Hand Gesture Controlled

HAND GESTURE CONTROLLED ROBOT
Abhinav Education Societys College of Engineering & Technology (Poly (Polytechnic.), Wadwadi TalTal Khandala, Dist Dist- Satara.
A PROJECT REPORT ON
Hand Hand Gesture Controlled Robot Robot
SUBMITTED BY BHOSALE PRASAD S. BUNAGE YOGESH B. SHINDE SWAPNIL V.
UNDER THE GUIDANCE OF

MR.TAMBE R.K.
2012-2013
1 AES COLLEGE OF ENGG & TECH, WADWADI
Abhinav Education Societys College of Engineering & Technology (Polytechnic.), Wadwadi Tal- Khandala, Dist Dist- Satara.
CERTIFICATE
This is to certify that, that
Mr. BHOSALE ALE PRASAD S. Mr. BUNAGE YOGESH B. Mr. SHINDE SWAPNIL V.
Students of Abhinav Education Societys College of Engineering & Technology (Poly.) (E & TC) has Project on Year 2012 -2013 HAND GESTURE CONTROLLED ROBOT under my guidance. This Work Is Done To My Satisfaction Under Requirement Of FINAL YEAR PROJECT For The Academic
Mr. TAMBE R.K. (PROJECT GUIDE)
Ms. NARVADKAR N.S. ( H.O.D. E&TC Dept )
EXTERNAL EXAMINAR
PRINCIPAL AESCOET,WADWADI
ACKNOWLEDGEMENT
We have a great pleasure in presenting this project report on HAND GESTURE CONTROLLED ROBOT & to express our deep regard to towards those who have offered their valuable time & guidance in my hour of need.
To complete any type of seminar work is teamwork. It involves all the technical/ non-technical expertise from various sources. He contribution from the experts in the form of knows-how and other technical supports is of vital importance. I am indebted to our inspiring guide Mr. Tambe R.K. and our H.O.D. Ms. Narvadkar N.S. who has extended valuable guidelines, help and constant encouragement through the various different stages for the onslaught of the project.
I have great pleasure in offering our sincere thanks to our honorable Principal Mr. Patil P.J. Last but not least, we would like to thanks all the direct and indirect help provided by friends, parents and the staff of this college for successful completion of this project.
ABSTRACT
Now a days robots are controlled by remote or cellphone or by direct wired connection. If we thinking about cost and required hardwares all this things increases the complexity, especially for low level application. Now the robot that we have designed is different from above one. It doesnt required any type of remote or any communication module. it is self activated robot, which drive itself according to position of user who stands in front of it. It does what user desires to do. it makes copy of its all movement of the user standing in front of it. Hardware required is very small, and hence low cost and small in size.
INDEX
SR. NO. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. INTRODUCTION BLOCK DIAGRAM PROJECT SPECIFICATION CIRCUIT DIAGRAM WORKING OF MODULE ACCELEROMETER ADXL 335 MICROCONTROLLER ATmega16 16x2 LCD Display MOTOR DRIVER IC L293D PROGRAM SOFTWARE APPLICATIONS FUTURE SCOPE CONCLUSION REFERENCE TITLE PAGE NO
INDEX OF DIAGRAM
SR. NO. 1. 2. 3. 4. 5. 6. 7.
TITLE BLOCK DIAGRAM OF PROJECT CIRCUIT DIAGRAM OF PROJECT BLOCK DIAGRAM OFACCELEROMETER PIN DIAGRAM OFACCELEROMETER PIN DIAG. OF ATmega16 2*16 ICD DISPLAY MOTOR DRIVER IC L293D
PAGE NO
INTRODUCTION
INTRODUCTION
We generally find people working in chemical industries under different hazardous condition . these people suffers with many dangerous diseases like skin cancer, lungs problem and many more. So we finally thought of designing a robot that can copy that instant action of human being under various conditions and situations. In market many types of robot are available that are controlled by remote or cellphone or by direct wired connection. But limitation of this robot are that they can only perform those activity which are present in their program. They dont have ability to sense the situation and react as per that and more over their cost are high even for low application activities. so we decided to design a robot that doesnt required any type of remote or any communication module. It should be self-activated robot which will be driving itself according to position of user which stands in front of it. It does what user desires to do. it makes copy of its all movement of the user standing in front of it. Hardware required is very small, and hence low cost and small in size
BLOCK DIAGRAM
BLOCK DIAGRAM
2 X 16 LCD
A V R ACCELEROM TER ADXL 335 ATmega16 MICRO CONTROLLER
DC MOTOR1 MOTOR DRIVER
DC MOTOR 2
Fig 1.1 Hand gesture controlled robot
PROJECT SPECIFICATION
POWER SUPPLY
MOTOR : 9V SENSOR(ACCELEROMETER): 3.5V CONTROLLER: 5V CONTROOLER USED ATmega 16(AVR):8-Bit
SENSOR
ADXL335 (ACCELEROMETER) Three direction (x,y,z) Speed of robot: 60 rpm Maximum input channel capacity: max 8 input It Can drive max four motors.
CIRCUIT DIAGRAM
CIRCUIT DIAGRAM
Fig. 1.2
Hand gesture controlled robot
WORKING OF MODULE
This robot consists of mainly three parts. First is sensor, which works as vision of robot. We have used accelerometer that act as sensor for our robot. A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old buttons.You just need to wear a small transmitting device in your hand which included an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting device included a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the receiving end an RF Receiver module receive's the encoded data and decode it by an decoder IC(HT12D). This data is then processed by a microcontroller (P89V51RD2) and finally our motor driver to control the motor's As user makes movements of his hand in front of it, it senses and according to that it sends the signal for decision. Output from accelerometer is gathered for process by microcontroller. As per sensor output, the controller is made to work according to the program written inside it and it sends the respective signal to third part which is motors. This is the last part which drives the wheel of our robot. It uses two dc motors to make movement. To drive them one motor driver is IC used which provides sufficient current to motors. All this material is mounted on metal chesi. As we move our hand to right robot will move to right side. Similar to this it will copy all our movements.
Accelerometer ADXL335
1) Accelerometer ADXL335
Small, Low Power, 3-Axis 3 g Accelerometer
What is an accelerometer?
An accelerometer is an electromechanical device that will measure acceleration forces. These forces may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by moving or vibrating the accelerometer.
What are accelerometers useful for?
By measuring the amount of static acceleration due to gravity, you can find out the angle the device is tilted at with respect to the earth. By sensing the amount of dynamic acceleration, you can analyze the way the device is moving. At first, measuring tilt and acceleration doesn't seem all that exciting. However, engineers have come up with many ways to make really useful products with them. An accelerometer can help your project understand its surroundings better. Is it driving uphill? Is it going to fall over when it takes another step? Is it flying horizontally or is it dive bombing your professor? A good programmer can write code to answer all of these questions using the data provided by an accelerometer.
How do accelerometers work?
There are many different ways to make an accelerometer! Some accelerometers use the piezoelectric effect - they contain microscopic crystal structures that get stressed by accelerative forces, which causes a voltage to be generated. Another way to do it is by sensing changes in capacitance. If you have two microstructures next to each other, they have a certain capacitance between them. If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of the piezoresistive effect, hot air bubbles, and light
Types of Accelerometer
There are several different principles upon which an analog accelerometer can be built. Two very common types utilize capacitive sensing and the piezoelectric effect to sense the displacement of the proof mass proportional to the applied acceleration. Capacitive Accelerometers that implement capacitive sensing output a voltage dependent on the distance between two planar surfaces. One or both of these plates are charged with an electrical current. Changing the gap between the plates changes the electrical capacity of the system, which can be measured as a voltage output. This method of sensing is known for its high accuracy and stability. Capacitive accelerometers are also less prone to noise and variation with temperature, typically dissipate less power, and can have larger bandwidths due to internal feedback circuitry. (Elwenspoek 1993) Piezoelectric Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force. When certain types of crystal are compressed, charges of opposite polarity accumulate on opposite sides of the crystal. This is known as the piezoelectric effect. In a piezoelectric accelerometer, charge accumulates on the crystal and is translated and amplified into either an output current or voltage. Piezoelectric accelerometers only respond to AC phenomenon such as vibration or shock. They have a wide dynamic range, but can be expensive depending on their quality (Doscher 2005)
Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or shock, rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond to other phenomenon such as temperature, sound, and pressure (Doscher 2005)
Other There are many other types of accelerometer that are less important to musical applications, including:

Piezoresistive Thermal Null-balance Servo force balance Strain gauge Resonance Magnetic induction Optical Surface acoustic wave (SAW)
Specifications A typical accelerometer has the following basic specifications:

Analog/digital Number of axes Output range (maximum swing) Sensitivity (voltage output per g) Bandwidth Amplitude stability The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at the
XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.
GENERAL DESCRIPTION:
The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal conditioned voltage outputs. The product measures acceleration with a minimum full-scale range of 3 g. It can measure the static acceleration of gravity in tilt-sensing applications, as well as dynamic Acceleration resulting from motion, shock, or vibration. One of the most common inertial sensors is the accelerometer, a dynamic sensor capable of a vast range of sensing. Accelerometers are available that can measure acceleration in one, two, or three orthogonal axes. They are typically used in one of three modes:

As an intertial measurement of velocity and position; As a sensor of inclination, tilt, or orientation in 2 or 3 dimensions, as referenced from the acceleration of gravity (1 g = 9.8m/s2); As a vibration or impact (shock) sensor. There are considerable advantages to using an analog accelerometer as opposed to an inclinometer such
as a liquid tilt sensor inclinometers tend to output binary information (indicating a state of on or off), thus it is only possible to detect when the tilt has exceeded some thresholding angle. Most accelerometers are Micro-Electro-Mechanical Sensors (MEMS). The basic principle of operation behind the MEMS accelerometer is the displacement of a small proof mass etched into the silicon surface of the integrated circuit and suspended by small beams. Consistent with Newton's second law of motion (F = ma), as an acceleration is applied to the device, a force develops which displaces the mass. The support beams act as a spring, and the fluid (usually air) trapped inside the IC acts as a damper, resulting in a second order lumped physical system. This is the source of the limited operational bandwidth and non-uniform frequency response of accelerometers. For more information, see reference to Elwenspoek, 1993.
FUNCTIONAL BLOCK DIAGRAM
Fig. 1.3 Block diagram of ADXL 335

ADXL335
An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in that direction then the data at that corresponding pin will change in the analog form.
The Accelerometer having 6 pin1- VDD- We will give the +5volt to this pin 2- GND- We simply connect this pin to the ground for biasing. 3- X- On this pin we will receive the analog data for x direction movement. 4- Y- On this pin we will receive the analog data for y direction movement. 5- Z- On this pin we will receive the analog data for z direction movement. 6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.
THEORY OF OPERATION
The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a measurement range of 3 g minimum. It containsa polysilicon surface-micromachined sensor and signal conditioning circuitry to implement an open-loop acceleration measurement architecture. The output signals are analog Voltages that are proportional to acceleration. The accelerometer can measure the static acceleration of gravity in tilt-sensing applications as well as dynamic acceleration resulting From motion, shock, or vibration.The sensor is a polysilicon surface-micromachined structure built on top of a silicon wafer. Polysilicon springs suspend the structure over the surface of the wafer and provide a resistance against acceleration forces. Deflection of the structure is measured using a differential capacitor that consists of independent fixed plates and plates attached to the moving mass. If you have two microstructures next to each other, they have a certain capacitance between them. If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of the piezoresistive effect, hot air bubbles, and light. The fixed plates are driven By 180 out-of-phase square waves. Acceleration deflects the moving mass and unbalances the differential capacitor resulting in a sensor output whose amplitude is proportional to acceleration. Phase-sensitive demodulation techniques are then used to determine the magnitude and direction of the acceleration.
FEATURES:
3 axis sensing small, low profile package 4mm x 4mm x 1.45mm LFCSP low power:350uA(typical) Single operation: 1.8v to 3.6v 10,000g shock survival excellent temperature stability BW adjustment with a single capacitor per axis RoHS/WEEE lead-free complement
ACCELEROMETER ADXL 335
Fig. 1.4 Pin dia. Of ADXL 335
Pin Function Descriptions
Pin No.
Mnemonic
Description
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 EP
NC ST COM NC COM COM COM ZOUT NC YOUT NC XOUT NC VS VS NC Exposed Pad
No Connect.1 Self-Test. Common. No Connect.1 Common. Common. Common. Z Channel Output. No Connect.1 Y Channel Output. No Connect. 1 X Channel Output. No Connect. 1 Supply Voltage (1.8 V to 3.6 V). Supply Voltage (1.8 V to 3.6 V). No Connect. 1 Not internally connected. Solder for mechanical integrity.
MICROCONTROLLER ATmega16
2) MICROCONTROLLER (ATMEGA 16)
Pin Diagram:
Fig 1.5 AVR AT mega16
FEATURES
High-performance, Low-power Atmel AVR 8-bit Microcontroller Advanced RISC Architecture 131 Powerful Instructions Most Single-clock Cycle Execution 32 x 8 General Purpose Working Registers Fully Static Operation Up to 16 MIPS Throughput at 16 MHz On-chip 2-cycle Multiplier High Endurance Non-volatile Memory segments 16 Kbytes of In-System Self-programmable Flash program memory 512 Bytes EEPROM 1 Kbyte Internal SRAM Write/Erase Cycles: 10,000 Flash/100,000 EEPROM Data retention: 20 years at 85C/100 years at 25C(1) Optional Boot Code Section with Independent Lock Bits In-System Programming by On-chip Boot Program True Read-While-Write Operation Programming Lock for Software Security JTAG (IEEE std. 1149.1 Compliant) Interface Boundary-scan Capabilities According to the JTAG Standard Extensive On-chip Debug Support Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
Peripheral Features Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode Real Time Counter with Separate Oscillator Four PWM Channels 8-channel, 10-bit ADC 8 Single-ended Channels 7 Differential Channels in TQFP Package Only 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x Byte-oriented Two-wire Serial Interface Programmable Serial USART Master/Slave SPI Serial Interface Programmable Watchdog Timer with Separate On-chip Oscillator On-chip Analog Comparator Special Microcontroller Features Power-on Reset and Programmable Brown-out Detection Internal Calibrated RC Oscillator External and Internal Interrupt Sources Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Extended Standby I/O and Packages 32 Programmable I/O Lines 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF Operating Voltages
Standby and
2.7V - 5.5V for ATmega16L 4.5V - 5.5V for ATmega16 Speed Grades 0 - 8 MHz for ATmega16L 0 - 16 MHz for ATmega16 Power Consumption @ 1 MHz, 3V, and 25C for ATmega16L Active: 1.1 mA Idle Mode: 0.35 mA Power-down Mode: < 1 A
2x16 LCD DISPLAY
2x16 LCD DISPLAY
FEATURES:
61 x 15.8 mm viewing area 5 x 7 dot matrix format for 2.96 x 5.56 mm character, plus cursor line Can display 224 different symbols Low power consumption (1 mA typical) Powerful command set and user produced characters TTL and CMOS compiler Connector for standard 0.1-pitch pin headers 5 x 8 dots with cursor Built-in controller (KS 0066 or Equivalent) + 5V power supply (Also available for + 3V)
1/16 duty cycle B/L to be driven by pin 1, pin 2 or pin 15, pin 16 or A.K (LED)
N.V. optional for + 3V power supply
Description
This is an LCD Display designed for E-blocks. It is a 16 character, 2-line alphanumeric LCD display connected to a single 9-way D-type connector. This allows the device to be connected to most E-Block I/O ports. The LCD display requires data in a serial format, which is detailed in the user guide below. The display also requires a 5V power supply. Please take care not to exceed 5V, as this will cause damage to the device. The 5V is best generated from the E-blocks Multipogrammer or a 5V fixed regulated power supply. The potentiometer RV1 is a contrast control that should be used to adjust the contrast of the display for the environment it is being used in.
LCD DISPLAY:
Fig 1.6 LCD Display
16 x 2 Character LCD
PIN NO. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
SYMBOL Vss Vdd Vo RS R/W E DB0 DB1 DB2 DB3 DB4 DB5 DB6 DB7 A/Vee K GND + 3V or + 5V
FUNCTION
Contrast Adjustment H/L Register Select Signal H/L Read/Write Signal H L Enable Signal H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line H/L Data Bus Line + 4.2V for LED/Negative Voltage Output Power Supply for B/L (OV)
2x16 LCD DISPLAY
MOTOR DRIVER IC L293D
L293D MOTOR DRIVER IC
Fig 1.7 Motor Driver L293D
FEATURES
-Out put current 1A per channel (600 mA for L293D). -Peak output current 2A per channel ( 1.2A for L293D). -Inhibit facility. -High noise immunity. -Separate logic supply. -Over temperature protection
DESCRIPTION:
L293D is a dual HBridge motor driver, so with one IC we can interface two DC motors which can be controlled in both clockwise and counter clockwise direction and if you have motor with fix direction of motion. You can make use of all the four I/Os to connect up to four DC motors. L293D has output current of 600mA and peak output current of 1.2A per channel. Moreover for protection of circuit from back EMF output diodes are included within the IC. The output supply (VCC2) has a wide range from 4.5V to 36V, which has made L293D a best choice for DC motor driver. Each channel is controlled by a TTL compatible logic input and each pair of driver is equipped with an inhibit input which turns off all four transistor. A separate supply voltage is provided for logic so that it may be run off a lower voltage to reduce dissipation. Additionally the L293D includes the output clamping diodes within the IC for complete interfacing with inductive loads.
Battery
We use 9 volt 3 amp rechargeable battery A battery is a device that converts stored chemical energy to electrical energy. Batteries are commonly used as energy sources in many household and industrial applications. There are two types of batteries: primary batteries (disposable batteries), which are designed to be used once and discarded, and secondary batteries (rechargeable batteries), which are designed to be recharged and used multiple times. Batteries come in many sizes, from miniature cells used in hearing aids and wristwatches to room-size battery banks that serve as backup power supplies in telephone exchanges and computer data centers.
SOFTWARE
SOFTWARE
SOFTWARE USED:
1) AVR STUDIO
It is most commonly used compiler software. It allows to do programming in c and compiling as well. It supports the all avr families
2) PROTEUS
Proteus is simulation software used for various electronic circuit. It contain large library of electronic component. We have designed of circuit using this library. We have simulated our circuit in proteus. We use hex file created by AVR studio for simulation. And finally we got our result .
3)SINAPROG
Sinaprog it is a software which is used for the downloading the programming AVR microcontroller. The program is hex file which is created by AVR studio.
ACTUAL OUTPUT
APPLICATIONS
APPLICATIONS
1. We generally find people working in chemical industries under different hazardous condition.These people suffers with many dangerous diseases like skin cancer,lungs problem and many more. So we finally thought of designing a robot that can copy that instant action of human being under various conditions and situations.So in that place of industry it can be used. 2. Most of the computer games are now using motion detecting remot technology. 3. It is also used in mine
FUTURE SCOPE
FUTURE SCOPE
In future we can design a wireless robot which can sense hand gesture by using wireless technologies. It can be used in military applications as a robotic vehicle which can be handled by a soldier to avoid casualties.
Our system has shown the possibility that interaction with machines through gestures is a feasible task and the set of detected gestures could be enhanced to more commands by implementing a more complex model of a advanced vehicle for not only in limited space while also in broader area as in the roads too .
In the future, service robot executing many different tasks from private movement to a fullyfledged advanced automotive that can make disabled to able in all sense.
CONCLUSION
In our project we have added special features by which our robot can overcome so many problems in industry. If it is further developed then it can be used for military application. An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in that direction then the data at that corresponding pin will change in the analog form.
A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old buttons.You just need to wear a small transmitting device in your hand which included an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting device included a comparator IC for analog to digital conversion and an encoder which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the receiving end an RF Receiver module receive's the encoded data and decode it by an decoder
REFERENCES
www.atmel.com www.alldatasheet.com www.wikipedia.com www.google.com ieeexplore.ieee.org
APPENDIX A:
Component list:
Sr. no. 1 2 3 4 5 6 7 8
Name of component Microcontroller (ATMEGA16) 8- bit Motor driver (L293D) Accelerometer (ADXL335) Dc motor (9V, 150rpm) 2x16 ALPHANUMERIC LCD DISPLAY Crystal Resistor (10k, 1k) Capacitor (0.1uf, 10uf) Total 15 1 1 75 1800 500 115 220
Prize(Rs)
2727.00
START
CONFIGURE THE LCD
NO
MONITOR THE I/P CHANNEL OF ADC
ADC CONVERSION FOR X, Y & Z
NO
if((X<191)& &(X>179)& &(Y<169)& &(Y>151))
YES
NO
IF((X<138)& &(X>124)& &(Y<156)&& (Y>142))
ROBOT WILL MOVE TO LEFT
YES
NO
if((Y<194)& &(Y>181)&& (X<164)&&( X>152))
ROBOT WILL MOVE TO RIGHT
YES
ROBOT WILL MOVE FORWARD if((Y<135)& &(Y>122)&& (X<170)&&( X>158))
YES
ROBOT WILL MOVE BACKWARD 51 AES COLLEGE OF ENGG & TECH, WADWADI
APPENDIX C
SPECIFICATIONS
ADXL335
Parameter SENSOR INPUT Measurement Range Nonlinearity Package Alignment Error Interaxis Alignment Error Cross-Axis Sensitivity 1 SENSITIVITY (RATIOMETRIC) 2 Sensitivity at XOUT, YOUT, ZOUT Sensitivity Change Due to Temperature 3 ZERO g BIAS LEVEL (RATIOMETRIC) 0 g Voltage at XOUT, YOUT 0 g Voltage at ZOUT 0 g Offset vs. Temperature NOISE PERFORMANCE Noise Density XOUT, YOUT Noise Density ZOUT FREQUENCY RESPONSE
4
Conditions Each axis % of full scale
Min 3
Typ 3.6 0.3 1 0.1 1
Max
Unit g % Degrees Degrees %
Each axis VS = 3 V VS = 3 V 270 300 0.01 330 mV/g %/C
VS = 3 V VS = 3 V
1.35 1.2
1.5 1.5 1
1.65 1.8
V V mg/C
150 300
g/Hz rms g/Hz rms
Bandwidth XOUT, YOUT

5
Bandwidth Z OUT5 RFILT Tolerance Sensor Resonant Frequency SELF-TEST 6 Logic Input Low Logic Input High ST Actuation Current Output Change at XOUT Output Change at YOUT Output Change at ZOUT
No external filter No external filter
1600 550 32 15% 5.5 +0.6 +2.4 +60 150 +150 +150 325 +325 +550 600 +600 +1000
Hz Hz k kHz V V A mV mV mV
Self-Test 0 to SelfTest 1 Self-Test 0 to SelfTest 1 Self-Test 0 to Self-
Test 1 OUTPUT AMPLIFIER Output Swing Low Output Swing High POWER SUPPLY Operating Voltage Range Supply Current Turn-On Time 7 TEMPERATURE Operating Temperature Range No load No load 1.8 VS = 3 V No external filter 40 350 1 +85 0.1 2.8 3.6 V V V A ms C
MICROGONTROLLER AVR ATmega26

Idle Mode
When the SM2..0 bits are written to 000, the SLEEP instruction makes the MCU enter Idle mode, stopping the CPU but allowing SPI, USART, Analog Comparator, ADC, Two-wire Serial Interface, Timer/Counters, Watchdog, and the interrupt system to continue operating. This sleep mode basically halts clkCPU and clkFLASH, while allowing the other clocks to run. Idle mode enables the MCU to wake up from external triggered interrupts as well as internal ones like the Timer Overflow and USART Transmit Complete interrupts. If wake-up from the Analog Comparator interrupt is not required, the Analog Comparator can be powered down by setting the ACD bit in the Analog Comparator Control and Status Register ACSR. This will reduce power consumption in Idle mode. If the ADC is enabled, a conversion starts automatically when this mode is entered.
ADC Noise Reduction Mode When the SM2..0 bits are written to 001, the SLEEP instruction makes the MCU enter ADC Noise Reduction mode, stopping the CPU but allowing the ADC, the External Interrupts, the Two-wire Serial Interface address watch, Timer/Counter2 and the Watchdog to continue operating (if enabled). This sleep mode basically halts clkI/O, clkCPU, and clkFLASH, while allowing the other clocks to run. This improves the noise environment for the ADC, enabling higher resolution measurements. If the ADC is enabled, a conversion starts automatically when this mode is entered. Apart form the ADC Conversion Complete interrupt, only an External Reset, a Watchdog Reset, a Brown-out Reset, a Two-wire Serial Interface Address Match Interrupt, a Timer/Counter2 interrupt, an SPM/EEPROM ready interrupt, an External level interrupt on INT0 or INT1, or an external interrupt on INT2 can wake up the MCU from ADC Noise Reduction mode.
Power-down Mode When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter Powerdown mode. In this mode, the External Oscillator is stopped, while the External interrupts, the Two-wire Serial Interface address watch, and the Watchdog continue operating (if enabled). Only an External Reset, a Watchdog Reset, a Brown-out Reset, a Two-wire Serial Interface address match interrupt, an External level interrupt on INT0 or INT1, or an External interrupt on INT2 can wake up the MCU. This sleep mode basically halts all generated clocks, allowing operation of asynchronous modules only. Note that if a level triggered interrupt is used for wake-up from Power-down mode, the changed level must be held for some time to wake up the MCU. Refer to External Interrupts on page 68 for details. When waking up from Power-down mode, there is a delay from the wake-up condition occurs until the wake-up becomes effective. This allows the clock to restart and become stable after having been stopped. The wake-up period is defined by the same CKSEL Fuses that define the reset time-out period, as described in Clock Sources on page 25.
Power-save Mode When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter Power save
mode. This mode is identical to Power-down, with one exception:
If Timer/Counter2 is clocked asynchronously, that is, the AS2 bit in ASSR is set, Timer/Counter2 will run during sleep. The device can wake up from either Timer Overflow or Output Compare event from Timer/Counter2 if the corresponding Timer/Counter2 interrupt enable bits are set in TIMSK, and the Global Interrupt Enable bit in SREG is set. If the Asynchronous Timer is NOT clocked asynchronously, Power-down mode is recommended instead of Power-save mode because the contents of the registers in the Asynchronous Timer should be considered undefined after wake-up in Power-save mode if AS2 is 0. This sleep mode basically halts all clocks except clkASY, allowing operation only of asynchronous modules, including Timer/Counter2 if clocked asynchronously.
Standby Mode When the SM2..0 bits are 110 and an external crystal/resonator clock option is selected, the SLEEP instruction makes the MCU enter Standby mode. This mode is identical to Power-down with the exception that the Oscillator is kept running. From Standby mode, the device wakes up in six clock cycles.
Extended Standby Mode When the SM2..0 bits are 111 and an external crystal/resonator clock option is selected, the SLEEP instruction makes the MCU enter Extended Standby mode. This mode is identical to Power-save mode with the exception that the Oscillator is kept running. From Extended Standby mode, the device wakes up in six clock cycles
Minimizing Power Consumption

There are several issues to consider when trying to minimize the power consumption in an AVR controlled system. In general, sleep modes should be used as much as possible, and the sleep mode should be selected so that as few as possible of the devices functions are operating. All functions not needed should be disabled. In particular, the following modules may need special consideration when trying to achieve the lowest possible power consumption.
Analog to Digital Converter If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should be disabled before entering any sleep mode. When the ADC is turned off and on again, the next conversion will be an extended conversion. Refer to Analog to Digital Converter on page 204 for details on ADC operation.
Analog Comparator
When entering Idle mode, the Analog Comparator should be disabled if not used. When entering ADC Noise Reduction mode, the Analog Comparator should be disabled. In the other sleep modes, the Analog Comparator is automatically disabled. However, if the Analog Comparator is set up to use the Internal Voltage Reference as input, the Analog Comparator should be disabled in all sleep modes. Otherwise, the Internal Voltage Reference will be enabled, independent of sleep mode. Refer to Analog Comparator on page 201 for details on how to configure the Analog Comparator
I/O Ports
Introduction All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports. This means that the direction of one port pin can be changed without unintentionally changing the direction of any other pin with the SBI and CBI instructions. The same applies when changing drive value (if configured as output) or enabling/disabling of pull-up resistors (if configured as input). Each output buffer has symmetrical drive characteristics with both high sink and source capability. The pin driver is strong enough to drive LED displays directly. All port pins have individually selectable pull-up resistors with a supply-voltage invariant resistance. All I/O pins have protection diodes to both VCC and Ground as indicated in Figure 22. Refer to Electrical Characteristics All registers and bit references in this section are written in general form. A lower case x represents the numbering letter for the port, and a lower case n represents the bit number. However, when using the register or bit defines in a program, the precise form must be used, that is, PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn. The physical I/O Registers and bit locations are listed in Register Description for I/O Ports on page 66. Three I/O memory address locations are allocated for each port, one each for the Data Register PORTx, Data Direction Register DDRx, and the Port Input Pins PINx. The Port Input Pins I/O location is read only, while the Data Register and the Data Direction Register are read/write. In addition, the Pull-up Disable PUD bit in SFIOR disables the pull-up function for all pins in all ports when set.
Using the I/O port as General Digital I/O is described in Ports as General Digital I/O on page 50. Most port pins are multiplexed with alternate functions for the peripheral features on the device. How each alternate function interferes with the port pin is described in Alternate Port Functions on page 55. Refer to the individual module sections for a full description of the alternate functions.
Alternative Function of port 3
Port Pin PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0
Alternate Functions SCK (SPI Bus Serial Clock) MISO (SPI Bus Master Input/Slave Output) MOSI (SPI Bus Master Output/Slave Input) SS (SPI Slave Select Input) AIN1 (Analog Comparator Negative Input) OC0 (Timer/Counter0 Output Compare Match Output) (External Interrupt 2 Input) T1 (Timer/Counter1 External Counter Input) T0 (Timer/Counter0 External Counter Input) XCK (USART External Clock Input/Output)
USART
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a highly flexible serial communication device. The main features are: Full Duplex Operation (Independent Serial Receive and Transmit Registers) Asynchronous or Synchronous Operation Master or Slave Clocked Synchronous Operation High Resolution Baud Rate Generator Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits Odd or Even Parity Generation and Parity Check Supported by Hardware Data OverRun Detection Framing Error Detection Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter Three Separate Interrupts on TX Complete, TX Data Register Empty, and RX Complete Multi-processor Communication Mode Double Speed Asynchronous Communication Mode
Electrical Characteristics Absolute Maximum Ratings
Operating Temperature.................................. -55C to +125C Storage Temperature ..................................... -65C to +150C Voltage on any Pin except RESET with respect to Ground ................................-0.5V to VCC+0.5V Voltage on RESET with respect to Ground......-0.5V to +13.0V Maximum Operating Voltage ............................................ 6.0V DC Current per I/O Pin ............................................... 40.0 mA DC Current VCC and GND Pins................ 200.0 mA PDIP and 400.0 mA TQFP/MLF
Analog to Digital Converter
Features
10-bit Resolution 0.5 LSB Integral Non-linearity 2 LSB Absolute Accuracy 13 s- 260 s Conversion Time Up to 15 kSPS at Maximum Resolution 8 Multiplexed Single Ended Input Channels 7 Differential Input Channels 2 Differential Input Channels with Optional Gain of 10x and 200x Optional Left adjustment for ADC Result Readout
0 - VCC ADC Input Voltage Range Selectable 2.56V ADC Reference Voltage Free Running or Single Conversion Mode ADC Start Conversion by Auto Triggering on Interrupt Sources Interrupt on ADC Conversion Complete Sleep Mode Noise Canceler The ATmega16 features a 10-bit successive approximation ADC. The ADC is connected to an 8-channel Analog Multiplexer which allows 8 single-ended voltage inputs constructed from the pins of Port A. The single-ended voltage inputs refer to 0V (GND). The device also suports 16 differential voltage input combinations. Two of the differential inputs (ADC1, ADC0 and ADC3, ADC2) are equipped with a programmable gain stage, providing amplification steps of 0 dB (1x), 20 dB (10x), or 46 dB (200x) on the differential input voltage before the A/D conversion. Seven differential analog input channels share a common negative terminal (ADC1), while any other ADC input can be selected as the positive input terminal. If 1x or 10x gain is used, 8-bit resolution can be expected. If 200x gain is used, 7-bit resolution can be expected. The ADC contains a Sample and Hold circuit which ensures that the input voltage to the ADC is held at a constant level during conversion. A block diagram of the ADC. The ADC has a separate analog supply voltage pin, AVCC. AVCC must not differ more than 0.3V from VCC. See the paragraph ADC Noise Canceler on page 211 on how to connect this pin. Internal reference voltages of nominally 2.56V or AVCC are provided On-chip. The voltage reference may be externally decoupled at the AREF pin by a capacitor for better noise performance.

Hand Gesture Controlled

Hochgeladen von

Dokumentinformationen

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Hand Gesture Controlled

Hochgeladen von

Copyright:

Verfügbare Formate

HAND GESTURE CONTROLLED ROBOT

Hand Hand Gesture Controlled Robot Robot

SUBMITTED BY BHOSALE PRASAD S. BUNAGE YOGESH B. SHINDE SWAPNIL V.

UNDER THE GUIDANCE OF

1 AES COLLEGE OF ENGG & TECH, WADWADI