SURVEILLANCE ROBOT ABSTRACT This project is functioning of “SURVEILLANCE ROBOT” an ordinary mobile or computer control system which consists of a transmitter and a receiver .The robot is controlled by the mobile phone or computer held by the user, which communicates with the mobile phone attached to the robot. In the course of a phone call, if any button is pressed, a tone corresponding to the button pressed is heard at the receiver end, which is called ‘Dual Tone Multiple frequency’ (DTMF) tone. The robot receives these tones via the receiver mobile phone which is on board. The received tone is processed by the microcontroller with the help of DTMF decoder IC MT8870DE . This IC communicates with the motor driver IC L293d through the microcontroller interface which drives the motor in forward, reverse, right and left directions according to the user’s key press. The microcontroller featuring this project will be the AVR microcontroller, ATmega8 BAPATLA ENGINEERING COLLEGE Page 1
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
SURVEILLANCE ROBOT
ABSTRACT
This project is functioning of “SURVEILLANCE ROBOT” an ordinary mobile or
computer control system which consists of a transmitter and a receiver .The robot is
controlled by the mobile phone or computer held by the user, which communicates with
the mobile phone attached to the robot. In the course of a phone call, if any button is
pressed, a tone corresponding to the button pressed is heard at the receiver end, which is
called ‘Dual Tone Multiple frequency’ (DTMF) tone. The robot receives these tones via
the receiver mobile phone which is on board. The received tone is processed by the
microcontroller with the help of DTMF decoder IC MT8870DE . This IC communicates
with the motor driver IC L293d through the microcontroller interface which drives the
motor in forward, reverse, right and left directions according to the user’s key press. The
microcontroller featuring this project will be the AVR microcontroller, ATmega8
BAPATLA ENGINEERING COLLEGE Page 1
SURVEILLANCE ROBOT
CHAPTER 1
INTRODUCTION In this project the robot, is controlled by a mobile phone or computer that makes call to
the mobile phone attached to the robot in the course of the call, if any button is pressed
control corresponding to the button pressed is heard at the other end of the call. This tone
is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the
help of phone stacked in the robot. The received tone is processed by the atmega8
microcontroller with the help of DTMF decoder MT8870DE. The decoder decodes the
DTMF tone in to its equivalent binary digit and this binary number is send to the
microcontroller, the microcontroller is preprogrammed to take a decision for any give
input and outputs its decision to motor drivers in order to drive the motors for forward or
backward motion or a turn .
The mobile or computer that makes a call to the mobile phone stacked in
the robot acts as a remote. So this simple robotic project does not require the construction
of receiver and transmitter units. DTMF signaling is used for telephone signaling over the
line in the voice frequency band to the call switching center. The version of DTMF used
for telephone dialing is known as touch tone. The received tone is processed by the
microcontroller with the help of DTMF decoder. The microcontroller then transmits the
signal to the motor driver ICs to operate the motors & our robot starts moving
Conventionally. The Control of robot involves three distinct phases: perception,
processing and action. Generally the preceptors are sensors mounted on the robot,
processing is done by the on-board microcontroller or process and the task is performed
using motors or with some other actuators
DTMF decoder, Microcontroller and motor driver .An MT8870DE series
DTMF decoder is used here. All types of the MT8870 series use digital counting
techniques to detect and decode all the sixteen DTMF signals. DTMF assigns a specific
frequency (consisting of two separate tones) to each keys that it can easily be identified
by the electronic circuit. The signal generated by the DTMF encoder is the direct
BAPATLA ENGINEERING COLLEGE Page 2
SURVEILLANCE ROBOT
algebraic submission, in real time of the amplitudes of two sine (cosine) waves of
different frequencies. i.e., pressing 5 will send a tone made by adding 1336 Hz and 770
Hz to the other end of the mobile. The important components of this robot are tone pairs
into a four bit code output. The built -in dial tone rejection circuit eliminated the need for
pre- filtering.
Figure 1.1: Overview Block Diagram of the mobile control System
Figure 1.2: Overview Block Diagram of the computer control System
CHAPTER 2
BAPATLA ENGINEERING COLLEGE Page 3
SURVEILLANCE ROBOT
SYSTEM COMPONENTS
AVR Development Board 118010:-
Figure2.1:AVR development board
• Includes Atmel’s ATmega8 Microcontroller with 8kb flash memory working at
16MIPS.
• On-board LCD interface (it can also be used for any other general purpose
application).
• On-board Motor Driver for connecting 4 DC motors or 2 Stepper motors
• Onboard servo interface.
• On-board regulated power supply.
BAPATLA ENGINEERING COLLEGE Page 4
SURVEILLANCE ROBOT
• PC interface through UART.
• On-board Buzzer.
• 12 MHz external crystal.
• Exposed all 21 I/O pins.
• Exposed 7 channel I/O pins for ADC.
• Exposed 12 I/O channels for sensors and other peripherals with 5V/1A power
supply.
• Exposed 8 channel I/O pins for servo, sensors and other peripherals with dual
power supply.
• Four tact switches for external input and reset.
• Four test surface mounted LEDs for status and debugging purpose.
• Two supply indicator LEDs.
• Dual power supply through DC source (6V to 16V) or USB powered.
• On board USB programmer.
• Dual or single power supply option.
• Exposed ISP pins for programming.
• Option for connect or disconnect LEDs.
• Option for separate AREF (Analog Reference) for ADC.
• Option for separate AVCC (Analog VCC) for ADC.
2.1.1 PARTS IDENTIFICATION:-
BAPATLA ENGINEERING COLLEGE Page 5
SURVEILLANCE ROBOT
Microcontroller It is a micro computer chip which stores our programs executes them and takes necessary
action. The chip used here is Atmel popular AVR micro controller.
1117 VOLTAGE REGULATOR It is a three terminal 5V voltage regulator IC used to provide a constant voltage supply of
5V to the micro controller and other peripherals (i.e. sensors etc.) attached in the main
board.
MAX232 This IC takes care of voltage conversion needed for the communication between the PC's
RS-232 (Serial/COM) port and AVR Development board.
L293DNE MOTOR DRIVER This is basically a motor driver IC which takes input from microcontroller and is able to
drive the DC and stepper motors by using separate power supply.
RST (Reset switch)
The Reset switch is basically used to reset a running program right to the beginning it is
same as the reset switch of a PC.
POWER (Power On Switch):
It is basically a toggle switch used to provide power supply to the main board. The power
can be supplied either by a battery power supply (through LS) or can be USB powered.
Thus, the POWER switch can be made to toggle between MP (Main Power) or UP (USB
Power).
PTOG (Power Toggle Switch):
BAPATLA ENGINEERING COLLEGE Page 6
SURVEILLANCE ROBOT
It is basically a toggle switch which toggles the power for the devices connected to
PORTB either to use the internal power supply (5V) of the main board (by setting the
switch in 5V mode) or to use any other external power source connected in DS for the
high power applications like servo motors (by setting the switch in EXT mode).
PROG (Programming Switch): It is also a toggle switch for programming the microcontroller using on board USB
programmer. For programming mode it should be ON then RESET button should be
pressed. For normal operation it should be off.
POWER SUPPLY
LS (Logic Supply) It consist of two pins one is +ve and another is –ve. A battery or a AC adaptor can be
connected here to provide power supply to the mother board it provides regulated power
supply to all the peripherals present in the mother board and also to the external
peripherals connected to the motherboard through a voltage regulator. The DC voltage
provided to this terminal should be lies in between 6 to 16 volt. To use the supply
connected in LS pin the power switch should be toggled towards “MP” (Main power).
DS (Driving Supply)It consist of two pins one is +ve and another is –ve.It is basically use to provide a
separate high current power supply to the Motors. For operating DC motors you may
provide here a Power supply of 5 to 40 volt. For operating a servo motor you may
suppose to provise any suitable power supply as per the requirement of your motors
(mostly servos works at 4.5 to 6 volt). Power from this pins are directly goes to the
driving supply of the motor driver and to the supply pins of PortB if PTOG switch is
toggled towards EXT.
USB socket:
BAPATLA ENGINEERING COLLEGE Page 7
SURVEILLANCE ROBOT
It is basically used for USB communication with the PC. It also provides necessary logic
supply to the motherboard. In order to use the USB supply the POWER switch should be
toggled towards UP (USB power). When using the USB power some prequtions should
be taken such as any heavy load should not be connected to the board directly and
Don’t use the J1.
LED’s Active high:
LED1 – RED PORTB0
RED LED2 – PORTB1
RED LED3 – PORTB2
RED LED4 – PORTB3
ORANGE LS I- Logic Power ON indicator
GREEN DS I- Driver Power ON indicator
ISP (IN-SYSTEM PROGRAMMING) INTERFACE It is the In-System Programming interface of the main board which can be used to
connect any ISP programmer to download the programs in the microcontroller. It can also
be used in SPI (Serial Peripheral Interface) communication. The pins provided for ISP are
given below:
MOSI- Master Out Slave in PortB3
MISO- Master in Slave out PortB4
SCK- Serial clock PortB5
RST- Reset
GND- Ground
RS – 232 INTERFACE
BAPATLA ENGINEERING COLLEGE Page 8
SURVEILLANCE ROBOT
These is a 3-pin interface that can be used for PC controlled applications, debugging
purpose, data communication with PC and for inter board data communication. The port
consists of three pins, namely, R - Receiver T - Transmitter G - Ground.
PB (PORTB) It is a general purpose I/O port. This port contains six pins that can be used as digital
input and digital output. These pins are in the form, DATA-VCC-GROUND (denoted as
D + - respectively on the board). The Data pins are towards the microcontroller. The
VCC and Ground pins are provided with a 5V/1A power supply and or the supply to
these pins can also be switched to external supply connected in DS pin through PTOG
switch.
MOTOR DRIVER CONNECTIONS The motor drivers are used to run the DC motors or stepper motors that may be connected
to the board according to the data from the microcontroller. The motor driver’s link with
micro controller is shown bellow.
M0 - PortB0
M1 - PortB1
M2 - PortB2
M3 - PortB3
M4 - PortD4
M5 - PortD5
M6 - PortD6
M7 - PortD7
2.2. MICROCONTROLLER BAPATLA ENGINEERING COLLEGE Page 9
SURVEILLANCE ROBOT
2.2.1. ATMEGA8
Figure2.2.1: ATMEGA8 Microcontroller
The AVR is a Modified Harvard architecture 8-bit RISC single chip
microcontroller which was developed by Atmel in 1996. The AVR was one of the first
microcontroller families to use on-chip flash memory for program storage, as opposed to
One-Time Programmable ROM, EPROM, or EEPROM used by other microcontrollers at
the time. Atmel's low power, high performance AVR microcontrollers handle demanding
8 and 16-bit applications. With a single cycle instruction RISC CPU, innovative Pico
Power® technology, and a rich feature set, the AVR architecture ensures fast code
execution combined with the lowest possible power consumption. Whether you program
in C or assembly, the tuned AVR instructions decrease program size and development
time. The well-defined I/O structure limits the need for external components and reduces
development cost.
The AVR microcontrollers are divided into 4 families tiny AVR, mega AVR,
XMEGA and Application specific AVR. Among these 4 families of AVR here we are
going to use a microcontroller of mega AVR family “ATmega8”.
A Light Dependent Resistor (aka LDR, photoconductor, photocell, or photo
resistor.) is a device which has a resistance which varies according to the amount of light
falling on its surface, when light falls upon it then the resistance changes. Light
dependent resistors or LDRs are often used in circuits where it is necessary to detect the
presence of light, or the ambient level of light, often to create a light triggered switch.
Different LDR’s have different specifications, a typical LRD has a resistance in total
darkness of 1 MOhm, and a resistance of a couple of kOhm in bright light (10-20kOhm
@ 10 lux, 2-4kOhm @ 100 lux). It is not uncommon for the values of resistance of an
LDR to be several megohms in darkness and then to fall to a few hundred ohms in bright
light. With such a wide variation in resistance, LDRs are easy to use and there are many
LDR circuits available. LDRs are made from semiconductor materials to enable them to
have their light sensitive properties. Many materials can be used, but one popular
material for these LDR’s is cadmium sulphide (CdS).
Figure2.7.1:Plastic Photocell
Uses for Light Dependent Resistors. Light dependent resistors are a vital component in
any electric circuit which is to be turned on and off automatically according to the level
of ambient light - for example, solar powered garden lights, and night security lighting.
BAPATLA ENGINEERING COLLEGE Page 23
SURVEILLANCE ROBOT
An LDR is made of semiconductor material with a high resistance. It has a high light
resistance because there are very few electrons that are free and able to move - the vast
majority of the electrons are locked into the crystal lattice and unable to move. Therefore
in this state there is a high LDR resistance. As light falls on the semiconductor, the
photons are absorbed by the semiconductor lattice and some of their energy is transferred
to the electrons. This gives some of them sufficient energy to break free from the crystal
lattice so that they can then conduct electricity. This results in a lowering of the resistance
of the semiconductor and hence the overall LDR resistance.The process is progressive,
and as more light shines on the LDR semiconductor, so more electrons are released to
conduct electricity and the resistance falls further. Light Dependent Resistor Circuits.
The 10K variable resistor is used to fine tune the level of darkness required before the
LED lights up. The 10K standard resistor can be changed as required to achieve the
desired effect, although any replacement must be aleast 1K to protect the transistor from
being damaged by excessive current.
NIGHT VISION CIRCUIT:
The robot equipped with a wireless camera, which is not very useful in situations where
the visibility or light level is very low. For night or dark area, Spy robot will be almost
impossible for identifying objects because the lights, which are provided on the robot, are
fixed therefore it may not be possible to view those objects which are in the dark. At
night or dark area where light is low a lighting circuit can be mounted on the robot
instead of a night vision camera, which will increase the visibility in case of no light at
all. Lighting circuit is shown in figure 4.5 used in this project to use the Spy robot in the
dark area as night. For night vision in figure 4.6, three LED is set up on the top of the
CCD camera that connected by lighting circuit. Lighting circuit need +12V power supply.
BAPATLA ENGINEERING COLLEGE Page 24
SURVEILLANCE ROBOT
Figure2.7.2:Night vision circuit
Photo resistor specifications
Color: Blue
- Material: PCB
- Input voltage: 3~6V
- Sense brightness and light intensity surroundings
- When detect the light dark, LED light on and the output terminal is low
- With installation holes, easy to use
- Great for Arduino DIY projectDimensions: 1.22 in x 0.59 in x 0.47 in
(3.1cm x 1.5 cm x 1.2 cm)Weight: 0.18 oz (5 g)
Figure2.7.3 night vision board(LDR
BAPATLA ENGINEERING COLLEGE Page 25
SURVEILLANCE ROBOT
CHAPTER 3
HARDWARE CONFIGURATION
3.1 CIRCUIT DIAGRAM
Figure: 3.1 ROBOT CIRCUIT DIAGRAM
BAPATLA ENGINEERING COLLEGE Page 26
SURVEILLANCE ROBOT
Here it is simulation purpose we are using proteous software.we are taking in crystal
oscillator and also mother board consists of 4 LED’S for comparing output generated in
the microcontroller[motor drivers].Here two oscillator like OSC-1,OSC-2 connected to
the port-B[port-6&port-7].In this microcontroller Port-B[PB0-PB7] acts as input for the
motor drivers and port-D[PD4-PD7] are acts as the motor drivers.We are not using port-
E.motor driver using L293D.in this driver for inputs are[2,7,10,15] and outputs
are[3,6,11,14].
BAPATLA ENGINEERING COLLEGE Page 27
SURVEILLANCE ROBOT
APPLICATION:
Fig3.1.1:Usage of system based on application
BAPATLA ENGINEERING COLLEGE Page 28
SURVEILLANCE ROBOT
The main parts of this robot are Smart phone,Microcontroller,Motor drivers and motors.operation of this robot can be done in two different modes depending on the ranges and area where the robot is going to be used.
1.Remote area
2.Nearest area
Remote area:-
For operating the robot in far away distances along with video transmission we have two ways to operate .One of the method is by using skype software or by using Gmail/Yahoo call and directly making mobile phone call.Direct mobile call can also be used in two different ways by calling via internet through an app or by directly calling using mobile network.in case of in accesbility of internet this direct calling using mobile network can be used .
Nearest area:-
In case of nereasest range operations we have two methods by having Serial direct connection (wired connection).
And another one by using wireless connection in wireless mode we genarate an virtual server by using connectifysoftware and an mobile app called Ip web cam which is used to generate IP address to connect with the virtual server for video transmission we can observe all the video data capturing by robot on the browser .If required we can also save images and recording of video is also available.
We can also control robot by using another Android app DTMF tranceiver which is installed in both the operater mobile phone and also on the android phone available on the robot .This is done by transmittting longitudional sound waves through operator mobile phone where for every specific operation different sounds are generated which is detected by another mobile phone available at the robot which sends the information to the decoder which is then transmitted to the micro controller where the specific given operation is carried out.
BAPATLA ENGINEERING COLLEGE Page 29
SURVEILLANCE ROBOT
CHAPTER 4
SOFTWARE REQUIREMENTS
4.1Atmel Studio 6.2
Welcome to AVR Studio from Atmel Corporation. AVR Studio is a Development Tool
for the Series of AVR microcontrollers. This manual describes the how to install and use
AVR Studio .AVR Studio enables the user to fully control execution of programs on the
In-Circuit Emulator or on the built-in AVR Instruction Set Simulator. AVR Studio
supports source level execution of Assembly programs assembled with the Atmel
Corporation's AVR Assembler and C programs compiled with IAR Systems’ C Compiler
for the AVR microcontrollers. AVR Studio runs under Microsoft Windows95 and
Microsoft Windows NT.
This section gives a brief description of the main features of AVR Studio. AVR Studio
enables execution of AVR programs on an AVR In-Circuit Emulator or the built-in AVR
Instruction Set Simulator. In order to execute a program using AVR Studio, it must first
be compiled with IAR Systems' C Compiler or assembled with Atmel's AVR Assembler
to generate an object file which can be read by AVR Studio.
BAPATLA ENGINEERING COLLEGE Page 30
SURVEILLANCE ROBOT
Figure4.1.1:program excuting AVR studio
BAPATLA ENGINEERING COLLEGE Page 31
SURVEILLANCE ROBOT
An example of what AVR Studio may look like during execution of a program is shown
below.In addition to the Source window, AVR Studio defines a number of other windows
which can be used for inspecting the different resources on the microcontroller.The key
window in AVR Studio is the Source window. When an object file is opened, the
Source window is automatically created. The Source window displays the code currently
being executed on the execution target (i.e. the Emulator or the Simulator), and the text
marker is always placed on the next statement to be executed. The Status bar indicates
whether the execution target is the AVR In-Circuit Emulator or the built-in Instruction
Set Simulator By default, it is assumed that execution is done on source level, so if source
information exists, the program will start up in source level mode. In addition to source
level execution of both C and Assembly programs, AVR Studio can also view and
execute programs on a disassembly level. The user can toggle between source and
disassembly mode when execution of the program is stopped. All necessary execution
commands are available in AVR Studio, both on source level and on disassembly level.
The user can execute the program, single step through the code either by tracing into or
stepping over functions, step out of functions, place the cursor on a statement and execute
until that statement is reached, stop the execution, and reset the execution target. In
addition, the user can have an unlimited number of code breakpoints, and every
breakpoint can be defined as enabled or disabled. The breakpoints are remembered
between sessions. The Source window gives information about the control flow of the
program. In addition, AVR Studio offers a number of other windows which enables the
user to have full control of the status of every element in the execution target. The
available windows are:
1. Watch window: Displays the values of defined symbols. In the Watch window,
the user can watch the values of for instance variables in a C program.
2. Register window: Displays the contents of the register file. The registers can
be modified when the execution is stopped.
3. Memory windows: Displays the contents of the Program Memory, Data Memory,I/O
Memory or EEPROM Memory. The memories can be viewed as hexadecimal values or
BAPATLA ENGINEERING COLLEGE Page 32
SURVEILLANCE ROBOT
as ASCII characters. The memory contents can be modified when the execution is
stopped.
.4. Peripheral windows: Displays the contents of the status registers associated
with the different peripheral devices:
• EEPROM Registers
• I/O Ports
• Timers
• etc.
5. Message window: Displays messages from AVR Studio to the user
6. Processor window: Displays vital information about the execution target, including
Program Counter, Stack Pointer, Status Register and Cycle Counter. These parameters
can be modified when the execution is stopped.
The first time an object file is being executed, the user needs to set up the windows which
are convenient for observing the execution of the program, thereby tailoring the
information on the screen to the specific project. The next time that object file is loaded,
the setup is automatically reconstructed.
BAPATLA ENGINEERING COLLEGE Page 33
SURVEILLANCE ROBOT
4.2 PROTEUS 8.0
Figure4.2:proteus8.0
BAPATLA ENGINEERING COLLEGE Page 34
SURVEILLANCE ROBOT
Proteus 8.0 represents over three years continuous development and includes
improvements to every area of the software suite. Major work on the application
framework together with the introduction of a common database provides a much
smoother workflow for users while the rich new feature set saves time and effort in the
design lifecycle. A demonstration version can be downloaded directly from the Lab
center website and you can then either watch getting started movies from the application
home page or access the tutorial documentation for evaluation.
The main theme of the Proteus 8 release is integration .Development has therefore been
focused on taking the various discrete parts of an electronic design and coupling them
together to achieve a better workflow. In order to achieve this, three major architectural
changes were necessary; a unified application framework, a common database and a live
net list.
4.2.1 Common Database & Live Netlisting
The common database and live netlisting features provide system wide access to the
properties of the parts and the connectivity between them. Features like pinswap,
gateswap and annotation are both automatic and bi-directional between schematic and
PCB and connectivity changes on the schematic can be automatically reflected in any
other module (BOM,Design Explorer, ARES). These features also lay the foundation for
a number of development projects such as design snippets which we plan to bring forth
during the lifetime of Proteus 8.0.Proteus 8.0stores the design (DSN), layout (LYT) and
common database in a single project file (PDSPRJ).
BAPATLA ENGINEERING COLLEGE Page 35
SURVEILLANCE ROBOT
4.3 HID BOOT FLASHBoot loader is a small program put into a device that allows user application codes to be
programmed to the device. USB boot loaders using the human interface device (HID)
class were built for Freescale 32-bit ColdFire Plus and the Kinetis K and L series MCU
families. Using the USB HID class provides the advantages of small boot loader code
size and the use of standard USB HID drivers provided by all common operating
systems.
Figure4.3:HIDBootFlash V.1.0
The USB HID boot loader provides an easy and reliable way to load user application
codes to devices. Boot loader firmware, user application demo firmware and PC software
were built to demonstrate how USB HID boot loader systems can be implemented using
ColdFire Plus and Kinetis MCUs. The 4 KB boot loader, complying with the USB HID
class, receives commands and data from the PC to program and erase the flash memory
of the MCUs. The application demos show how user programs can be programmed and
re-programmed into the MCUs by the boot loader through the PC software running
BAPATLA ENGINEERING COLLEGE Page 36
SURVEILLANCE ROBOT
on Windows XP or Windows 7 operating system. The boot loader code and application
demos were tested.
under the Development Kits of the following platforms:
• TWR-MCF51JF ColdFire Plus Tower CPU board
• TWR-K40X256-KIT Kinetis K Tower Kit
• TWR-K60N512-KIT Kinetis K Tower Kit
• TWR-KL25Z48M Kinetis L Tower CPU board
• FRDM-KL25Z Freedom development platform
The memory maps of the boot loader system are shown in the following table.
Table 2. Boot loader memory map
The default interrupt and exception vector table is put into the starting address of the
flash area and is used by the boot loader, which should remain unaltered. The application
interrupt and exception vector table is stored in the flash areas beginning at 0x1000 or at
the first unprotected flash area. The interrupt and exception vector table can be redirected
BAPATLA ENGINEERING COLLEGE Page 37
SURVEILLANCE ROBOT
to the RAM area by storing the user application interrupt and exception vector table into
the application flash area and copying it to the RAM memory in the application Start up
routines. The boot loader erases the application flash, parses the user application data,
and programs it to the flash memory of the user application area, which is the free flash
memory after the boot loader is loaded into the flash. The boot loader flash area has to be
protected and may occupy more memory than its actual size. The code size of the boot
loader is 4 KB. If the flash protection block size of a device is larger than 4 KB, the boot
loader flash area occupies the same size of the flash protecting block. For MCF51JF128,
PKL25Z128/MKL25Z128, MK40X256 and MK60N512, the boot loader area occupies 4
KB, 8 KB and 16 KB of flash when it is protected. The user application can use the
whole RAM memory regardless the size of RAM the boot loader uses.
4.4 Connectifier hot spot generator
It can enable a Windows PC to serve as a router over Ethernet or Wi-Fi. Along with a
Windows 7 or 8 certified Wi-Fi device it can act as a wireless access point. This
enables users to share files, printers, and Internet connections between multiple
computing devices without the need for a separate physical access point or router. Well-
regarded by the press, Connectify spent the next two years improving the product, first
making it free and ad-supported. In 2011, Connectify decided to offer a PRO version of
the software which included premium features for paying customers. These features
included extended support of 3G/4G mobile devices, fully customizable SSIDs and
premium customer support.
Also in 2011, Connectify received founding from In-Q-Tel to begin developing a more
powerful and secure remote networking platform and a connection-aggregation
application. Connectify used this funding to develop the foundation of the application,
and then in 2012 turned to the crowd founding site Kickstarter to raise additional funding
to develop Connectify Dispatch. Dispatch is a Load Balancer which can combine any
number of Ethernet, Wi-Fi or mobile Internet connections. Latest Version : 7.3.4.3052.
if (PINB == 0b00000010 )00000023 IN R24,0x16 In from I/O location 00000024 CPI R24,0x02 Compare with immediate 00000025 BRNE PC+0x03 Branch if not equal
PORTD = 0b10100000;//turn straight00000026 OUT 0x12,R25 Out to I/O location 00000027 RJMP PC-0x0004 Relative jump
BAPATLA ENGINEERING COLLEGE Page 48
SURVEILLANCE ROBOT
else if(PINB == 0b00001000)00000028 IN R24,0x16 In from I/O location 00000029 CPI R24,0x08 Compare with immediate 0000002A BRNE PC+0x03 Branch if not equal
PORTD=0b01010000;0000002B OUT 0x12,R18 Out to I/O location 0000002C RJMP PC-0x0009 Relative jump
else if (PINB == 0b00000100)0000002D IN R24,0x16 In from I/O location 0000002E CPI R24,0x04 Compare with immediate 0000002F BRNE PC+0x03 Branch if not equal
PORTD=0b01100000;00000030 OUT 0x12,R19 Out to I/O location 00000031 RJMP PC-0x000E Relative jump
else if (PINB == 0b00000110)00000032 IN R24,0x16 In from I/O location 00000033 CPI R24,0x06 Compare with immediate 00000034 BRNE PC+0x03 Branch if not equal
PORTD=0b10010000;00000035 OUT 0x12,R20 Out to I/O location 00000036 RJMP PC-0x0013 Relative jump
else if (PINB == 0b00000101)00000037 IN R24,0x16 In from I/O location 00000038 CPI R24,0x05 Compare with immediate 00000039 BRNE PC+0x03 Branch if not equal
PORTD=0b00000000;0000003A OUT 0x12,R1 Out to I/O location 0000003B RJMP PC-0x0018 Relative jump --- C:\Users\lenovo pc\Documents\Atmel Studio\6.2\project1\project1\Debug/.././project1.c
PORTD=0x00;0000003C OUT 0x12,R1 Out to I/O location 0000003D RJMP PC-0x001A Relative jump --- No source file -------------------------------------------------------------0000003E CLI Global Interrupt Disable 0000003F RJMP PC-0x0000 Relative jump 00000040 NOP Undefined