐‐‐‐‐> Reads the Value of PORTX.
(Where X= A, B, C or D)
DDRX (Data Direction Register)
Now to make a pin act as I/O we set its corresponding bit in its DDR register.
• To make Input set bit 0
• To make Output set bit 1
PORTX (PORTX Data Register)
If a pin is set to be output, then by setting bit 1 we make output High that
is +5V and by setting bit 0, make output Low that is 0V.
If a pin is set to be input, then by setting its corresponding bit in PORTX
register will make it asfollows, Set bit 0 ‐‐‐> Tri‐Stated Set bit 1 ‐‐‐> Pull Up.
PORTX ‐‐‐‐> to set value of PORTX with a byte.
PORTX.y ‐‐> to set value of yth pin of PORTX with a bit (works only with
CVAVR).
PINX (Data Read Register)This register is used to read the value of a PORT. If a
pin is set as input then corresponding bit on PIN register is,
• 0 for Low Input that is V < 2.5V
• 1 for High Input that is V > 2.5V (Ideally, but actually 0.8 V ‐ 2.8 V is error zone!)
• PINX ‐‐‐‐> Read complete value of PORTX as a byte.
• PINX.y ‐‐> Read yth pin of PORTX as a bit (works only with CVAVR).
SOFTWARE
The software which support this hardware and can communicate with micro
controller using this circuit is• AVR Studio 4

8. 3. Analog to Digital Converters
 Microcontroller understands only digital language.
 To convert the analog output from the sensors to digital we
need ADC.
 In AVR family of microcontroller we have inbuilt ADC on
PORTA. Each pin in PORTA has an ADC circuit connected
behind it. Thus we have 8 channels of ADC.
 The resolution of ADC output is 10 bit i.e. the output from the
ADC is any number between 0 to 1023
ADC registers:
 The inbuilt ADC of AVR microcontroller have three register
which are used for configuring the ADC. They are:
 ADMUX: it is used for selecting the ADC pin to be used for
connecting the Analog sensors. It is also used for setting
the reference value of the ADC.
 ADSCRA: it is used for controlling the ADC e.g. when
should it start the conversion? Should it repeat the
conversion? Should interrupt be generated after the
conversion is complete? Etc.
 ADCH & ADCL: these are used for storing the ADC output
values. Both the registers are 8 bit wide and we require 10
bits for storing the ADC value. Thus the two registers are
used. The way of storing the ADC value is configured using
ADSCRA.
ADMUX

9. ADLAR:-This bit is setting the manner, the ADC result will be
stored in ADC data register.
ADLAR = 0
ADCH& ADCL
ADCSR
4.Timers in ATMega16

10. In Atmega16, we have three timers:TIMER0 TIMER1 and
TIMER2
Out of these, TIMER0 and TIMER2 are 8 bit timer, while
TIMER1 is a 16 bit timer.
All the timers have three unique registers and two common
registers.
TIMER1 has a special register, called ICR(Input Capture
Register).It has two channels(channel A and channel B).
TIMER2 has a special register known as ASSR, which is used
two generate PWM using asynchronous clock.
Timer Registers
• Each timer has three registers. They are:
 TCCR(Timer Counter Control Register)
 TCNT(Timer Counter),
 OCR (Output Compare Register).
• Thus, three registers for TIMER0 are TCCR0, TCNT0 and
OCR0.
• Similarly for TIMER1 and TIMER2, we have TCCR1, TCNT1,
OCR1 and TCCR2, TCNT2 and OCR2.
• The three timers have two common registers. They are:
 TIMSK (Timer Interrupt Mask)
 TIFR (Timer Interrupt Flag Register
Register Function Description
• TCCR (Timer Counter Control Register): It is used for
configuring the timer i.e. modes and pre scale factor.
• TCNT: It stores the present value of the timer. It is used for
monitoring the status of the timer. After each incrementing in
the timer value, this register compares its value with the OCR
register value.

11. • OCR(Output Compare Register): It is used for setting the
required duty
Cycle
5.Seven Segment Display Interfacing
• A seven-segment display can be used to display the decimal
numbers 0-9 and some alpha characters.
• A Seven-Segment Display (SSD) is simply a figure eight grouping of
LEDs {include a decimal point (DP)}.
• Each Segment is labeled (a) to (g).
• SSDs are available in two configurations
• Common Cathode (all LED cathodes are connected)
• Common Anode (all LED anodes are connected)
Fig: Interfacing with atmega16
fig: 7Segment display

12. 6. LCD INTERFACING
• LCD’s are all around us so liquid crystal displays are very useful in
these days.
• It is a kind of display that is made up of a special matter state formed
using liquid and crystal both , it’s a forth state of matter
•
The most popular one is 16x2 LCD module. It has 2 rows & 16
columns.The intelligent displays are two types:
 Text Display
 Graphics Display
PIN DESCRIPTION
Figure 4.1: pin configuration for 16 X 2 LCD
8 data pins D7:D0
Bi-directional data/command pins. Alphanumeric characters are sent in ASCII format.
RS: Register Select
RS = 0 -> Command Register is selected
RS = 1 -> Data Register is selected
R/W: Read or Write

13. 0 -> Write, 1 -> Read
E: Enable (Latch data)
Used to latch the data present on the data pins.
A high-to-low edge is needed to latch the data.
VEE: contrast control.
VDD & VSS: Power supply
VDD= +5V
VSS=GND
7. DC MOTOR INTERFACING
• The simplest DC rotating machine consists of a single loop of wire
rotating about a fixed axis. The magnetic field is supplied by the North
and South poles of the magnet.
• Rotor is the rotating part.Stator is the stationary part.
• We can reverse the motor direction the simply by reversing the power
supply connection of motor. It means motor is bipolar device.
Necessary Medium to Operate
• We are working on microcontroller and the maximum output current
that it can provide is 20mA.
• But our motor works on 1Amp current so to remove this problem we
will have to connect motor driver IC L293D in between the
microcontroller and motor.
Pin Description

14. Fig: L293D Fig: Interfacing with Atmega16
8. IR Sensor interfacing
There are two part of the sensors:
1. Emitter
2. Receiver
Emitterconverts the electrical current in the Infra-Red
Radiation.
Receiver receive the IR radiation when the radiation reflect
back after the collision from the obstacle and then this IR
radiation is converted into electrical current.
Operating Modes:
Our IR sensor can work in two modes:
 Analog Mode: - In this the output is continuously changes
depending upon the reflections from the objects.
 Digital Mode: - In this the output is constant either high or low
depending upon reflections.
How to use?
• Digital Mode:-In this mode you can directly connect the
sensor to any pin of the controller and can perform any task
according to the condition you mentioned in program.
• Analog Mode:-In this mode sensor will give analog value so
you have to use ADC because microcontroller works on digital

15. 9.LM35 INTERFACING
• LM35 is a precision IC temperature sensor with its output proportional to the
temperature (in o C). The sensor circuitry is sealed and therefore it is not
subjected to oxidation and other processes. With LM35, temperature can be
measured more accurately than with a thermistor. It also possess low selfheating and does not cause more than 0.1 o C temperature rise in still air.
• The operating temperature range is from -55°C to 150°C. The output voltage
varies by 10mV in response to every
i.e., its scale factor is 0.01V/ oC.
Pin Diagram
Pin No
Function
Name
1
Supply voltage;
Vcc
5V (+35V to -2V)
2
Output voltage (+6V to 1V)
Output
o
C rise/fall in ambient temperature,

16. 3
Ground (0V)
Ground
Output
• Output of the temperature sensor is analog so we cannot
measure it directly from the controller because it works on a
digital logic so we have to initialize ADC of the controller.
• Give the output of analog sensor on PORTA
10. Interfacing matrix keypad
• The matrices are actually an interface technique. It can be used to
interface inputs like the PC keyboard keys, but also to control multiple
outputs like LEDs. According to this technique, the I/O are divided
into two sections: the columns and the rows.
• It is basically a two dimensional array. We are connected
switched in a fashion as shown in figure. This is 4x4 keypad
matrix which is having two four pin connector. One connector
is connected with PORTC and another is from PORTA. As
there are only four pins so we can connect these pins from
lower or higher pins of the MCU PORTs.

17. Flow chart of using this KEYPAD
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Connect connectors from PORTs.
Make one PORT as input and another as output (configuration of
DDR).
Give ground to one connector’s pin using output configured
PORT and read the corresponding pin of input configured PORT.
11. DTMF Interfacing
• The invention of this is attributed to Western Electric and first used by
the Bell System in commerce.
• DTMF signals are the superposition of 2 sine waves with different
frequencies.
• It is a signaling Technology used for communicating between two far
away devices.
• It uses frequency of speech signals.
• Only 12 tones are used by our mobile communication out of the 16
combination that are possible.

18. • The DTMF is a popular signaling method between telephones and
switching centers.
DTMF Tone Generation
• EXAMPLE:-Pressing the key 1 will
result
in a sound
composed of both a 697 and a 1209 hertz (Hz) tone.
Decoding DTMF
• The CM-8870 is a full DTMF Receiver that integrates both band split
filter and decoder functions into a single18-pin DIP or SOIC package.
If I am pressing a key let say 1, then it will give the combination of
Frequencies 1209 & 697, and this willdirectly be given to our sound
Converter IC, the output of that IC would be 0001(Q1, Q2, Q3, Q4),
Following table shows the output for remaining keys.

19. 12. RGB LED interfacing
• It’s is similar to a normal LED but the difference is that it can emit
every possible color. As its name suggest that it has three LED’s
inside it of Red, Green and Blue color.
•
It has Four LEGS, in which one is common and remaining three are
for R, G and B color.
13. RELAY INTERFACING
•
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A relay is a simple electromechanical switch made up of an
electromagnet and a set of contacts.
Relays are used where it is necessary to control a circuit by a lowpower signal (with complete electrical isolation between control and

20. •
controlled circuits), or where several circuits must be controlled by
one signal
Provide a sufficient amount of current to this relay, an extra circuit is
also require because microcontroller is not capable of providing such
current, that’s why ULN2803 IC is used for this purpose.
14. Touch screen interfacing
•
A Touch Screen is an electronic visual display that the user can
control through simple or multi-touch gestures by touching the screen
with one or more fingers. Some Touch Screen can also detect objects
such as a stylus or ordinary or specially coated gloves
Types of Touch Screen:
• Resistive Touch Screen
• Capacitive Touch Screen
• Infrared Touch Screen
• Surface Acoustic Wave
• Optical Imaging

21. Resistive Touch Screen
• Resistive touchscreen is a relatively new technology which utilizes
two flexible sheets that are separated by air gaps and coated by
resistive material
• Pressure applied to the surface of the display by a finger or stylus
causes the layers to touch, which completes electrical circuits and
tells the device where the user is touching.
Detecting a Touch
To know if the coordinate readings are valid, there must be a way to
detect whether the screen is being touched or not. This can be done
by applying a positive voltage (VCC) to Y+ through a pull up resistor
and applying ground to X–.
When there is no touch, Y+ is pulled up to the positive
voltage. When there is a touch, Y+ is pulled down to ground
as shown in Figure1. This voltage-level change can be used
to generate a pin-change interrupt.
How it works

22. A uniform voltage gradient is applied to one sheet.whenever
the second sheet touches the other sheet, the second sheet
measures the voltage as a distance along the first sheet. This
combinaton of voltage and distance provides X cordinate.
after the X cordinate is located, entire process repeats itself
by applying uniform voltage gradient to the second sheet
inorder to find the Y cordinate.this entire process happens in a
matter of milliseconds,oblivious to human eye.
As it’s also a kind of sensing device so, will give the output in
analog form. Again we need to convert this form into digital
form. That’s why we need a ADC.
15.RF Interfacing
An RF Module is a (usually) small electronic circuit used to
transmit, receive, or transceiver radio waves on one of a
number of carrier frequencies.
To secure the data at both the end Encoding and decoding of
data is required.
We will use RF434 module of wireless communication. RF stands
for Radio frequency. And 434 means this module operates on
434MHz of frequency.

23. Since it would be serial communication, so we‟ ll be needing an
encoder & decoder IC for communication, because at transmitter end
we are doing parallel communication with our kit but to transfer it at a
long distance we have to send serially, so we will use an encoder IC
HT12E at the transmitter side, and the same couple IC HT12D will be
used at the receiver side to convert it back parallel.
16.Accelerometer interfacing
An accelerometer measures acceleration (change in speed)
of anything that it's mounted on.
Inside an accelerator MEMS device are tiny micro-structures
that bend due to momentum and gravity. When it experiences
any form of acceleration, these tiny structures bend by an
equivalent amount which can be electrically detected
It detects the motion in X, Y and Z directions. Accelerometer
can be interfaced with the controller with ADC PORT because
it will also give analog output.
These analog form values can be obtained by connecting X, Y
and Z pins of the sensor to the controller’s ADC pins.
Similar to the analog sensors it will also give the different
values whenever any motion will be there in X, Y, Z direction.

24. 17Projects done during training
Minor Projects
 Project 1: Digital Clock
 Project 2:Line Follower Robot
 Project 3:Wall Follower Robot
 Project 4:Tachometer Prototype
 Project 5: Visitor Counting Application
 Project 6: Digital Thermometer
 Project 7: Temperature Controlled Fan
 Project 8:High Temperature Alarm

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Project 9: Stop Watch Keypad Operated Robot
Project 10:Mobile Phone Keypad prototype
Project 11: Password Controlled Application – ATM prototype
Project 12: Calculator
Project 13: Digital PIANO
Project 14: Colour Changing Spy Bot using LDR & RGB LED
Project 15: Mobile Controlled Robot
Project 16: Controlling AC Appliances using Keypad
Project 17: Touch Screen Controlled Robot
Project 18: PC Controlled Robot
Project 19: Wrist control robot
Project 20:Digital Clock application using Interrupts Using Internal
EEPROM of Microcontroller
Major projects
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Mobile Controlled AC Devices
Remote Controlled Wireless Robot
PC Controlled Classroom via RF Module
Wireless Chat Application between two users