I/Gii thiu:

Ngy nay ,ch to robot l 1 phong tro trong gii sinh vin (v ngay c hc sinh ).Cng ngh ch to robot khng nhng p dng vo cc cuc thi sng tao robocon m cn c nhiu ng dng thc t.Hin ny rt nhiu hc sinh,sinh vin rt yu thch ch to robocon.Nhng cc kin thc ch c c qua tm ti t hc hi trn mng,trong chng trnh hc khng c mn no hc chuyn su v robot.Ch bi v ch to robot l cng vic bao gm c lp trnh, in,c kh ..... Nay vi ,t cch l n em.Khng dm ch dy g c.Ch a ra 1 vi kin thc c bn trong 1 bi vit ny anh em trn mng c th tp hp cc kin thc c bn m chng phi tm kim u xa.Mnh th chun b l sinh vin thi ch cha phi l sinh vin g c nn vit 1 t liu chuyn mn th ny khng trnh khi sai st mong cc anh em,bn b gn xa c qua v cho gp ,ch gp thi ch ng ch trch g khi c sai st.Trong tp ti liu ny c ly mt s ti liu khc trn mng ,nn vi phm bn quyn l khng th trnh khi nn mong cc bn nim tnh v tha th cho anh em bn c c th truyn cho nhau nhng kin thc ny.Nhng phn no uc ly t ti liu khc mnh s c ghi ch li. Chn Thnh Cm n.

II/Kin thc c bn:

Trong phn ny mnh xin chia s vi cc bn 3 k thut trong robot,Ni cch khc c bn th 1 robot c th tham gia thi robocon cn c l 3 yu t ny,trong nht l h thng cm bin v phc tp kh hc nht l Vi iu khin,vi mch,bao gm c lp trnh v mch in, hc cc vn ny th tn khng t thi gian.Minh xin a ra thi gian tham kho khi mnh hoc nhng vn trn: 1. H thng cm bin(thi gian hc t 1 tun n na thng): 2. H thng truyn ng(t 1 thng n 6 thng): 3. Vi iu Khin,vi mch (1 nm n 3 nm).

1./H thng cm bin.

a. nh ngha: -Trong mt con robot c bn.Mt trong nhng phn quan trng nht trong robot chnh l h thng cm bin.Vy cm bin l g: -cm bin c nh ngha nm na l h thng cc gic quan ca robot, ng vy.Robot cn xc nh trng thi mi trng bn ngoi(nh l cc vch trng,mu sc ca cc vt ghi im,ni ghi im....) gi trng thi mi trng n b x l ri a ra cc phn ng iu khin robot i ph vi cc s kin bn ngoi y. cc bn hiu hn v cch lm vic ca cc b cm bin mnh xin a ra 1 v d nh: -V d n gin nht chnh l con ngui ca chng ta.Ta v con mt nh l 1 b cm bin.Khi chng ta ang i sp ng vo vch tng th mt s nh nhng cm bin truyn d liu v cho b b no.Tng t nh vy,cc cm bin s chuyn d liu v cho b vi x l.Sau b no s gi tr thng thng phn ng nh l i hng khc trnh va ng vo vch tng.Vi x l ca robot cng th,n s gi thng tin cho robot i ng ng. b.Cc loi cm bin: -Trong k thut robocon ngi ta s dng nhiu loi cm bin nh l : 1. led hng ngoi(b pht thu hng ngoi) 2. Quang in tr (PHOTORESISTANCE):cds hoc cdse 3. T bo quang in 4. cm bin cng nghip 5. Camera s trong cng ngh x l nh - y mnh ch xin gii thiu 1 thit b cm bin thng dng v gi sinh vin cho cc bn, l led hng ngoi: c.Led hng ngoi (Light Emiting Diode)

Hnh nh ca 1 b pht thu hng ngoi. Led hng ngoi: l mt loi cm bin uc s dng rt nhiu v gi thnh rt r,mnh nh c 1 ln i qua ch nht to hi mua th ch c 7000 ng 1 cp trong b pht(Emitter) l 2000 ng v b thu(detector) 5000 ng.

C ch hot ng:

Nh trn hnh bn thy hnh bn tri: light source l b pht hng ngoi hoc l 1 ngun sng no c tia hng ngoi.khi chiu xung 1 b mt mu en(hoc l b mt c mu

sm,ti)th cc nh sng s b b mt hp thu v lng nh sng b bc xa tr li rt t,nn b thu(detector) nhn c nh sng phn hi t. Ta xt hnh bn tri:Khi b mt mu trng(hoc mu sng)th nh sng uc pht bi b pht hng ngoi s khng bi hp th bi b mt m b ht di ngc li,v khi u thu detector s thu mt lng tia hng ngoi rt ln. -Do led hng ngoi c th phn bit uc b cm bin ang chiu vo 1 vt mu sng hay mu ti truyn ti b x l. - Cu to b pht hng ngoi:

Hnh bn tri l cu to ca n led pht hng ngoi,Khng c g t bit c.Ta ch nn ch n 2 chn ni vi mch in ca Led thi.Chn Anode(a - nt) c ni vi cc dng ca ngun in.Chn Cathode (ca tht) uc ni vi t (cc m).Qua hnh bn ta cng c th phn bit oc rng thng thng th chn anode di hn chn cathode nn rt d nhn bit.Nu nh bn mc nhm chn trong mch in th led s khng sng ! v dng in cng s khng chy wa uc u.Cho nn y l vn ng ch khi mc in cho led.

Cch mc b pht thu hng ngoi vo mch in:

S mch in ca b cm bin.

Led y chnh l b pht hng ngoi,cn quang tro l b thu.Mnh u mch in ny ra ch bao qut v mch in ca cm bin bao gm led hng ngoi v quang tr. Lu khi mc Led hng ngoi phi mc ng cc ca n led c th hot ng.Nu s dng b thu l con thu hng ngoi(detector) th chn cathode uc ni xung mass(-) cn chn anoder th ni vo ngun in v ung dn tn hiu n b so snh logic. Cch b tr cm bin trn robot : C nhiu cch b tr led trn robot cc cch b tr tu thuc vo chin thut ca tng i ,cc i ca Bch Khoa H Ni thng dng 6 Led d ng v 1 led m vch (theo mnh bit l nh vy).Cn cc i Bch Khoa Thnh Ph h Ch Mnh th dng n 8 led d ng.Nhng mi cch dng u c mt li i i vi ci hi.V d nh ta dng 8 led d ung th Robot se iu khin hng i c linh hot hn.V vy robot s kh m b lc ung,Nhng m cc led qu nhiu nn s t nhiu ln nhau dn n nhiu tn hiu robot s d ng khng chnh xc,nhng y l trng hp rt t khi xy ra,v chng ta c th ly cc c vt c mu en che chn gia cc cm bin vi nhau.Cm s dng 6 led d ung v 1 led m vch th robot d ng s t lnh hot hn v ch c 6 led.Nhng 6 led cch nhau nn s hn ch s nhiu sng gia cc led.Sau y xin a cc s b tr led ca 1 s i robocon Vit Nam s dng mnh ly t ti liu ca BKPro i v ch robocon 2006.trong cc chm mu l led cm bin v vch mu en l vch d ung uc v trn sn:

y l cch b tr led ca i BKIT (BK TPHCM) dng 2 led d ung v 1 led m vch.

y l cch b tr led ca i Basic Bot (Tin thn ca BK Pro )Cng dng 1 led m vch nhng 5 led d ung.

Cn y l cch b tr led ca FXR (V ch robocon nm 2004) dng 6 led d ung v led d ung cng chnh l led m vch.

y l s b tr led ca RLB (V ch robocon 2005) dng 8 led d ung v m vch Cch thc hot ng ca cc s b tr led: 1.Cch b tr led theo hng ngang,khng c led m vch: s ny th cc led s m vch nh sau:Nu nh robot ang chay qua vch ngang th tt c cc led trong hng s ng thi truyn tn hiu v vi iu khin cng mt lc ,bo hiu rng robot ang vch ngang,Chng ta c th chng nhiu bng cch trong khi lp trnh chng ta ch ly 6/8 (hoc 7/8 tu bn) led c tn hiu l xem nh robot ang trn vch ngang. 2.Cch b tr led theo hng ngang,C led m vch: s ny th cc led trong hng ngang s ph trch vic bm vch dc robot i ng hng.Cn vch ngang th c led m vch ngang ph trch.Khi robot chay qua vach ngang.Lc led m vch s cng chay qua vch ngang v gp vch s truyn tn hiu v cho b vi x l. Cch b tr cc led trn mch in : Sau y l hnh v b tr cc led trn bn mch in (dng cho robot s dng 3 led ):

Lu rng chng ta nn b tr cc b pht bn ngoi (phn ra ca robot)v cc b thu tn hiu bn trong trnh nhiu.

1./H thng truyn ng.

a. nh ngha: thng truyn ng c v nh l chn,tay ca robot vy.Robot di chuyn c ,cm ,nm,...... uc l do c h thng truyn ng.Gii thch nh th ny chc cc bn bit v h thng truyn ng ri phi khng ? Nu cha bit th xem tip th chc s bit thi :D .H thng truyn ng cc bnh xe. ng c(bao gm ng c bc (Stepper Motor) ng c 1 chiu (DC Motor) ng c tr ng (Servo Motor) v...v...v.... , y truyn ng: y cuaroa,dy xch(xn nhng da),dy ko,rng rc ,v cc vt dng c kh khc. y mnh ch cp n cc loi ng c.Cn cc loi loi khc th thuc phn chuyn su ri,tp ti liu ny ch dng phn c bn thi.V chuyn su mnh s trnh by trong 1 ti liu khc. b.Cc loi ng c: - ng c th ! i thi nhiu v k v nhiu loi,kch c mu sc n kiu dng,nhng y ch phn loi thnh 3 loi chnh.

1. ng c 1 chiu (DC Motor) 2. ng c bc (Stepper Motor) 3. ng c Tr ng (Servo Motor) Sau y ta s xt v tng ng c nh: I./ ng c 1 chiu (DC Motor): ng c 1 chiu l g: Trong ti liu,t y tr v sau ti xin gi ng c 1 chiu l DC Motor,cc bn nn nh, ng c mt chiu c cu to t 2 b phn: b phn ng yn cu to t nam chm vnh vin uc gi l stato v b phn quay oc cu to t 1 nam chm nhn to c cu to t 1 cun dy ng c li l 1 thanh kim loi uc gi l roto: Xt hot ng ca DC motor:

Xt hnh bn trn ta thy rng khi cho dng din 1 chiu (tuyt i ko dng in xoay chiu nh) i qua motor s khin cho motor quay nh trn hnh. Nhng nu ta thay i chiu dng in th s nh th no ? vy th c bnh tnh m xem tip ^^ (cu ny c v tc coi vi nhng ngi bit hot ng ca DC Motor ri nh :D )

Khi ta o 2 cc ca dng in th ta s s uc hin tng nh hnh trn, l ng c s quay Theo chiu hon ton ngc li so vi hnh truc .Qua ta c th rt uc kt lun nh sau: ng c DC cho dng din 1 chiu chay qua v lm quay phn roto dn n motor quay,nu ta i chiu dng in th motor s quay theo chiu ngc li.Do ta c th iu chnh c hng quay ca Dc motor. c tnh k thut ca hu ht ng c DC l tc quay(vng/phut) cao v moment ngu lc thp.Nhng m hu ht robot cn tc quay chm v moment ngu lc cao.Do

1 hp s c th c lp vo DC Motor nhm gim tc quay v tng moment ngu lc.Trn hp s thng ghi r th s truyn ng gia trc v sau hp s,v d tc quay ca 1 Dc Motor l 1000 vng/pht uc gn vo 1 hp s 1000:1 .c ngha l tc quay ca u ra hp s uc 1/1000 ca tc DC Motor khi cha gn hp s Vn tc hp s = Vn tc DC Motor/1000=8000/1000=8 vng/pht. iu khin chiu quay ca DC Motor: Trong phn ny ta xt 2 cch iu khin ph bin nht a s uc cc i Robocon s dng iu khin chiu DC Motor bng mch cu H: Mch cu H rt c nhiu i s dng bi tnh n gin ca n,s d n c tn mch cu H v s ca n c hnh ch H:

Trc ht ta xt trng hp xoay thun ca DC Motor,ta ly mt v d vui cht nh,trong on mch di y,tng tng rng on mch l mt chic cu v hy xem nhng transistor Q1,Q2,Q3,Q4 l nhng khc cu b gy,ngi ta bt u i t ngun in n mass,mt chic cu nu b gy th ngi ta s khng th qua c do ngi ta s khng th i qua cc in Q1,Q2,Q3.Q4.Khi m nh nc nghe tin cu gy th s cho k s sa cu n sa cu bng ng thun v theo ng thun ch sa c nhng im Q1,Q4.Sau khi sa xong th cu lin li cc im Q1,Q4 do ngi ta c th i t Nguun in n Mass bng ng Ngun in DC Motor Q1 Q4 Mass .By gi tr li thc t.Ta thay th ngi i qua cu bng dng in,nhng on cu gy Q1,Q2,Q3,Q4 l nhng transistor v nhng k s sa cu l dng in 3V c truyn n theo ng dy thun, ng thun l ung dy mu en,nh m phng nh trn th dng in sau khi c khai thng s chay qua motor lm motor quay :

By gi,ta xt trng hp xoay Nghch ca DC Motor,cng trong on mch trn,tng tng rng on mch l mt chic cu v hy xem nhng transistor Q1,Q2,Q3,Q4 l nhng khc cu b gy,ngi ta bt u i t ngun in n mass,mt chic cu nu b gy th ngi ta s khng th qua c do ngi ta s khng th i qua cc im Q1,Q2,Q3.Q4.Khi m nh nc nghe tin cu gy th s cho k s sa cu n sa cu bng ng nghch v theo ng nghch ch sa c nhng im Q2,Q3.Sau khi sa xong th cu lin li cc im Q2,Q3 do ngi ta c th i t Nguun in n Mass bng ng Ngun in DC Motor Q2 Q3 Mass .By gi tr li thc t.Ta thay th ngi i qua cu bng dng in,nhng on cu gy Q1,Q2,Q3,Q4 l nhng transistor v nhng k s sa cu l dng in 3V c truyn n theo ng dy nghch, ng dy nghch l nhng ng mu ,nh m phng nh trn th dng in sau khi c khai thng s chay qua motor lm motor quay : l cch m mch cu H Brigh hot ng cc bn no cn cha hiu v nguyn l hot ng ca mch cu ny ta c th lin lc vi mnh qua a ch email: lucky_star_ndt@yahoo.com mnh s hng dn n khi hiu mi thi :D cn khng th lin lc qua nick chat ca email trn lun nh. iu khin DC Motor bng Role (Relay): Role l g ? Role (Relay) l mt IC c cu to bi 1 mch in c 1 on mch ni vi 1 ci bn l uc m hoc ng nh 1 mt cun dy nam chm. S nguyn l ca Role:

Nguyn l hot ng l cun dy khi c dng din s ht cc thanh (mnh ngh l st nn n mi ht c) kim loi v pha cun dy lp tc 2 thanh kim loi ny s ri b 2 u dy c v tip xi 2 u dy khc: Ta xt hnh th 1:

Lc ny khi cha c dng in i qua cun dy nam chm (2 cc u l x ) ,cc thanh kim loi (thanh mu en y ) u ni u 1 n u a , u 2 n u c,do vy dng in ch i t u 1 n u a v u 2 n u c. Ta xt hnh th 2:

Lc ny c dng in i qua cun dy nam chm v cun dy s ht cc thanh kim loi v pha cun dy,do cc thanh kim loi lc ny s ni t u 1 n du b v u 2 n u c,do vy dng in ch i t u 1 n u b v u 2 n u c. Qua nhng g bn thy trn th chng ta kt lun rng: nguyn l hot ng ca Rle l bin i dng in thnh t trng thng qua qun dy, t trng li to thnh lc c hc thng qua lc ht thc hin mt ng tc v c kh nh ng m cng tc, ng m cc hnh trnh ca mt thit b t ng. ng dng Role vo mch iu khin chiu quay cho DC Motor: By gi ta bt u ng dng role vo mch iu khin chiu quay cho ng c DC nh: Mch nguyn l s c dng nh sau: -

Ta xem on mch trn c 2 on dy cn ni vi nhau l dy ROLE1 ni vi dy ROLE1 v dy PWM1 ni vi dy PWM1.dy role l dy iu khin tn hiu chiu ca ng c.Nu dy ROLE1 chuyn n tn hiu 12V th ng c quay chiu thun.Nu ROLE1 chuyn n tn hiu < 11 V th Motor quay theo chiu nghch,Dy PWM1 l chuyn tn hiu xung iu khin vn tc ca ng c ,ci ny th mnh s ni sau.Ngoi ra trn mch cn c IRF540 con FET ny dng bo v cho Role mi khi xoay chiu(con ny bt buc phi c).Cc bn nghin cu on mch cho k v tm ra cch hot ng ca n nh,hc ch u l tm ti ma ^_^.Vi ci mch role ny thng n n nh mnh cng ch mt c vo gi ng h tm ra nguyn l hot ng ca n m :D Nh vy chng ta c bit 2 cch ph bin nht n iu khin chiu quay ca ng c ri. n y cc bn nm chc v ng c DC ri.cn v ng c bc(stepped Motor) v ng c tr ng (Servo Motor) l 2 ng c chuyn su v pro hn nn mnh khng ni g thm trong tp ti liu c bn ny.Mnh s cp n 2 loi ny mt ti liu khc.By gi chng ta cng bc qua mc tip theo. iu Xung PWM , iu chnh vn tc cho ng c: iu xung PWM (Pulse With Moduration) l mt khu quan trng trong thit k robocon.Qua bn c th iu khin tc linh hot cho DC Motor t c th dng cc hm vn tc cho robot c th bm theo vch trng m i,Khng c bc ny k nh v nh bn khoai lang lun ^_^ . a. nh ngha: iu xung ni chung l cch bt tt ngun in ca motor lin tc lm motor lc nhn c in lc mt in.Khi tn s cao Motor s quay n nh 1 tc nh moment quay ca bnh xe. Xung vung l mt th biu trng thi ca ngun in.Ngun c m th Motor hot ng,lc ny xung vung ang trng thi cao v Ngun tt th Motor dng lc ny xung vung trng thi thp Tc ca motor ph thuc vo d di ca xung vung cc bn xem hnh biu th mt xung vung di y gm:xung 20%,xung 50% v xung 80% xem khc bit ca n.

Ta xem cc xung trn,mi xung d l 20% 50% hay 80% u c 2 trng thi l 12V v 0V,12V c gi l trng thi cao trng thi ny motor s quay,cn 0V l trng thi thp trng thi ny motor s c c in p dng.Trong mt biu xung,Tng % ca trang thi cao v trng thi thp l 100% v con s xung 20% ,50% v 80% l xung cao.Cho nn % xung thp = 100% - Xung cao.Nu xung cao cng di th tc motor cng cao,Do ta c Motor t c tc cao nht khi motor c gi n xung 100% v Motor dng c khi c xung 0% c gi ti. Vy chng ta iu xung cho 1 motor bng cch no ? Chng ta ch c th iu xung cho 1 motor khi dng 1 con vi iu khin c h tr knh iu xung m thi.Cc con vi iu khin c knh iu xung c rt nhiu nh l Pic16F877A hoc l P89C51RD ca Philip....Tic l con AT89C51 khng c knh iu xung.Cch iu xung cho mi chip cng khc nhau nn mnh khng th hng dn chi tit c.Cc bn rng tm cc datasheet ca chip bit cch lp ch iu xung cho chip nh.

3./Encoder cho bnh xe:

a.Encoder la g ? Enconder l 1 h thng gm 1 cp thu,pht hng ngoi v mt a trn c rnh.Encoder dng qun l v xc nh v tr gc quay ca 1 vt chuyn ng trn nh l bnh xe,trc ng c,m ng dng ca encoder trong k thut robocon l m s vng quay ca bnh xe.y l hnh ca 1 a trn encoder 2 vng vng l:

V trong robot ng dng chnh ca encoder l m vng quay ca ng c nn y mnh ch cp n encoder m ln (Incremental encoder) Trong Encoder phn gii chnh l s l trn 1 vng,v d nh a encoder trn th n c 2 l/vng.Cch thc hot ng ca n cng khng c g l phc tp.Encoder s dng 1 cp led pht,thu hng ngoi.Cc led hng ngoi c t i din nhau.gia 2 led ta t ci a encoder vo:

Nh hnh trn bn thy, khi bnh xe chuyn ng th a quay cng chuyn ng cn a ng ch s dng thu nh tia sng thi,chng ta khng nn ch n a ng lm g.Trn a quay c cc rnh (l)khi quay n nu led chiu vo cc rnh th cc tia hng ngoi s uc chiu xuyn qua cc rnh ri n led thu,cn khi led chiu vo ch khng c rnh trn a th nh sng khng th i qua a c.Cho nn khi nhn c tn hiu th chng ta bit rng led i qua c 1 rnh.

Vy lm sao bit c a quay 1 vng ? rt n gin,chng ta gi s nh chng ta c 1 a encoder c 1 vng l v v vng l ch c 1 l.Khi bt u ta cho led chiu qua vng l v cho encoder quay.Khi no n quay 1 vng th n s quay li ci l v led chiu vo l th s truyn tn hiu l quay hon tt 1 vng,nh vy 1 l s gi v 1 tn hiu xung vung. Encoder c vng cng nhiu l th c phn gii cng cao (xung/vng) v khi b x l ca bn phi c tc tht cao nhn bit kp thi cc xung v tc ca ng c rt cao.do vi cc ng dng bnh thng th ta ch nn dng vng encoder t l m thi.v d nh chng ta c 1 a encoder 16 l trn 1 vng.Chng ta s lp trnh b m (Counter) ngoi m s l .khi m ln n 16 l th chng ta s dng ngt bo rng ng c hon tt 1 vng quay. Trong trng hp c mt tc ng no khin cho encoder m sai 1 l. m sai 1 l tuy khng phi l con s ln.Nhng trong trng hp ta mun ng c quay nhiu vong th sai 1 l s cng tch lu v s l 1 con s ln.Cho nn chng ta s to theo 1 l nh v ngay bn trong vng l m na:

khi led ca l nh v bo rng motor hon tt 1 vng quay m vong ngoi cha c tin hiu hon tt 1 vng quay th chng ta cho rng l do li ca b m v chp nhn l mt vng quay. Lm th no bit chiu quay ca 1 ng c ? Ta s dng thm 1 cp led pht thu cp ny t lch so vi cp th 1,v d cp th nht chiu vo 1 rnh th cp ny khng chiu vo rnh.Do khi rnh quay chng ta s c s xung nh hnh sau:

Cc bn thy rng nu nh khi xung A ang t mc cao xung mc thp, m lc B ang mc thp, th chng ta s xc nh c chiu chuyn ng ca encoder theo chiu mi tn mu cam.

Nu A ang t mc cao xung mc thp, m B ang mc cao, th chng ta s bit encoder ang quay theo chiu mu en.

4./Vi iu khin,vi mch. Vi iu Khin: Ngy nay vi iu khin c rt hng sn xut v a dng v chng loi mt hng.Cc nh sn xut vi iu khin ni ting hin nay l ATMEL,Intel,Dallas,Philip,Pic(Ca Microchip).v...v.... vic u tin l chng ta phi bit chng ta dng vi iu khin vo vic g,trong tp ti liu ny th chc chn chng ta dng n ch to robot.Nhng nn dng loi no.Theo 4 nm kinh nghim ca mnh th khi mi bt u hc v vi iu khin th bn nn s dung cc loi sau: AT89C51,PIC16F84 .Hai con vi iu khin ny l loi n gin d hc v r tin hn cc loi vi iu khin khc phc tp hn.Vy chng ta nn bt u hc t u ? Ni tht ra th khi hc v vi iu khin cng khng nn tn km mua 1 con v thc hnh lm g.Bi v khi mi hc chng ta cn mc cc sai st rt nghim trng v c th dn n h vi iu khin.Nn tt nht cc bn hy xi cc phn mm m phng mch in rt hay nh l Proteus n m phng v hot ng y nh tht trn giao din my tnh .Hu ht cc vi iu khin,linh kin in t hin nay n u m phng c c.Cn nu nh bn l ngi c tin th mua vi iu khin v m thc hnh trn thc t.Ci th qu tt ri.Theo ti ngh bn nn kim ti liu v hc vi iu khin cho tht k trc khi tht s lm 1 mch ng dng n vi iu khin.Nh mnh y ngy no cng ln mng kim c ni ti liu v nh hc c na nm gn 1 nm mi dm s dng 1 con vi iu khin tht s.Trong thi gian hc ch s dng mch m phng thi.Cc bn c th lin h mnh share cc ti liu,phn mm m phng hoc lp trnh.Nu c th gip c g th mnh s gip a ch lin h mnh s ghi vo cui tp ti liu ny.Tr li vn chnh. Khi bt u hc vi iu khin th nhng vit sau y bn nn hc (hc theo th t lit k di y,ci no lit k trc th hc trc). Cu trc phn cng ,chn ca vi iu khin. Cc loi kin trc ca Vi iu Khin (Harvard,Von Neumann) Cc thanh ghi trong vi iu khin Khi nim v Stack Pointer (SP) Khi nim v con tr DPTR a ch gin tip, a ch trc tip ca thanh ghi Timer,Ngt. Mnh s khng ni g thm v cc phn ny v y l ni dung nm ngoi tp ti liu ny.Nu c thi gian mnh s vit 1 ti liu khc hng dn k hn v vic ny.Sau khi hc uc cc khi nim trn ta bt u vo hc bc tip theo.Cng l bc quan trng nht trong cc bc l phi hc mt ngn ng c th lp trnh cho vi iu khin.Ngn ng lp trnh th c nhiu loi.Trong c Assembly l ngn ng cp thp v cc ngn ng cp cao nh l C,C++,C#,Visual Basic,Pascan..... Ngn ng lp trnh cp thp l chng ta phi tng tc vi vi iu khin cn ngn ng lp trnh cp cao th khng.Cho nn mun hiu r v thun thc vi iu khin chng ta nn chn ngn ng cp thp Assembly bt u hc v lp trnh.Trn mng c c ni ti liu dy t hc Assembly,bn down v ri hc.Cn nu khng c th c ln 1 din n chuyn ngnh no hi,cn nu khng c na th hi ...... mnh :D a ch lin lc s ghi cui tp ti liu ny.Bn cng c th bt u bc vo hc cc ngn ng lp trnh cp cao nhng s rt kh khn.Nn ti khuyn cc bn mi hc lp trnh hy hoc Assembly trc.Khi hc lp trnh cng cn phi c 1 vi cng c nh l Trnh dch (Compiler),trnh np(Programer),Boot loader v debuger.My ci c c kho trn mng ,cc bn vo google hi l c ngay.Vic tip theo na l bn hy hoc cc phn sau y: Hc v cc thanh ghi SFR,Ram Giao tip I2C Giao Tip UARST,RS232

Ti y nhng g mnh lit k trn bn u thun thc th bn c th lap trnh cho 1 robot ri y.C th m trao di kinh nghim vo th bn s thnh cng thi. Vi Mch: Vi mch c nh ngha (nh ngha ca mnh t ra :D )l tp hp cc con chip ,con tr hoc cc linh kin in t uc kt ni thnh mt mch in v mch in c th vn hnh tt.Mch chng ta thng thy l mch in,mnh s cp n cch lm mch in phn sau.By gi mnh xin gii thiu cch hc in t: Th nht :hc cc linh kin thng thy trong cc mch in t nh l con tr,t in,IC...v....v... Th hai:hc cc nh lut v in,cc cng thc tnh ton gi tr ca cc i lng dng trong in t,v d nh cng thc tnh ip p gia 2 u on mch l U=R.I Th ba:hc cch thit k 1 mch in t (mch nguyn l) dng OrCAD hay Protel ...v...v... Th t:hc cch lm 1 mch in,mch test vi cc socket chn cm. Th nm hc k thut hn in t. Ch 5 iu thi hc cng mt gn c nm tri :D .Cc bn c theo m hc.Tin th mnh xin gip cc bn mt s kin thc v lm mch in.hn in t: Lm mch in,Hn in t: u tin bn phi hc s dng 1 phn mm thit k mch in no c th thit k cho bn 1 mch in sau save n li.dng solid converter pdf hoc cc trng trnh m phng my in no chuyn file *.max m bn thit k thnh file *.pdf

Nu nh bn khng c my in lazer th c th em ra ngoi tim nh ngi ta in ra (nh l phi dng my in lazer mi c nha) .Giy in cng nn chn cc loi giy c bng tt ,nhng ng bng qu ko mc in b nho trong khi i.Tt nht l nn lm theo kinh nghim ca cc n anh i trc l dng giy th cng hng h 2500 ng 10 t c A4.In ra mt bng ca giy .

Ri em i ly tm ng m bn nh lm bn mch p vo mt c mc in ca giy.Sau gi cht,ly bn i ra ch nng nht ri i ln mt sau ca t giy in,dng i ln mt sau tm ng v l vic lm v ch. i ln mt sau giy in phi i khp giy in i t trong ra ngoi.Cho n khi no thy ton b mc in b thm ra mt sau ca giy th thi

.Sau 2-3 pht cho n ngui ri cho vo chu nc dng tay bc lp giy in ra bn s thy lp mc in dnh ln trn tm ng.

Sau ta ra sch tm ng,nhng ni c mc in ta khng ng ti ch c sch nhng ni khng c mc in thi.Lc ny ta thy tm ng c hnh v ca mch in ri.

Vic sau cng l ta dng dung dch an mn FeCl n mn tm ng,tin hnh nh sau:ly 1 ci chu to t va tm mch in ca bn vo.Sau dung dch FeCl vo khong 1,5 cm tnh t mt dung dch n y chu,sau dng 1 vt di ct dy ni vi tm ng nh hnh v v t vo chu.Nh rng phi quay mt c mc in xung cho n tip xc vi dung dch FeCl mi uc. i khong 5-10 pht.

Sau ta ly tm ng ln th c 1 tm mch in hon ho ri ^^ :

Sau khi hon thnh phn mch in ta bt tay vo khoan l hn(Trong ti liu ca Trn V Hp): Cc mi khoan khoan: Mi 0.8 ly dng khoan cc con tr,t in v cc IC Mi 1 ly dng khoan cc l Jum Mi 3 ly dng khoan l bt c Khi in mch ra vo tm ca cc chn linh kin c cc l trng,hy khoan vo nhng l c th hn uc p Ri bt u hn linh kin vo mch.