10

Electronics
Quarter 4 – Module 5:
Basic Programming Tools Used
in Microcontrollers for Robots

DIVISION OF ANGELES CITY

Electronics – Grade 10
Alternative Delivery Mode
Quarter 4 – Module 5: Basic Programming Tools Used in Microcontrollers for Robots
First Edition, 2021

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Published by the Department of Education

Regional Director : May B. Eclar PhD, CESO V
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Writers: Arnel C. Perez, Ferdinand J. Soriano, Mark Albert T. Pineda

Editors: Marjorie D. Lacson, Nerissa N. Valdez, Eliza M. Roque
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Gemmarie G. Rivas
Illustrator: Lady Diane M. Bonifacio
Layout Artist: Lithos F. Sto. Domingo
Management Team: May B. Eclar PhD, CESO V
Rhoda T. Razon EdD, CESO V
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Ma. Editha R. Caparas EdD
Emily F. Sarmiento PhD
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Rochella C. David

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E-mail Address: angeles.city@deped.gov.ph
 10

Electronics
Quarter 4 – Module 5:
Basic Programming Tools Used
in Microcontrollers for Robots
Introductory Message
This Self-Learning Module (SLM) is prepared so that you, our dear learners,
can continue your studies and learn while at home. Activities, questions, directions,
exercises, and discussions are carefully stated for you to understand each lesson.
Each SLM is composed of different parts. Each part shall guide you step-by-
step as you discover and understand the lesson prepared for you.
Pre-tests are provided to measure your prior knowledge on lessons in each
SLM. This will tell you if you need to proceed on completing this module or if you
need to ask your facilitator or your teacher’s assistance for better understanding of
the lesson. At the end of each module, you need to answer the post-test to self-check
your learning. Answer keys are provided for each activity and test. We trust that you
will be honest in using these.
In addition to the material in the main text, Notes to the Teacher are also
provided to our facilitators and parents for strategies and reminders on how they can
best help you on your home-based learning.
Please use this module with care. Do not put unnecessary marks on any part
of this SLM. Use a separate sheet of paper in answering the exercises and tests. And
read the instructions carefully before performing each task.
If you have any questions in using this SLM or any difficulty in answering the
tasks in this module, do not hesitate to consult your teacher or facilitator.
Thank you.
 What I Need to Know

This module was designed and written with you in mind. It is here to help you
master basic programming tools used in microcontrollers for robots. The scope
of this module permits it to be used in many different learning situations. The
language used recognizes the diverse vocabulary level of students. The lessons are
arranged to follow the standard sequence of the course. But the order in which you
read them can be changed to correspond with the textbook you are now using.

The module will cover the lesson:

● Lesson 1 – Basic programming tools used in microcontrollers for robots

After going through this module, you are expected to:

1. Describe some basic programming tools used for the microcontroller in a

robot.

1
 What I Know

Directions: Read each question carefully. Choose the letter of the correct answer.
1. What part of the human body can be compared to the microcontroller in robots?
a. Brain
b. Eyes
c. Motor
d. Sensors

2. The PIC microcontroller components are used in the development of electronics

and computer robotics. What does PIC stand for?
a. Peripheral Integrated Control
b. Peripheral Intel Control
c. Peripheral Internal Control
d. Peripheral Interface Control

3. What does MSP stand for?

a. Marked Signal Control
b. Matlab Signal Control
c. Micro Signal Control
d. Mixed-Signal Control

4. In what program system did parallax evolve from?

a. Arduino
b. Assembly
c. Basic
d. C++

5. What scripting language do programmers use to program the NAO interactive

robot?
a. Arduino
b. Basic
c. Processing
d. Python

5. What kind of microcontroller components is used in the developmentof

electronics, computer robotics, and similar devices?
a. ARM
b. AVR
c. MSP
d. PIC

2
6. Which microcontroller is a popular programming tool because of its digital
embedded system?
a. Arduino
b. ARM
c. C++
d. MSP

7. Which program system is commonly used in educational robotics?

a. ARM
b. Basic
c. Java
d. Python

8. What is the name of this modified Harvard architecture machine where programs
and data are stored in a divided physical memory system?
a. ARM
b. AVR
c. MSP
d. PIC

10. What system gathers information from input devices like sensors and programs
the robot to execute and control the output devices such as motors and LEDs?
a. Arduino
b. Microcontroller
c. Microprocessor
d. Raspberry pi

3
 Lesson
Basic Programming Tools Used
1 in Microcontrollers for Robots

It is safe to say that a microcontroller is a small computer wrapped inside a

single integrated chip. It possesses memory, input/output peripherals, and a
processing core. Microcontrollers are found in many household appliances and
devices that automatically work with the flick of a button, examples are remote
controls, medical appliances, and newer automobile engines as well. The evolution
of microcontrollers has created an upgrade on how we build a variety of machines to
perform different applications. Different microcontrollers are designed according to
their specified applications. Some microcontrollers work on four bits of words and
clock pulse frequency of 4 kHz or higher while some are designed for the application
of Digital signal processing. In short, microcontrollers are found in every place where
any logic application is to be followed. We can categorize a microcontroller based on
three key features- speed, size, and memory.

What’s In

Directions: Complete the following sentences by filling in the correct words to make
them meaningful. You can choose from the given words to help you finish
this task.

Infrared Positioning Proximity Sound Tactile Ultrasonic

1. These are sensors used by robots to estimate their relative position to the
surrounding.
2. It is a sensor that acts as a microphone to detect the equivalent voltage of sound
and sound feedback.
3. It is a sensor that allows the robot to become aware of its surrounding. It can
detect what objects are nearby without physical contact.
4. It is a sensor that broadcasts sound waves at high frequencies.
5. It is a sensor that allows the robot to interpret touch and feel motions.

Guide Questions:

1. Name three (3) sensors that robots can use?

2. Differentiate the three (3) sensors from one another?
3. Explain briefly how do sensors help robot to move around?

4
 What’s New

The New NAO humanoid robot is quite famous because

it can interact with humans. It can follow voice commands,
play music and even dance. It also has situational awareness
that can sense if it is in danger. It uses a feature in its
programming that allows it to be controlled by connecting
picture commands in a series and relays it to the
microprocessor to be executed by the robot.

Figure 1: The NAO humanoid robot.

Now in this activity, we are going to do the same programming but remember
this is only for our activity. Below are the set of pictures that represent the different
commands we want our robot to perform.

STOP
5 mins 3 secs
3 mins 1 min

Walk straight Walk straight Walk straight Stop

5 minutes 3 minutes 1 minute 3 seconds

Turn Turn
STOP Left Right
90 90 Sit Down

Full stop Turn left Turn right Sit down

900 900

5
Activity 1: By Encode!

Direction: Write the program of the given commands by connecting the correct
pictures in a series using an arrow line. Study the example it is done for
you.

Sample command: Walk for 5 minutes, then stop for 3 secs walk 1 minute then
stop.

Answer:
STOP STOP
3 secs
5 mins 1 min

Commands to be encoded are:

1. Walk for 5 minutes then, stop for 3 secs then, turn 900 right then, stop for 3 secs
then, sit down then, stop.

2. Walk for 3 minutes then, stop for 3 secs then, turn 900 degrees left then, stop for
3 secs then, walk for 3 minutes then, stop.

3. Walk for 1 minute then, stop for 3 secs then, turn right, stop for 3 secs then walk
for 1 minute then, stop.

4. Walk for 1 minute then, stop for 3 secs then, sit down then, stop.

6
 What is It

In this modern era of technological advancements, microcontrollers have been

an integral component of the basic devices and equipment that we use. We can see
them being used in our computer keyboards, monitors, printers, copiers, fax
machines, and telephone systems. They are also being used to operate our microwave
ovens, washers and dryers, security systems, and music/video entertainment
systems. Smartphones and tablets use several microcontrollers to control the
touchscreen, audio, sensors, and cameras. A microcontroller is a small computer
that is fitted in a single integrated circuit (IC) chip. It is made up of memory, a
processor, as well as input-output interfaces or ports.
The advantage of using a microcontroller compared to a microprocessor found
in personal computers (PC), laptops, and servers is that a microcontroller is
programmed to perform a specific task. It consumes less power because all physical
characteristics are smaller and demands less energy. After all, it is placed on a single
chip on a smaller and more compact scale. This also means that the battery can
supply power longer. They also have single-purpose input and output peripherals or
ports like universal input bus (USB), controller area network (CAN), universal
asynchronous receiver-transmitter UART), which gives the ability to be connected to
other microcontrollers, computers, mobile gadgets, and even within the same
microcontroller.
These features are some of the reasons why robots use microcontrollers to
help them interpret their environment and help them cope with any changes they
encounter. The microcontroller acts as the brain of the robot. It gathers information
from input devices like sensors and programs the robot to execute the output devices
such as motors and light emitting diodes (LED) to work. Microcontrollers are
programmed to perform a certain task. If there is a need to change its programmed
task, then one must install a new program or software on the chip to make the
changes possible.

Types of Microcontroller
Different microcontrollers are used for different types of robots. PIC
microcontroller (PIC) means peripheral interface controller. It is a kind of
microcontroller whose components are used in the development of electronics,
computer robotics, and similar devices.
ARM microcontroller (ARM) stands for advanced reduced instruction set
computer (RISC) machine. It is one of the most popular programming digital
embedded systems in the world. Because of its low cost and high-performance device,
this has been used in a wide range of applications such as Industrial Instrument
control systems, wireless networking and sensors, and automotive body systems,
etc.

7
 The 8051microcontroller was created by Intel way back in 1981. It was
considered a breakthrough in that era of processing due to the fact of being an 8-bit
microcontroller. It is made with 40 pins DIP (Dual inline package), 4kb of read only
memory (ROM) storage, and 128 bytes of random access memory (RAM) storage and
has a 216-bit timer. It consists of four parallel 8bit ports, which all are
programmable.
AVR microcontroller means Alf and Vegard's RISC Processor. It is a modified
Harvard architecture machine, where program and data are stored in a divided
physical memory system that is placed in different address locations.
MSP microcontroller, MSP stands for Mixed Signal Processor, the MSP is
designed for low cost and low power dissipation embedded systems. The controller's
appearance is directly related to the 16-bit data bus and seven addressing modes.
Due to the decreased instruction procedures, it allows a shorter, denser
programming code to be written for fast performance.
Sometimes a microcontroller is intended to be programmed in a specific code
or language. Examples of these programmed codes are written for Arduino
microcontrollers, which use Arduino software. Basic Stamp microcontrollers use
PBasic program language. Basic Atom microcontrollers integrate with Basic Micro
codes and Javelin Stamp from Parallax is operated by Java for its basic programming
code. Raspberry Pi is another microcontroller that is always compared to the
Arduino. The Raspberry Pi is more of a computer in terms of its processing qualities,
which makes it a lesser choice for some.
A variety of programming languages can be used to program microcontrollers
to perform tasks like moving forward to picking up objects. Here are some of them:
Assembly is a specific style of programming for it should only be used when
you need absolute instruction-level control of your code. It is just one step away from
becoming machine code and as such, it is very laborious to program.
Basic is a program system that is one of the widely used programming
languages in educational robotics. It has evolved into Basic Micro, BasicX, and
Parallax, which are programming languages used by robots.

8
 The C/C++ is one of the most
popular program languages due to its
versatility and high-level functionality
while keeping a certain amount of low-
level control. This is an example of a
function program using C++.
Java is widely used as a
computer system program. It is an
upgraded version of C and gives a
greater number of safety features vital
to attain low-level control. Some
manufacturers like, Parallax makes
microcontrollers specifically for use
with Java.
Source: https://rb.gy/jk1cgd
Figure 2: A sample C++ program language.

Another type of programming

language is called Processing. It a
shared product of Arduino and is
another variant of C++. It has
upgraded specifications yet simple to
operate to make robot programming
easier.
This a sample blinking program
encoded for an Arduino
microcontroller.

Source: https://rb.gy/rjrd0x
Figure 3: A sample Arduino program language.

Python is one of the most

popular scripting languages out there.
It is very simple to learn and can be
used to put programs together very
fast and efficiently. Below is an
example of robotic code using Python
that commands a robotic to lift an
object and put it down in another
location.

Source: https://rb.gy/pdwpzs
Figure 4: A sample python program language.

9
 Another version of
Python is used in
programming the NAO
interactive robot. It uses
plenty of program languages
like C++, MATLAB, and JAVA
to name a few. It integrates
code, pictures, and animation
to make the NAO robot move.
Below is a sample program for
the NAO robot.
Source:https://rb.gy/lobh8w
Figure 5: The python version program language for
the NAO humanoid robot.

What’s More

ACTIVITY 1: Understanding Science Words

Directions: Complete the paragraph by filling in the correct words to make the
sentences meaningful. Choose your answer inside the box.

application parallel
automotive performance
dissipation peripheral

Intel processor
microcontroller programming

Different (1)_______ are used for different types of robots. PIC microcontroller
means (2)________ interface controller. It is a kind of microcontroller whose
components are used in the development of electronics, computer robotics, and
similar devices. ARM microcontroller stands for Advanced RISC Machine. It is one of
the most popular microcontrollers programming digital embedded systems in the
world. Because of its low cost and high-(3)________ device, this has been used in a
wide range of (4)___________such as Industrial Instrument control systems, wireless
networking and sensors, and (5)__________ body systems, etc.
The 8051microcontroller was created by (6)_________ way back in 1981. It was
considered a breakthrough in that era of processing due to the idea of being an 8-bit
microcontroller. It is made with 40 pins DIP (Dual inline package), 4kb of ROM
storage, and 128 bytes of RAM storage and has a 216-bit timer. It consists of four
(7)_________ 8bit ports, which all are programmable.

10
 AVR microcontroller means Alf and Vegard's RISC Processor. It is a modified
Harvard architecture machine, where program and data are stored in a divided
physical memory system that is placed in different address locations.
MSP microcontroller, MSP stands for Mixed Signal (8)________, the MSP is designed
for low cost and low power (9)__________ embedded systems. The controller's
appearance is directly related to the 16-bit data bus, and seven addressing modes,
and the decreased instructions set, which allows a shorter, denser (10)_________ code
for fast performance.

Guide Questions:
1. In your own words, how will you describe a microcontroller?
2. What is the role of a microcontroller in robot programming?
3. In your opinion, can robots think on their own? Explain further.

Assessment 1: Fill in the blanks!

Directions: Read the following questions and choose the correct answer.
1. A _________is a small computer that is fitted in a single integrated circuit (IC) chip.
a. ARM
b. electronics
c. memory
d. microcontroller
2. A microcontroller is made up of _______, a processor, as well as input-output
interfaces or ports.
a. electronics
b. memory
c. microcontroller
d. touchscreen
3. In smartphones and tablets, several microcontrollers are used to control the
_______, audio, sensors, and cameras.
a. electronics
b. memory
c. microcontroller
d. touchscreen
4. The _______ microcontroller is considered as one of the most popular
microcontrollers programming digital embedded systems in the world.
a. ARM
b. electronics
c. memory
d. microcontroller
5. The PIC microcontroller whose components are used in the development of
_________, computer robotics, and similar devices.
a. electronics
b. memory
c. microcontroller
d. touchscreen

11
Activity 2: Look at us!
Direction: Analyze the two (2) program codes shown below and answer the following
guide questions.

Code A Code B

Source:https://rb.gy/buqbyi Source:https://rb.gy/ec9yjy
Figure 6: Sample code A Figure 7: Sample code B

Guide Questions:

1. Describe the way the progress is written in Code A and Code B?

2. In your opinion, which do you think is easier? Why?
3. In your opinion, which do you think is harder? Why?
4. In your opinion, can the appearance and symbols in coding programs affect
the way we use specific programming tools? Explain further.

12
Activity 3: Match me!
Directions: Study the statement in Column A that best describes the word in Column
B.

Column A Column B

1. It is a small computer that a. 8051 microcontroller

is fitted in a single integrated b. Advanced RISC
circuit (IC) chip. Machine
2. These gadgets use several c. Alf and Vegard’s
microcontrollers to control the RISC Processor
touchscreen, audio, sensors, d. Java
and cameras. e. Microcontroller
3. It is a kind of microcontroller f. Mixed Signal
whose components are used Processor
in the development of electronics, g .Peripheral interface
computer robotics, and controller
similar devices. h. Python
4. It is one of the most popular i. Raspberry Pi
programming digital embedded j. Smartphones and
systems in the world. tablets
5. It was considered a breakthrough
in that era of processing due to the
fact of being an 8-bit microcontroller.
6. It is a modified Harvard architecture
machine.
7. It is designed for low cost and
low power dissipation embedded
systems.
8. This is another microcontroller
that is always compared to the Arduino.
9. It is widely used as a computer
system program and an upgraded
the version of C.
10. It is one of the most popular
scripting languages and very simple to
learn and can be used to put programs.

13
Guide Questions:

1. Do you think that robots can also write their own code? Explain further.
2. Would you agree that we should give robots the autonomy to write their own
programs? Explain further.
3. In your opinion, can robots be more helpful to us if they can think on their own?
Explain further.

Assessment 3: Modified True or False!

Directions: Write TRUE if the statement is correct but if it’s false, write the correct
answer to make the whole statement true.

1. Another type of programming language is called Processing. It a shared product of

Arduino and is another variant of C++.

2. The Raspberry Pi is more of a computer in terms of its processing qualities which

makes it a lesser choice for some.

3. The 8051microcontroller consists of eight parallel 8bit ports, which all are
programmable.

4. Microcontroller consumes more power because all physical characteristics are

smaller and demands less energy.

5. PIC microcontrollers are used in the development of electronics, computer robotics

and similar devices.

14
 What I Have Learned

After learning about microcontrollers and their program languages, choose the
word inside the parenthesis that will make the statement meaningful.

1. In this modern era of technological advancements, (microcontrollers,

microprocessors) have been an integral component of the basic devices and
equipment that we use.

2. A microcontroller is programmed to (neglect, perform) a specific task.

3. The microcontroller acts as the (arm, brain) of the robot.

4. The PIC microcontroller has (components, aggregates) used in the development of

electronics, computer robotics, and similar devices.

5. Python is one of the most (disliked, popular) scripting languages out there. It is
very simple to learn and can be used to put programs together very fast and
efficiently.

6. Java is widely used as a computer system program. It is an (abated, upgraded)

version of C and gives a greater number of safety features vital to attain low-level
control.

7. The Basic program system is a widely-used programming language in (educational,

confusing) robotics.

8. The Raspberry Pi is more of a computer in terms of its (failing, processing) qualities

which makes it a lesser choice for some.

9. A variety of programming languages can be used to program microcontrollers that

will allow the robot to perform specific tasks like moving (still, forward) or picking
up objects.

10.The ARM microcontroller is a popular programming tool because of its (analog,

digital) embedded system.

15
 What I Can Do

ACTIVITY 1: Robot Challenge!

We have learned in this module that program languages coded to a
microcontroller will tell the robot the tasks it needs to do. These program languages
or codes may vary depending on what type of programming you are using.

In this activity, you will try and create your program language to be encoded
to your robot and perform a series of tasks and hurdle obstacles. This is a course
from the defense advanced research projects agency (DARPA) Robotics Challenge in
2015. Your robot will need to traverse this obstacle course by using the code that
you will create. The code you will create can be anything you want. You can use any
symbol, letter, number, or picture that will be interpreted by the robot as a command
for it to follow. Write your code in the numbers that indicate each task as seen in the
diagram.

Source:https://rb.gy/6jmnyu

Figure 8: The obstacle course of the DARPA Robotics challenge.

16
Program code table:
Task Your program code Task Your program code
1) Drive utility 6) Turn a valve
vehicle 3600

2) Exit utility 7) Walk across

vehicle rubble terrain

3) Open the door 8) Connect a hose

to a wall receptacle

4) Walk across 9) Climb stairs

assorted
debris

5) Drill a 10) Open surprise

triangular box
hole
on the wall

Guide Questions:

1. What figures/symbols did you use as your program codes? Why?

2. In your observation, which task is the most challenging and the easiest for the
robot to do? Why?
3. If you were to join in this competition, which task should your robot train the
most? Why?

17
 Assessment

Directions: Read each question carefully. Choose the letter of the correct answer.

1. What kind of microcontroller is used in the development of electronics, computer

robotics, and similar devices?
a. ARM
b. AVR
c. MSP
d. PIC
2. Which microcontroller is a popular programming tool because of its digital
embedded system?
a. Arduino
b. ARM
c. C++
d. MSP
3. Which program system is commonly used in educational robotics?
a. ARM
b. Basic
c. Java
d. Python
4. What is the name of this modified Harvard architecture machine where programs
and data are stored in a divided physical memory system?
a. ARM
b. AVR
c. MSP
d. PIC
5. What system gathers information from input devices like sensors and programs
the robot to execute and control the output devices such as motors and LEDs?
a. Arduino
b. Microcontroller
c. Microprocessor
d. Raspberry pi
6. Which is the most popular programming digital embedded systems in the market
today?
a. Advanced RISC Machine
b. Alf and Vegard's RISC Processor
c. Mixed Signal Processor
d. Peripheral interface controller

18
7. How many dual inline package (DIP) pins do the 8051microcontroller have?
a. 30
b. 40
c. 50
d. 60
8. Which component is used in computer keyboards, monitors, printers, copiers, fax
machines, and telephone systems.
a. ARM
b. electronics
c. memory
d. microcontrollers
9. Which of the following is used in a range of applications such as industrial
instrument control systems, wireless networking sensors, and automotive
body systems?
a. ARM
b. AVR
c. MSP
d. PIC
10. Which program system is widely used as a programming language in educational
robotics?
a. Arduino
b. Basic
c. Java
d. Parallax

19
 Additional Activities

Activity 1: Microcontroller Crossword

Directions: Complete the crossword puzzle below.

Source: rb.gy/klgeen
Figure 9: The microcontroller crossword puzzle.
Across
2. It stands for the ‘M’ in RAM.
4. It created the 8051 microcontrollers.
7. It is an integrated circuit chip found in personal computers and laptops.
8. It stands as the ‘P’ in the PIC microcontroller.

Down
1.It acts as the brain of the robot.
3.It serves as the power supply of the microcontroller.
5.It is a programming language used in educational robotics.
6. It stands as the ‘S’ in the MSP microcontroller

20
Guide Questions:

1. If you are going to program your robot which programming language are you going
to use? Explain further.

2. In your opinion, is there a program superior to other programs? Explain

further.

3. How can microcontrollers assist robots?

21
 22
What’s More (Act.1) What I Know Activity 2:Look at Us!
1.microcontrollers 1.a 6.d Answer mat vary
2.peripheral 2.d 7.b
3.performance 3.c 8.b
4.application 4.c 9.b
Activity 3: Matching Type
5.automotive 5.d 10.b
6.Intel Guide Question Guide Question
7.parallel Answers may vary. 1.e 6.c Answer may vary
8.processor 2.j 7.f
9.dissipation Assessment 1 3.g 8.i
10.programming 1.d 4.a 4.b 9.d
2.b 5.a 5.a 10.h
3.d
What’s In Guide Question:
What I Have Learned 1.a Answer may vary
1.microcontroller 6.upgraded 2.d
2.perform 7.eduactional 3.c
3.brain 8.processing
4.c
4.components 9.forward
5.d
5.popular 10.digital
What I can do: Assessment 3 (Modified TRUE or FALSE)
Answer may vary 1.True
2.True
Assessment Guide Question: 3.four
1. D Answer may vary 4.less
2. b 5.True
3. b
4. b What’s New
5. b
6. a
7. b 1
8. d
9. a 2
10. b
3
Additional Activities: (Act. 1)
Across 4
Y 2. memory
4. Intel
7. microprocessor
8. peripheral
Down
1.microcontroller
3. battery
5. basic
6. signal
Answer Key
References
Cbenson. 2018. ”How to Make a Robot”, How to Make a Robot-Lesson
10:Programming Your Robot, robotshop.com, Accessed 4/2/2021,
https://www.robotshop.com/community/tutorials/show/how-to-make-a-
robot-lesson-10-programming-your-robot

DARPA Robotics Challenge, darpa.mil, Accessed 08/02/2021,

https://www.darpa.mil/program/darpa-robotics-challenge

Different types of Microcontroller Programming used in Embedded Systems,

embeddedschool.in, Accessed 4/4/2021,
https://embeddedschool.in/different-types-of-microcontroller-programming-
used-in-embedded-systems/

English, Philip. 2017.” Programming your NAO robot for human

interaction”,robohub.org, Accessed 06/02/2021,
https://robohub.org/programming-your-nao-robot-for-human-interaction/

Microcontrollers and Robotics, Network of Excellence Robotics & Mechatronics

Homelab Community, Accessed 4/4/2021,
https://home.roboticlab.eu/en/microcontrollers

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