1. Microprocessor
Application Lab
Term Project
- Ganesh Kumar M (08ME 3305)
- Akshay Meena (08ME3304)
- Anoop S (08ME3303)
- V. Rahul Soni (11ME63R37)
- Manoj Kumar Pandit
(11ME63D02)

2. Introduction
A traction control system (TCS) is typically secondary function of the Anti-Lock
Braking system on production vehicles, designed to prevent loss of traction of
driven road wheels. When invoked it therefore enhances driver control as throttle
input applied is mis-matched to the road surface conditions being unable to manage
the applied torque.
This project is simplified version of such a system. The vehicle is driven by a DC
motor. On loss of traction, the system tries to regain it by reducing the power to
the DC motor, thus, reducing its speed/torque output. This is similar to the throttle
control in TCS of road vehicles. The front wheel speed is taken as the reference
speed. It is assumed that the front wheel is in pure rolling and there is no
longitudinal slip. The target of the bot is to finish a circuit in the optimal speed.
Project Description and Algorithm
In this project our main aim was to build a simplified traction control system.
- First, the front wheel speed is read for reference using a magnetic speed
sensor.
- Using the front wheel speed, we compare it to the speed of the motor. If the
front wheel speed is more than motor speed, the power to the DC motor is
reduced to match the reference speed.
- The steering is controlled by another DC motor.

3. List of components:
Component Name Quantity Cost
Motor 6V 25000 rpm 1 -
Motor 6V 1 -
USB ATmega328 Arduino 1 750/-
2500/-
Vehicle Chassis 1
*(inclusive of Motors)
Magnetic Speed Sensor 1 -
Motor Controller 3 300/-

4. Miscellaneous - 450/-
Total 4000/-
ATmega328 Pin layout

5. The Program (with Feedback system)
#include <avr/io.h>

6. #define F_CPU 16000000UL
#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <avr/delay.h>
#include <util/delay.h>
int MotorBackBackward = 9;
int MotorBackForward = 10;
int MotorFrontLeft = 5;
int MotorFrontRight = 6;
#define NORMAL 1000
#define TURN 1000
#define forward 5000
int i=0;
uint16_t time=0,task=0;
int16_t defTime=0;
bool edge=true, lastEdge = true;
void InitTimer()
{
TCCR1A = (1<<COM1B0);
TCCR1B = (1<<CS10);
TIMSK1 = (1<<OCIE1B);
}
void InitADC()
{
ADMUX |= (1<<ADLAR)|(1<<REFS0);
ADCSRA |= (1<<ADEN)|(1<<ADPS0);
}
void ReadADC()
{
ADCSRA|=(1<<ADSC);
while(!(ADCSRA&(1<<ADIF)));
if(ADC-509)
{
edge = true;
}
else
edge = false;
}
ISR(TIMER1_COMPB_vect)
{
if(lastEdge&&edge)
{
}
else
{
lastEdge = edge;
defTime = time;
time=0;
}
time++;
task++;
}
void setup()
{

7. pinMode(MotorBackBackward,OUTPUT);
pinMode(MotorBackBackward,OUTPUT);
pinMode(MotorFrontLeft,OUTPUT);
pinMode(MotorFrontRight,OUTPUT);
InitTimer();
InitADC();
SREG|=(1<<7);
sei();
OCR1B = 16000;
stopAll();
}
void loop()
{
moveForward(173+2*(30-time/50));
if(task<forward)
{
stopTurn();
}
else
{
turnLeft();
}
if(task>=2*forward)
task = 0;
/* moveForward();
delay(NORMAL);
stopMove();
turnLeft();
delay(1000);
delay(TURN);
delay(TURN);
//turnRight();
turnRight();
moveForward();
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
stopMove();
turnLeft();
stopTurn();*/
}
/*void moveForwardPWMint value)
{
analogWrite(MotorBackBackward,0);
analogWrite(MotorBackForward,value);
}
void moveBackwardPWM(int value)

8. {
analogWrite(MotorBackBackward,value);
analogWrite(MotorBackForward,0);
}
*/
void moveForward(uint8_t pwm)
{
analogWrite(MotorBackBackward,0);
analogWrite(MotorBackForward,pwm);
}
void moveBackward()
{
digitalWrite(MotorBackBackward,HIGH);
digitalWrite(MotorBackForward,LOW);
}
void turnRight()
{
digitalWrite(MotorFrontLeft,HIGH);
digitalWrite(MotorFrontRight,LOW);
}
void turnLeft()
{
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,HIGH);
}
void stopTurn()
{
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,LOW);
}
void stopMove()
{
digitalWrite(MotorBackBackward,LOW);
digitalWrite(MotorBackForward,LOW);
}
void stopAll()
{
digitalWrite(MotorBackBackward,LOW);
digitalWrite(MotorBackForward,LOW);
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,LOW);
}
The Program (without Feedback system)
int MotorBackBackward = 9;
int MotorBackForward = 10;

9. int MotorFrontLeft = 5;
int MotorFrontRight = 6;
#define NORMAL 1000
#define TURN 1000
void setup()
{
pinMode(MotorBackBackward,OUTPUT);
pinMode(MotorBackBackward,OUTPUT);
pinMode(MotorFrontLeft,OUTPUT);
pinMode(MotorFrontRight,OUTPUT);
stopAll();
}
void loop()
{
moveForward();
delay(NORMAL);
stopMove();
turnLeft();
delay(1000);
delay(TURN);
delay(TURN);
turnRight();
moveForward();
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
delay(TURN);
stopMove();
turnLeft();
stopTurn();
}
/*void moveForwardPWMint value)
{
analogWrite(MotorBackBackward,0);
analogWrite(MotorBackForward,value);
}
void moveBackwardPWM(int value)
{
analogWrite(MotorBackBackward,value);
analogWrite(MotorBackForward,0);
}
*/
void moveForward()
{
digitalWrite(MotorBackBackward,LOW);
digitalWrite(MotorBackForward,HIGH);
}

10. void moveBackward()
{
digitalWrite(MotorBackBackward,HIGH);
digitalWrite(MotorBackForward,LOW);
}
void turnRight()
{
digitalWrite(MotorFrontLeft,HIGH);
digitalWrite(MotorFrontRight,LOW);
}
void turnLeft()
{
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,HIGH);
}
void stopTurn()
{
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,LOW);
}
void stopMove()
{
digitalWrite(MotorBackBackward,LOW);
digitalWrite(MotorBackForward,LOW);
}
void stopAll()
{
digitalWrite(MotorBackBackward,LOW);
digitalWrite(MotorBackForward,LOW);
digitalWrite(MotorFrontLeft,LOW);
digitalWrite(MotorFrontRight,LOW);
}