Method For Programming An Autonomous Vehicle

Using PIC 16F877 Microcontroller

Anghel Drugarin Cornelia Victoria, PhD IT Engineer
Stroia, Mihaela Dorica PhD IT Engineer
Department of Electrics and Informatics Engineering
Eftimie Murgu University of Resita
Resita, Romania
c.anghel@uem.ro ; m.stroia@uem.ro
Draghici Silviu, PhD Student at Polytechnics
Timisoara
Department of Electrics and Informatics Engineering
Eftimie Murgu University of Resita
Resita, Romania
s.draghici@uem.ro



AbstractPresent paper describes a research regarding driving
industrial robots by using programmable applications for PIC
microcontroller 16F877. Programs for PIC 16F877
microcontroller are written using assembler language, where
code numbers are replaced by mnemonic codes. We intend to
design a smart interface PIC type, ''Peripheral Interface
Controller", for 16bit CPU with high capacity computing
operations UAL. Program code used for driving and controlling
of automated guided vehicle using microcontroller is autonomous
in terms of energy supply through infrared sensors.
Keywords- Automation; microcontroller; inbuild driver;
programming; PWM frequency
I. OPERATING GUIDELINES FOR AUTOMATIC DEVICE
There is a series of publications considering possibilities of
using microcontrollers for actuating function of vehicles with
automatic driving. Concepts and designs differ especially by
microcontrollers types and programming language. However,
these robots are compelling not for reasons of mobility but
because of their autonomy, and so their ability to maintain a
sense of position and to navigate without human intervention is
paramount [7].
Most commonly used language for programming
microcontrollers is Assembly, but for this design we
considered it would be most fitted for the control program to be
written in C language, being much faster and easier than
programming in Assembly or even a combination of languages.
The aim of automation is to control driving process of
designed mobile system implemented as an assembly (figure 1)
of a platform carriage equipped with an emergency switch
covered by a plastic case, battery charger, two independent DC
engines and two gear decelerators. For an increased stability
the platform is provided with three sliding sets. Device is
planned to follow with high precision a white route marked on
a plane surface, considered as reference point.
Microcontrollers purpose is to keep device on track, being
programmed to interfere with corrective procedures when a
course deviation is signaled. Infrared sensors capture the light
emitted by 5 diodes and give feedback regarding device
position towards followed route.
Diodes are infrared LED type mounted on a plate, in a
linear pattern, alternating with infrared sensors. Sensors
detect the trace, encode information captured and transmit it
to a control circuit that has in its structure a PIC 16F877
microcontroller. The code is received through incoming port
TRIS A. The circuit examines each bit of received information
and according to logical values 0 and 1 processes the code.

Figure 1. Platform carriage of autonomous vehicle [2]
The automatic driven vehicle has autonomy regarding
power supplying. This vehicle is self-actuated and follows a
path of white trails, using infrared sensors from endowment.
DC engines operate by means of gear decelerators, each of
them being driven by a circuit equipped with a PIC 16F877
microcontroller. White route has a breadth of 4 cm. The target
is to follow with high accuracy marked trace.
II. DESIGN SPECIFICATIONS
A. PIC 16F877 Microcontroller
PIC 16F877 (figure 2) is a 40-pin 8-Bit CMOS FLASH
Microcontroller from Microchip. The core architecture is high-
performance RISC (Reduced Instruction Set Computer) CPU.
Instruction set has around 35 instructions (usually 37). These
are used on a large scale due to the advantages they bring over
microprocessor [1].
PIC 16F877 follows the RISC architecture, all single cycle
instructions take only one instruction cycle except for loop
instructions which take two cycles. 16F877 comes with 3
operating speeds with 4, 8, or 20 MHz clock input [4]. Since
each instruction cycle takes four operating clock cycles, each
instruction takes 0.2 when 20MHz oscillator is used.
It has two types of internal memories: program memory
and data memory. Program memory is provided by 8K words
(or 8K*14 bits) of FLASH Memory, and data memory has two
sources [5].

Figure 2. PIC 16F877 Microcontroller [3]
It was chosen PIC 16F877 Microcontroller as a solution to
drive the autonomous vehicle for its expidient features: it has
low cost, it can be easily programmed and reprogrammed, the
instruction code can be written in different programming
languages, it is fast.

Figure 3. Internal architecture of PIC 16F877 [8]
The internal architecture of PIC16F877 is minimal as
shown in block diagram from figure 3. Its peripheral features
include:
Three time blocks: Timer0 for 8-bit timer/counter;
Timer1 for 16-bit timer/counter; and Timer2: 8-bit
timer/counter with 8-bit period registers, pre-scaler and
post-scaler.
Two Capture, Compare, PWM modules for capturing,
comparing 16-bit, and PWM generation with 10-bit
resolution.
10-bit multi-channel (max 8) Analog-to-Digital
converter module.
Synchronous Serial Port (SSP) with SPI (Master
Mode) and I2C2 (Master/Slave)
Universal Synchronous Asynchronous Receiver
Transmitter (USART/SCI) with 9-bit
address detection
Parallel Slave Port (PSP) 8-bits wide, with external
RD, WR and CS controls
Five I/O ports.
B. Mechnical and Electrical Aspects of Device
For building automatic device a platform type chassis was
used, enclosed in a plastic housing. It was equipped with two
DC engines, two wheels and sliding sets, in order to increase
stability, rechargeable battery, two gear decelerators, electric
power for engines and electronic management control,
empowered with PIC 16F877 microcontroller. Platform is
provided with an emergency circuit-breaker.
LED diodes and infrared sensors are mounted at center
bottom of platform. Infrared light emitted by diodes towards
white line is reflected to all five sensors, these send a logical
signal to PIC microcontroller using A TRIS port.

Control circuits drive engines using PWM technique and
the control signals are sent from circuits to engine by means of
USART serial protocol.
III. PROGRAMING AUTOMATIC DEVICE
Control algorithm provides a continuous evaluation of the
five bits received and decides whether to change wheels
directions or not. Vehicle command and control algorithm is
achieved by means of automatic control techniques, using
closed feedback loop. Algorithm uses logical truth table below
(Table I).
PORTA has 5 adjoining pins. The corresponding register
for data direction is TRISA at address 85h. Like with port B,
setting a bit in TRISA register defines also the corresponding
port pin as input, and clearing a bit in TRISA register defines
the corresponding port pin as output [3]. If automatic vehicle is
situated on white line all five bits have the logical value of 1.
If vehicle deviates from its route and one of diodes is not
above white line, sensors transmit through TRIS port a 0
logical value to microcontroller.
Control algorithm detects value changing and by means of
command circuits shifts vehicles direction by modifying
wheels angle to left or right direction, until all five bits have
value 1, this device is back on white track.
TABLE I. LOGICAL TRUTH TABLE
Truth Table for Algorithm
Bit B1 Bit B2 Bit B3 Bit B4 Bit B5
1 1 1 1 1
0 1 1 1 1
0 0 1 1 1
0 0 0 1 1
1 0 0 0 1
1 1 1 1 0
1 1 1 0 0
1 1 0 0 0
0 0 0 0 0

For testing and loading microcontroller, software
provided by Microchip MPLAB is used (figure 4). The
following code lines are used to flash a LED on one of the
PORTA pins of the PIC microcontroller [6]:

Figure 4. Instruction code for LED flashing
#include <stdlib.h>
#include <pic.h>
#include delay.h
void main()
{
PORTA = 0x00; //set RA0-RA5 on low
TRISA = 0x00; //configure PORTA pins as output
while(1)
{
PORTA = !PORTA; // invert logic state of PORTA
DelayMs(250); // 250ms delay
}
}
Code example below is used for configuring input and
output ports and initiating and setting a PWM signal.
void InitMain()
{
ANSEL = 0; //configure port pins as digital I/O
ANSELH = 0;
PORTA = 255; // initial state of PORTA as input
TRISA = 255;
PORTB = 0; // initial state of PORTB as output
TRISB = 0;
PWM1_Init(5000); // Initialize PWM1 module at 5KHz
}
void main()
{
InitMain(); // call of initialization procedure
current_duty = 16; // Initialize current duty cycle
PWM1_Start() ;// start PWM1
PWM1_Set_Duty(current_duty);// Set PWM1 duty cycle
to value of current duty
While (1)
{ If (PORTA.F0==0)
{ Delay_ms(1);
current_duty++; //incrementing duty cycle
PWM1_Set_Duty(current_duty);
}
If (PORTA.F1==0)
{ Delay_ms(1);
current_duty--;//decrementing duty cycle
PWM1_Set_Duty(current_duty);
}
Delay_ms(10);
}
In case we need more than one PWM signal we can use
imbricate loops to set or reset outputs, according to our
necessities.
IV. CONCLUSIONS AND CLOSURE
Advantages of microcontrollers over microprocessors are
obvious: microcontrollers are cheaper, have no need of extra
peripherals, programing language is simple, instruction code is
short, easy program debugging, simple wiring between
components.
As results of our work we used C language for
programming PIC 16F877 microcontroller because it is easier
and faster than Assembly language, and in this case, more
suitable for designed application. Model in discussion can be a
prototype for a transporter device in logistics departments of
multinational companies.
ACKNOWLEDGMENT
The authors acknowledge the support of the
Managing Authority for Eftimie Murgu University of Resita
and Politehnica University of Timisoara.
Anghel Drugarin,Cornelia Victoria is Phd Engineer in IT
and Computers Science domains since 2001 on Politehnica
University Timisoara and teach on Eftimie Murgu University
of Resita since march, 1994. Is author and co-author on 21
books or chapters, 158 articles, and Vicepresident on
Multidisciplinary Research Asociation on Vest Region in
Timisoara, email c.anghel@uem.ro;
Stroia, Mihaela Dorica is Phd Engineer in Mechanical
Engineering domain since 2012 on Politehnica University
Timisoara and teach since october 2008 on Eftimie Murgu
University of Resita. Since october 2011 is Principal Process
Engineer at Sumitomo Electric Bordnetze GmbH Romania,
email stroia_mich_elle@hotmail.com;
Silviu Drghici, is Ph.D student Politehnica University
Timioara, section SYSTEMS ENGINEERING, registration
number 2188, enrolled in October 2011. He would like to
thank to my PhD advisors, Prof.univ.PhD.Eng. Octavian
Prostean for supporting me during these past three years.
Since October 2012 is associated assistant teacher on Eftimie
Murgu University of Reia, Faculty of Engineering and
Management, department Electrical Engineering and
Informatics; Romania, email: s.draghici@uem.ro
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