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ArduinoUno
ThevideoabouttheArduinoUno

Arduino Uno: control circuits and homebuilt servos

General

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Figure1:
TheArduinoUnoisamicrocontrollerboardwithanATmega328Pchip.Thismicrocontrollerrunswithaclockspeedof16MHz,ithas32Kilobytesofprogrammemory,2
KilobytesofSRAMandoneKilobyteofpermanentmemory.
TheUSBinterfaceoftheArduinoboardcanbeusedtoprogramthemicrocontrollerandtoexchangedatawithothercomputers.
TheATmega328Phas20programmableinput/outputpins.6ofthosepinscanbeusedasanaloginputs.Another6ofthosepinscanbeusedtogeneratepulsewidthsignals.
TheArduinocansensetheenvironmentbyreceivinginputsignalsandaffectitssurroundingbycontrollingperipheralslikelights,servosormotors.
TheboardcanbesuppliedwithelectricpowerthroughtheUSBinterface(5V)orthroughasecondconnectorpin(620v).
TheArduinosoftwareispublishedasopensourcetools,availableforextensionbyexperiencedprogrammersandthehardwareplansarepublishedunderaCreativeCommons
license.
TheintegrateddevelopmentenvironmentisbasedonJava,henceitrunsonvariousoperatingsystemsandallowsuserstowriteprogramsforArduinousingCorC++.The
IDEcomeswithasoftwarelibrarycalled"Wiring",whichmakescodingofinput/outputoperationsveryeasy.

Advantages

+Lowenergyconsumption.
+Fastboot.
+Largecommunity.
+Documentationavailableinmanylanguages.
+Simpleprogrammingthankstoavailablelibraries.
+GreatextensionboardforcomputerswithanUSBinterface(physicalcomputing).

Keyboard

Thereisnoconnectorforaconventionalkeyboardoracomputerscreen,thusthe20input/outputpinshavetobeusedtointeractwithhumans.A
keyboardconsistsofmultiplekeys,whicharenothingbutpushbuttonswhosestatecanbereadthroughinputpins.Avoltageof5Viscorrelatedto
the"open"state(HIGHsignal)oftheswitch,while0Vataninputpinindicatethestate"closed"(LOWsignal).Apullupresistorisusedtoget5V
whenevertheswitchisopened.

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Figure2:

Screen

Figure3:
SomeLEDscanactas"computerscreen".Pushingabuttoncantriggeranevent,whichisindicatedbytheLEDs.Variablescanbedisplayedasbinarynumbers.
ALiquidCrystalDisplayismorecomfortabletoread.TheHitachiHD44780isaverycommonLCDforanArduinoboard,usingtwolinesof16characters.Thecontrastof
theDisplayisadjustedbythepotentiometer.Nocharactersappearatthedisplaywheneverthatcontrastisadjustedtoohighortoolow.

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Figure4:

SourcecodecounterwithLCDforArduinoUnoMicrocontroller

Sensordisk

Figure5:
Atootheddiskinconjunctionwithtwoopticalsensorscanbeusedasrotationalsensor.
Thereceiversoftheopticalsensorsareconnectedtodigitalinputs0and1.TheLCDisconnectedasdescribedabove.

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Figure6:

SourcecodeopticalsensordiskwithLCDforArduinoUnoMicrocontroller

PIDcontroller

InthechapteraboutservosIhavedemonstratedadevicemadeofawipermotor.Theprecisionofthehomebuiltservocanbeimprovedclearlywithamicrocontroller.APID
controllerisimplementedbysoftware.PIDmeansproportionalintegralderivativecontroller.
Thevoltageforwardedtotheservomotorbyaproportionalcontrollerisincreasedbypulsewidthmodulation,thelargerthedivergencebetweensetpointandactualvalue.
Thereisalinearcorrelationbetweenthedifferenceofbothinputvaluesandthevoltageforwardedtothemotor:

Whereis:
UMotorvoltage(RMSvaluewhenusingpulsewidthmodulation).
KPproportionalgain.
eerror(voltagesetpointminusvoltageservosensor)

Thedifferencebetweensetpoint(voltagedefiningthesetpoint)andactualvoltage(voltagecausedbytheservopotentiometer)isnamederrorvalue.

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Figure7:

inturn,ifthesensorreadingapproachesthesetpoint,therotationoftheservomotorissloweddown.

Figure8:

Whenusinganintegralcontroller,thevoltageisraised,thelongertheactualvaluediffersfromthesetpoint:

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