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Introduction to Carotte
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Introduction to Carotte
© e dimensions of t e ROBO©
s ouldn¶t exceed 18cm x 18cm .
© ere is no limit on eig t.
©ry to put a color tag (minimum
8cm x 8cm) on top of t e robot so
t at you ave idea about t e
position of t e robot.
Introduction to Carotte
è
© e arena will ave 12 similar objects aving same
color .
© e robot as to detect t e object, find a s ortest pat to
t e object and put t en put it t e large box.
W en one object is in old of t e robot , t en t e robot
s ouldn¶t interfere wit any ot er object in it¶s pat .
© e team wit maximum objects in t e box wit in a
time interval of 20 min will be qualified for t e next
round.
© e arena for round one is s own in t e next page.
Introduction to Carotte
6
Introduction to Carotte
¦
IMILAR ©O ©A© IN ROUND 1, WE WILL AVE 12 IDEN©I
CAL OBJEC© PLACED IN ©E ARENA. ©E ONLY
DIFFERENCE ERE I ©A© WE WILL AVE ©EM
COLORED IN RBG IN EQUAL NUMBER
©E ROBO© ERE A ©O DE©EC© ©E COLOR OF
OBJEC© AND ©E COLOR OF ©E LARGE BOX IN WIC
I© A ©O DROP ©I BOX.
©E MAIN AIM WOULD BE ©O :
MAKE URE ©E ROBO© DE©EC© ©E COLOR OF OBJEC© AND
BOX
FIND OR©E© PA©, ©E OR©E© FROM ©EN POI©ION
©O ©E OBJEC© AND LA©ER FROM OBJEC© ©O ©E LARGE BOX.
©E ©IME DURA©ION FOR ©I ROUND WILL BE 20 MIN.
Introduction to Carotte
8
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x Controlled rotation required 


are preferred

xMore precise t an DC motor
xMeasured rotation and can be eld at a
particular position
xAlignation is muc better in differential drive

xMore precise t an DC motor
xMeasured rotation and can be eld at a
particular position
xAlignation is muc better in differential drive

º

mmmmmmmm
x ©
x
x ©
x
a. ingleCoil Excitation ±
Eac successive coil is energized in turn.
ingle coil excitation continue««
ÔÔ Ô
Ô ÔÔ
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b. ©woCoil Excitation ± Eac successive
pair of adjacent coils is energized in turn.
0011 0110 1100 1001
À
©
©
© e Coil Diagram
1000 1100 0100 0110 0010 0011 0001 1001
ÔÔÔ ÔÔ
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Comparison
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25way Female D©ype Connector
PC parallel Port
© e PC's Parallel Printer Port ad a total of
12 digital outputs and 5 digital inputs accessed via 3
consecutive 8bit ports in t e processor's I/O space.
8 output pins accessed via t e Ñ
5 input pins (one inverted) accessed via t e  º
å output pins (t ree inverted) accessed via t e
6
© e remaining 8 pins are grounded
©EPPER DRIVER BOARD
Circuit Requirements«««««««
Ñ
: ©akes n inputs and gives 2 outputs .
«..«t e n inputs from t e parallel ports could
be used to generate 2 combination of outputs
to excite t e coils of stepper motors.
An introductory talk on Matlab
R
©opics of discussions«
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© e MA©LAB User Interface
O
ome points we s ould remember w ile start learning matlab««
x No need to define variables data type.
x One Variable can ave more t en two data types.
x By default matlab create ³! as Most recent answer if expressions
!
are not assigned to anyt ing else.
x Variable names can contain up to 63 c aracters (as of MA©LAB 6.5 and
newer) .
x Variable names must start wit a letter followed by letters, digits, and
underscores.
x If a statement is terminated wit a semicolon ( ; ), no results will be
displayed. Ot erwise results will appear before t e next prompt.
x By default matlab use å digits rounding after decimal.
ÈÈ a = 12 x Basic operator : ³ + ,  , *
,/
a=
x ³clc : Clear command window.
12
CLC clears t e command
ÈÈ a = 12;
window and omes t e cursor.
ÈÈ a = 23.23å2å;
x ³ ome :end t e cursor ome.
ÈÈ a OME moves t e cursor to t e
a= upper left corner of t e
23.23å2 window.
ÈÈ a = 'swe' x ³w o :List current variables.
a= x ³w os: WO is a long form
swe of WO. It lists all t e
ÈÈ a variables in t e current
=23å872387å 813 732 21 å2; workspace, toget er wit
ÈÈ a information about t eir size,
a= bytes, class, etc.
2.3å87e+02å x ³clear :Clear variables and
functions from memory.
CLEAR delete all t e variable
w ic are present in
ome special variables«.!!!
Mat ematical and logical Operators
Power : a^b , a.^b
Multiplication : a*b , a.*b
Division : a/b , a./b
\ or .\ are used w ile calculating solution of t e equation
A*x = b ; x = A\b = b/A;
~ : Logical NO©
: Elementwise logical AND
 : Elementwise logical OR
:  ortcircuit logical AND
 :  ortcircuit logical OR
È= , <= , == ,~= , È , < t ese are relational operators.
for more detail : type elp ~
.m Files in matlab
© ere are two kinds of Mfiles:

, w ic do not accept input arguments or
return output arguments. © ey operate on data in
t e workspace.
M
, w ic can accept input arguments and
return output arguments. Internal variables are local
to t e function.
6
.m Files in matlab
M
: click on ³create new .m file
function [output] = <function nameÈ(input)
like function [a,b,c,«..] = multi(A,B,C)
Matrices in matlab
ÈÈ a = [1 2 3 å 5] Any floating point number is a
a=
matrix of size(1x1).
1 2 3 å 5
For writing a matrix we ave
ÈÈ a = [1,2,3,å,5] to use ³[³ ].
a=
A vector is also a matrix , can
1 2 3 å 5
ÈÈ a = [1;2;3;å;5] be a row matrix or a column
matrix.
a=
1 We can write a vector in 2
2
3 different ways
å
5
Matrices in matlab
Operations and functions for matrices(suppose ³a is a matrix)
1. transpose(a) = a¶;
2. identity matrix of size n = eye(n);
3. inverse(a) = inv(a) = eye(n)/a ((solution of a*b = eye(n));
å. size of a matrix = size(a);
5. A matrix wit only zeros(of size nxm) = zeros(n,m);
6. A matrix wit only ones(of size nxm) = ones(n,m);
7. Determinant of a matrix = det(a);
8. RREF of a matrix = rref(a);
. quare root of a matrix = sqrtm(a);
10. rank of a matrix = rank(a);
11. If a is a vector t en maximum element is = max(a) minimum element = min(a);
12. Diagonal of a matrix = diag(a);
13. norm of a matrix = norm(a);
1å. random matrix = rand(n,m) or randn(n,m);
15. Eigenvalues and eigenvectors of a matrix = [eigval , eigvec] = eig(a);
ome known functions in Matlab.
factorial(n) : factorial of number µn¶;
diff(f,<orderÈ) : differentiation of a function;
int(f) : integration of a function µf¶;
magic(n) : Magic square of size nxn;
sort(x) : ort in ascending or descending order;
power(a,b) : .^ Array power;
trace(a) : um of diagonal elements;
gcd(a,b) : Greatest common divisor(lcm(a,b));
roots(c) : Find polynomial roots;
save : save workspace variable to file(.mat format);
Plot/Figure/urface
Plot/Figure/urface
plot(X,Y) : plots vector Y versus vector X;
Plot3(X,Y,Z) : Plot lines and points in 3D space;
zoom(factor) : Zoom in and out on a 2D plot;
surf(A) : 3D colored surface;
ezplot(FUN) : plots t e function FUN(X) over t e default
domain 2*PI < X < 2*PI;
ezplot3(fx,fy,fz) : plots t e spatial curve fx(©), fy(©), and
fz(©) over t e default domain 0 < © < 2*PI;
ezsurf(f) : plots a grap of t e function f(x,y) using surf;
olving
solve(eq1,eq2,..) : ymbolic solution of algebraic
equations.
dsolve(eq1,eq2,..) : ymbolic solution of ordinary
differential equations.
And muc more««««.
For any elp type
elp<spaceÈ<function nameÈ
like elp rref
For finding t e functions related to some
keyword type
lookfor<spaceÈ<functions properties È
like lookfor plot
For more info.
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