Abstract:
Controlling devices is one of the important fields in modern industrial control systems where robots do dangerous, precise and even boring work The study of embedded systems has the main role and contribution in making such control convenient, since it acquire measures, process readings and control of actuators. In this paper, the solution suggested is to realize control using three modes, as well as approaching the problem without using PC for processing of measurement and control signals. It aims also to overcome the limitation of the peripherals of AVR Atmega32 microcontrollers that can control only two servo motors. This limit has been overcome by utilizing SPI interface ports of microcontrollers. Results obtained are excellent and efficient performance achieved. However, there are some findings like rounds-up of some values that led to loose of few fractions in the position of motor due to shift in the instant of sending signal to the slave micro. A solution has been proposed, which was to send the value in two cycles. Another issue is how to put together the three modes in one program, which were not possible because of the blocking statement in the GSM mode.
