Robotics Notes
Robotics Notes
Please use the Notes margin on the right for both notes to yourself about the experiment as well as for feedback to your TA on
the quality or clarity of the lab procedure. Thanks!
Learning Objectives
• Discern the difference between a circuit schematic and a physical diagram/breadboard implementation.
• Identify the underlying connections within a solderless breadboard.
• Construct a circuit by tracing loops from the positive to the negative terminal of the battery.
• Explain why the choice of wire color matters when building a circuit and other best practices in breadboarding.
• Use a circuit schematic to build a breadboard circuit using best practices.
Preliminaries
The Role of Schematics in Electronic Circuits
There are three main ways in which you are likely to encounter a circuit design in the ECE110 lab. Since this lab is hands-on, you
will build prototype circuits. A prototype is a preliminary version of a product that can be easily tested and modified before a
final design is mass produced. In the ECE110 laboratory, we construct prototype circuits on a breadboard (a construction base
for connecting circuit elements without the use of solder; might also be known as a protoboard, although this latter term often
refers to a board where a circuit can be quickly laid out and soldered). To build a prototype, you would require a diagram.
A physical diagram (Figure 1 (b)) might be a photograph or detailed drawings or images depicting the rough physical appearance
of the components comprising a circuit. A physical diagram is suggestive of the real physical layout of the circuit and leaves little
room for error for the novice experimenter. Tools at https://fritzing.org provide a popular means of generating physical
diagrams of circuits that can even be made into printed circuit boards (PCBs). However, the most-concise method of providing a
written guide is the circuit schematic.
A circuit schematic (Figure 1 (a)) is an abstraction of a circuit that generalizes the specific components as symbols. The circuit
schematic does not necessarily suggest the physical locations of the components as they may be physically arranged in the final
prototype. There is, however, a one-to-one relationship between the components described in the circuit schematic, the
physical diagram, and the prototype. It is important that an aspiring engineer learn to map one representation to another!
Notes:
Figure 1 shows the relationship between one circuit schematic and a physical diagram for the same simple circuit. The
schematic uses abstract symbols to represent items like an ideal voltage source and an ideal resistor connected by nodes
(which may model perfect wires, but rarely represent their physical layout). Alternately, the physical diagram shows the voltage
source being implemented by a (non-ideal) benchtop “power supply” and a physical resistor with a breadboard and physical
wires used to make the interconnections between them.
Horizontal lines
Each of the rows numbered 1-30 have two sets of 5
holes (abcde and fghij) running horizontally separated
by a trench down the center of the board. In each
row, abcde are connected and fghij are connected, but
there is no connection across the trench.
Figure 2: An expanded view of the breadboard showing the configuration of the underlying metal clips.
In Figure 2, the underlying metal clips are highlighted by gray, blue, and red “bars” (the actual clips are all silver in color, the
color coding is just here to help visualization). Although your kit has both a small and a large composite breadboard, much of the
work we will do can be easily contained on the small breadboard shown in Figure 2. Before continuing, watch the “Breadboard
Intro” video provided in the weekly playlist on ECE 110’s MediaSpace Channel accessible from Canvas.
Notes:
Procedures
In this exercise, we will systematically build a circuit while following the “plan” outlined by a circuit schematic. While there is not
a single way to map a schematic to a breadboard implementation, we will be very explicit in this build so that you can learn
about methodologies and “best practices”. Figure 3 shows the schematic of the circuit we will build.
Figure 5: Parts needed for this procedure. The resistors are in the lower-left corner.
Notes:
Assembly of the Barrel Adaptor (if not already assembled)
Once you have found the parts of Figure 5, open the box of wires and select a medium sized wire. Place this wire through the
hole on the “ring terminal” and give it a few twists, essentially creating a kind of “key ring” for it. The ring terminal will be used
in ECE 110 as a low-cost, light-duty screwdriver. The key ring will make it both easier to locate in your kit as well as easier to pick
up from your table. If you have a better screwdriver at home, feel free to substitute it but don’t “over crank” on any device as
damage is likely to occur.
Figure 6: The wires (bag is now replaced by a box) and ring terminal to be used as a screwdriver.
Use the screwdriver to attach the 9-volt adaptor to the barrel plug as shown in Figure 7. You may need to loosen the terminal
screws on the barrel jack adapter by turning them counterclockwise until the wires will slide into the terminal space. Gently
tighten the terminal connectors by turning the screws clockwise. Do not overtighten or you will bend your screwdriver. Be sure
that the terminals are holding the bare wire and not the insulation on the wires. It is critical that you attach the red wire to the
positive (+) terminal and the black wire to the negative (-) terminal.
Notes:
Now use the screwdriver to attach one red and one black wire to the complementary barrel “jack” as shown in Figure 8. Again,
attach the red wire to the positive terminal and the black wire to the negative terminal. Note that using two different length
wires will reduce the likelihood of accidentally shorting your battery.
It is relatively easy to damage this assembly and break wires such that it is not easy to repair. You will find a video on our weekly
playlist on MediaSpace about not only how to fix a broken wire, but more importantly, how to prevent breakage in the first
place! The video suggests using a little well-placed tape and always connecting and disconnecting at the barrel connectors and
never at the battery terminals. Please watch that video now.
Notes:
Power rails
On your circuit schematic, you might consider color-coding your nodes so that they are easier to identify while building your
circuit. In Figure 11, the nodes corresponding to the positive and negative sides of the battery have been highlighted with red
and black colors.
What is a node? The answer might not be as simple as you might think. First, you need to understand that our circuit schematics
are based on something called “lumped circuit models”. This means that all the interesting stuff has been lumped into circuit
symbols representing real-life devices (dry cell batteries, carbon-composition resistors, silicon LEDs, etc.) but with behavior
modeled by a simpler math. These lumped components are joined by what we call nodes which may be thought of as wires with
no resistance. However, it is misleading to think of them as physical wires as nodes don’t necessarily represent how the
connections between elements might be accomplished. In Figure 11, the node we have colored red, for instance, is available
along the entire power rail. The circuit schematic fails to imply anything about this.
Notes:
Building Loop 1
Now we can continue our circuit construction by focusing on a single loop, which is a path through the circuit that starts at one Example of a “short-circuited”
node and then, after traveling through two or more components [read the insert on the right], returns to the same node. In battery. The battery and circuit
Figure 12, we will focus on “loop 1” that goes from, say, the black node at the negative side of the battery, through the battery would become hot, melt, or
to the red node and then through 𝑅𝑅2 before returning to the black node. Since the red and black nodes are already physically even ignite. Even if shorted for
represented on our breadboard, all that remains to complete this loop is to add 𝑅𝑅2 to the circuit between the red and black a few minutes, your battery
nodes. energy would become mostly
depleted.
Notes:
Locate the 1 𝑘𝑘Ω resistors in your kit and remove one for use as 𝑅𝑅2 . These resistors will easily pull from the ribbon, however you
may wish to cut one free (see Figure 14) to avoid any residual glue that could affect getting a good connection in the
breadboard. The wires (leads) of the resistor are thin enough to be cut by an ordinary scissors.
Notes:
Now, we’ll add the resistor to the circuit. In Figure 14, you can see that a red wire was used to extend the “red node” to another
location on the breadboard and a black wire similarly extends the black node. The resistor is then placed on the breadboard in
available holes on those two rows of the breadboard completing loop 1. The battery is shown connected in Figure 15, but it is
appropriate not to have it connected until the circuit is complete.
Now, we form another loop. See Figure 16. Loop 2 starts at the black node, goes through the battery to the red node, through
𝑅𝑅1 to the green node, and through 𝐷𝐷1 back to the black node. This second loop has touched all the remaining elements of our
circuit. Once loop 2 has been mapped to the breadboard, our circuit will be complete.
Notes:
Figure 16: A second loop has touched all the remaining elements.
In consideration of the LED, we need to realize that this diode, like all diodes, is directional and will only work as intended when
placed in the right orientation. Close inspection of the LED will reveal that one of its leads is slightly longer than the other. The
shorter lead will need to be placed towards the negative side of the battery (the black node) as shown in Figure 17.
Figure 17: The shorter LED lead (wire) needs to be placed towards the negative side of the battery.
Notes:
Bending the longer lead into a “dog leg” can help you identify it more quickly and help you place it properly into the circuit.
See Figure 18. Just remember that the dog lifts its leg to urinate on the top of the hydrant and you will remember that the
longer leg of the LED needs to be raised to the higher voltage to be illuminated.
Figure 18: A dog leg can help you remember how to insert a directional element like the LED.
In implementing loop 2, we again note that the battery is already present and the black and red nodes are already implemented
by the power rails. In this implementation of Figure 19, we have chosen to connect 𝑅𝑅1 directly to the red power rail and into an
isolated region of the breadboard. In another location on that same row, we used a green wire (representative of the green
node) to extend the green node across the center of the board (normally, the row is not connected through the center). Now,
we have added the LED from the green node to another isolated position in the breadboard and then used another black wire to
complete the connection to the negative end of the battery. Reinsertion of the battery should cause the LED to illuminate.
Notes:
(a) (b)
Figure 20: (a) The first build and (b) a cleaner version.
Figure 21 shows a close-up view of the cleaner circuit of Figure 20 (b) using less space and fewer wires. In ECE 110, it is generally
better to have a circuit that is easily to troubleshoot than one that uses the fewest components, yet, you do not want to be
sloppy. Notice that the green wire was left in the circuit to serve as a flag noting the location of the green node. It serves no
function, but flags can make debugging easier by speeding your interpretation of the breadboard and mapping it back to your
schematic!
Notes:
Figure 22: An alternate circuit schematic matching the circuit you built today.
Congratulations, you have now used a circuit schematic to perform a build on a solderless breadboard! You will want to
• Disconnect your battery. Leaving it attached will likely drain it dead after some amount of time.
• Place your battery in its own compartment to limit the possibility of accidental shorts. See Figure 24. A short-circuited
battery can easily overheat and possibly ignite!
• You can disassemble your circuit and store the components back in your small-parts box.
• Put the lid on correctly so that wires and other devices cannot migrate into the battery compartment. (Figure 24)
Notes:
Figure 23: Give the battery its own compartment to avoid short-circuits and fire!
Figure 24: Place the lid so that the compartments are covered properly, and wires and devices cannot migrate
between compartments.
Notes:
Review
In this prelab you have learnt to implement a circuit schematic onto a breadboard. Bear in mind:
• Red wires highlight the positive node of the battery, black wires connect to the negative node of the battery
• Different colored wires can be assigned to other nodes to help with quick identification
• The longer lead of the LED goes towards the positive (red) side
• Store the kit properly to avoid damage
_________________________________________________________________________________________________________
Take a video, just about 15-30 seconds long. Give your name and lab section, then demonstrate the
connecting of your battery to the breadboard to light the LED. Highlight both current paths through the
breadboard using a pen as a pointer, upload this on GradeScope before your lab meeting.