2.

017 DESIGN OF ELECTROMECHANICAL

ROBOTIC SYSTEMS
Fall 2009 Lab 1
September 14, 2009
Dr. Harrison H. Chin
Formal Labs

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

9/14/2009 OETL 2
Why Arduino

• Popular
• Open source
• Low cost
• Large user community
• Easy to use development environment

9/14/2009 Courtesy of Tod E. Kurt. Used with permission. OETL http://todbot.com/ 3

Arduino Hardware

Photos by SparkFun Electronics.

Photos by SparkFun Electronics.

Courtesy of Adafruit Industries. Used with permission.

Photos by SparkFun Electronics.

Photos by SparkFun Electronics.

http://todbot.com/
9/14/2009 OETL Courtesy of Tod E. Kurt. Used with permission. 4
Arduino Duemilanove Microcontroller
Microcontroller 8-bit ATmega328 (by ATMEL)
http://www.arduino.cc/
Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Courtesy of Arduino.cc. Used with permission. 32 KB (ATmega328) of which 2 KB used

Flash Memory
by bootloader
Expandable by stacking add-on
modules for data storage, wireless, SRAM 2 KB (ATmega328)

GPS, audio, motor drive,… etc. EEPROM 1 KB (ATmega328)

Clock Speed 16 MHz

9/14/2009 OETL 5
Arduino Components
Test LED
(Pin 13) Digital I/O and PWM Output Pins
USB to Serial
UART Interface 16 MHz Clock

USB
Interface Reset Button

In-Circuit
Serial Programming
TX/RX LEDs

External
Power ATmega328

Courtesy of Arduino.cc. Used with permission. Power Pins Analog Input Pins
9/14/2009 OETL 6
Arduino Circuit Diagram
http://www.arduino.cc/

9/14/2009 OETL Courtesy of Arduino.cc. Used with permission. 7

Arduino Programming Environment
Open source Menu Buttons

Simplified C++ like development

environment that is easy to program
and to upload the code h”
tc
Several examples are included that
demonstrate various I/O capabilities k e
Built-in libraries that simplify data “S Code Area

I/O tasks

Large user community

Status Area

9/14/2009 OETL 8
Courtesy of Arduino.cc. Used with permission.
Resources

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

9/14/2009 OETL 9
Labs 1& 2: The Arduio Kit Experiments

• {CIRC01} Getting Started - (Blinking LED)

• {CIRC02} 8 LED Fun - (Multiple LEDs)
Lab 1
• {CIRC03} Spin Motor Spin - (Transistor and Motor)
• {CIRC04} A Single Servo - (Servos)
• {CIRC05} 8 More LEDs - (74HC595 Shift Register)
• {CIRC06} Music - (Piezo Elements)
• {CIRC07} Button Pressing - (Pushbuttons)
• {CIRC08} Twisting - (Potentiometers) Lab 1
• {CIRC09} Light - (Photo Resistors)
• {CIRC10} Temperature - (TMP36 Temperature Sensor) Lab 2
• {CIRC11} Larger Loads - (Relays)

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

red green brown gold

2 5 0 Ω 5%
Figure by MIT OpenCourseWare.

9/14/2009 OETL 11
MIT OpenCourseWare
http://ocw.mit.edu

2.017J Design of Electromechanical Robotic Systems

Fall 2009

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