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017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 1
September 14, 2009 Dr. Harrison H. Chin

Formal Labs 1. GPS and Data Logging 4. Sensors and Signals 3. Motor Control • • • Motors Encoders Position control • • • GPS receiver and shield Data logging Visualization of data • • • Analog / Digital sensors Data acquisition Data processing and visualization • • Introduction to microcontrollers Arduino microcontroller kit 9/14/2009 OETL 2 . Microcontrollers 2.

Why Arduino • Popular • Open source • Low cost • Large user community • Easy to use development environment 9/14/2009 Courtesy of Tod E.com/ 3 . OETL http://todbot. Used with permission. Kurt.

Kurt. Photos by SparkFun Electronics. Used with permission. http://todbot. Photos by SparkFun Electronics. Used with permission. 4 .Arduino Hardware Photos by SparkFun Electronics. Photos by SparkFun Electronics.com/ 9/14/2009 OETL Courtesy of Tod E. Courtesy of Adafruit Industries.

arduino.cc/ Microcontroller Operating Voltage Input Voltage (recommended) Input Voltage (limits) Digital I/O Pins Analog Input Pins DC Current per I/O Pin DC Current for 3. Used with permission. wireless.… etc.cc.Arduino Duemilanove Microcontroller http://www. motor drive. 9/14/2009 OETL . GPS.3V Pin Courtesy of Arduino. audio. 8-bit ATmega328 (by ATMEL) 5V 7-12V 6-20V 14 (of which 6 provide PWM output) 6 40 mA 50 mA 32 KB (ATmega328) of which 2 KB used by bootloader 2 KB (ATmega328) 1 KB (ATmega328) 16 MHz 5 Flash Memory SRAM EEPROM Clock Speed Expandable by stacking add-on modules for data storage.

cc. Used with permission. ATmega328 Power Pins OETL Analog Input Pins 6 9/14/2009 .Arduino Components Test LED (Pin 13) USB to Serial UART Interface Digital I/O and PWM Output Pins 16 MHz Clock USB Interface Reset Button In-Circuit Serial Programming TX/RX LEDs External Power Courtesy of Arduino.

Arduino Circuit Diagram http://www.cc/ 9/14/2009 OETL Courtesy of Arduino.cc.arduino. Used with permission. 7 .

Arduino Programming Environment Open source Simplified C++ like development environment that is easy to program and to upload the code Several examples are included that demonstrate various I/O capabilities Built-in libraries that simplify data I/O tasks Large user community 9/14/2009 OETL Menu Buttons ” h c t e k S “ Status Area Code Area Courtesy of Arduino.cc. Used with permission. 8 .

Evans – “Physical Computing”.org/ • http://adafruit.Resources • http://arduino.com/ • http://sparkfun. Brian W.net/learn/arduino/ • http://todbot. Dan O’Sullivan & Tom Igoe – “Making Things Talk”. Tod E.cc/ • http://ladyada.com/ • Books: – “Arduino Programming Notebook”.com/blog/category/arduino/ • http://freeduino. Kurt 9/14/2009 OETL 9 . Tom Igoe – “Hacking Roomba”.

(Pushbuttons) • {CIRC08} Twisting .(Multiple LEDs) • {CIRC03} Spin Motor Spin .Labs 1& 2: The Arduio Kit Experiments • {CIRC01} Getting Started .(Piezo Elements) • {CIRC07} Button Pressing .(Potentiometers) • {CIRC09} Light .(Servos) • {CIRC05} 8 More LEDs .(Relays) Lab 1 Lab 1 Lab 2 9/14/2009 OETL 10 .(TMP36 Temperature Sensor) • {CIRC11} Larger Loads .(74HC595 Shift Register) • {CIRC06} Music .(Photo Resistors) • {CIRC10} Temperature .(Blinking LED) • {CIRC02} 8 LED Fun .(Transistor and Motor) • {CIRC04} A Single Servo .

9/14/2009 OETL 11 .1000000 107 .10 102 .Resistor Color Code Chart Color Black Brown Red Red Green Brown Gold 250 Ω 5% Orange Yellow Green Blue Violet 1st Significant Digit 2nd Significant Digit Tolerance Multiplier Gray White Gold Silver None 1st-band Digit 0 1 2 3 4 5 6 7 0 9 2nd-band Digit 0 1 2 3 4 5 6 7 0 9 3rd-band Digit 0-1 10 101 .10000 105 .100000 106 .1000000000 5% 10% 20% 4th-band Digit 1% 2% 3% 4% red green brown gold 2 5 0 Ω 5% Figure by MIT OpenCourseWare.10000000 108 .100 103 .100000000 109 .1000 104 .

mit.edu/terms. . visit: http://ocw.017J Design of Electromechanical Robotic Systems Fall 2009 For information about citing these materials or our Terms of Use.mit.edu 2.MIT OpenCourseWare http://ocw.

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