Professional Documents
Culture Documents
Types
DC
Servo Gearhead DC Motor
Stepper
Gearhead
DC Motor
2 Connections
Continual spin, given current & voltage
Reversing current, reverses the direction
Increasing the voltage, spins faster,
decreasing the voltage, slows the spin
High speed but low torque
Gearbox can add torque but at the expense
of speed
DC Motor Example
http://www.ladyada.net/make/mshield/index.html
DC Motor Example
DC Motor Example
Three Pieces
Gearhead Motor
DC Motor with gearbox
Not fast but provide more torque
Linear
Motion Actuator
Pull or Push
Types
Solenoid
Solenoid
Actuator
Microactuator
Motor Characteristics
gears or direct
rated voltage
current (efficiency) - stall / running
speed - spin / rpm, rps, Hz
torque
size, shaft diameter, shaft length
position resolution (Servos & Steppers)
Mechanical mirror
Any person standing in front of one of
these pieces is instantly reflected on its
surface. Side and back
Uses video cameras, motors and views
computers to achieve mirroring
Sound aspect - soothing sound
Weave Mirror
Daniel Rozin,
Weave Mirror,
2007
Organic Energy Cloud
Motorised Cloud
Schematic
Diagram
RC Servo Motor
Servo Motor
Connections on Arduino
Black wire would go to Grd pin
Red wire would go to 5V power pin
White wire would go to one of the digital
pins on the board
Colours can vary, Ground (black or
brown), Power (red), Control (orange, yellow
or white)
Connect the servoʼs brown and red wires to the Arduinoʼs Gnd and 5V POWER pins, respectively (colored orange in the diagram below), and connect the servoʼs orange control wire to the Arduinoʼs digital pin #2 (on the green row in the diagram).
/*
* NewSerialServo
* --------------
* Servo control from the Serial port
*
* Alteration of the control interface to use < and > keys
* to slew the servo horn left and right. Works best with
* the Linux/Mac terminal "screen" program.
*
* Created 10 December 2007
* copyleft 2007 Brian D. Wendt
* http://principialabs.com/
*
* Adapted from code by Tom Igoe, http://itp.nyu.edu/physcomp/Labs/Servo
*/
/** Adjust these values for your servo and setup, if necessary **/
int servoPin = 2; // control pin for servo motor
int minPulse = 600; // minimum servo position
int maxPulse = 2400; // maximum servo position
int turnRate = 100; // servo turn rate increment (larger value, faster rate)
int refreshTime = 20; // time (ms) between pulses (50Hz)
/** The Arduino will calculate these values for you **/
int centerServo;
int pulseWidth;
// center servo position
// servo pulse width
continued
int moveServo; // raw user input
long lastPulse = 0; // recorded time (ms) of the last pulse on next
slide
information
* copyleft 2007 Brian D. Wendt
* http://principialabs.com/
*
* Adapted from code by Tom Igoe, http://itp.nyu.edu/physcomp/Labs/Servo
*/
/** Adjust these values for your servo and setup, if necessary **/
int servoPin = 2; // control pin for servo motor
int minPulse = 600; // minimum servo position
int maxPulse = 2400; // maximum servo position
int turnRate = 100; // servo turn rate increment (larger value, faster rate)
int refreshTime = 20; // time (ms) between pulses (50Hz)
/** The Arduino will calculate these values for you **/
int centerServo;
int pulseWidth;
// center servo position
// servo pulse width
continued
int moveServo; // raw user input
long lastPulse = 0; // recorded time (ms) of the last pulse on next
slide
void loop() {
// wait for serial input
if (Serial.available() > 0) {
// read the incoming byte:
moveServo = Serial.read();
Bill Buxton
http://ccrma.stanford.edu/courses/250a/lectures/IDSketchbok.pdf
Pencils before pixels: a primer in hand-generated sketching
http://doi.acm.org/10.1145/1340961.1340969
There is an additional handout at: http://interactions.acm.org/content/XV/baskinger.pdf
Embodiment using
Animatronics
Stefan Marti
2005, Autonomous
Interactive
Intermediaries
2005, Physical
Embodiments for Mobile
Communication Agents
http://web.media.mit.edu/~stefanm/MyStuff/MyWritings/
marti_phd2005_autonomous_interactive_intermediaries.pdf
http://web.media.mit.edu/~stefanm/MyStuff/MyWritings/aii_UIST2005.pdf
Kinematics
Gears and mechanical
models
Geometry of pure motion without
reference to force or mass
Cornell University Library, Kinematic
Models for Design Digital Library Examples from
(KMODDL) www.flying-pig.co.uk
Tutorials, models, e-books, e.g. Linkages
Chapter 3 in Building Robot Drive
Trains
http://kmoddl.library.cornell.edu/index.php
http://www.flying-pig.co.uk
PWM Tutorials
ITP Servo tutorial
Principial Labs Arduino Servo
Driving a Unipolar Stepper Motor
Driving a Bipolar Stepper Motor ITP Servo lab, uses
a potentiometer to
Making an RC Servo wall following car control the servo.
http://itp.nyu.edu/physcomp/Labs/Servo
http://principialabs.com/arduino-serial-servo-control
http://www.jasonbabcock.com/computing/breadboard/unipolar/index.html
http://www.jasonbabcock.com/computing/breadboard/bipolar/index.html
http://makingfurnitureinteractive.wordpress.com/2007/10/27/servo-car/
Arduino Library
Software Servo Library
attach(int) Turn a pin into a servo driver.
detach() Release a pin from servo driving.
write(int) Set the angle of the servo in degrees, 0 to 180.
read() return that value set with the last write().
attached() return 1 if the servo is currently attached.
refresh() must call once every 50ms to keep servos updated, won't call more than
every 20ms
setMinimumPulse(uint16_t) set the duration of the 0 degree pulse in
microseconds. (default minimum value is 544 microseconds)
setMaximumPulse(uint16_t) set the duration of the 180 degree pulse in
microseconds. (default maximum pluse value is 2400 microsconds)
Need to first send position with write() before you can receive any control signals
http://www.arduino.cc/playground/ComponentLib/Servo
Projects and
Prototyping Trade-offs
Projects and
Prototyping Trade-offs
Re-programmable
Projects and
Prototyping Trade-offs
Size
matters
Capacitors
The relationship between current, capacitance, and voltage where dv/dt is the rate of voltage change over time.
Can be unipolar or bipolar so placement can be important otherwise it will explode!
Resistor Color Code
4-band Color Code
10K ! ± 5%
Multiplier Tolerance
SLV 0.01 SLV ± 10%
1st Digit 2nd Digit 3rd Digit GLD 0.1 GLD ± 5% Temperature
BLK-0 BLK-0 BLK-0 BLK-1 Coefficient
BRN-1 BRN-1 BRN-1 BRN-10 BRN-100ppm
BRN ± 1%
RED-2 RED-2 RED-2 RED-100 RED-50ppm
RED ± 2%
ORN-3 ORN-3 ORN-3 ORN-1K ORN-15ppm
YEL-4 YEL-4 YEL-4 YEL-10K YEL-25ppm
GRN-5 GRN-5 GRN-5 GRN-100K GRN ± 0.5%
BLU-6 BLU-6 BLU-6 BLU-1M BLU- ± 0.25%
VIO-7 VIO-7 VIO-7 VIO-10M VIO ± 0.1%
GRY-8 GRY-8 GRY-8
WHT-9 WHT-9 WHT-9
GRY-8
Resistors impede current flow. Pull up or pull down to a given voltage level.
Many pull-ups can be replace when of the same value with a resnet in a single package.
Measuring Resistance
Measuring Voltage
Diodes
LEDs, Zener, Schottky, Photo
Pass current in one direction
only
Forward voltage drop
e.g. forward voltage drop of 0.7 V in circuit where
input is 5V will have voltage of 4.3V on its far side
Rectification
Removal of negative voltages from signal, i.e. a
bridge rectifier
LED, 1.6V forward voltage drop, current limit 36mA, circuit
total voltage 5V.
VR = 5 - 1.6 = 3.4V
R = V / I = 3.4 / 0.036 = 94.44 Ohm (at least 100 Ohm)
P = V * I = 3.4 * 0.036 = 0.1224 W (at least 0.125W)
Pass current in a single direction but not in the other, stops back washing of current to other parts of circuit, a one way value.
Zener diodes, dynamic resistance, where the voltage drop across the zener diode will not change as the current through it changes. Reference voltage, a variable resistor whose resistance is current dependant.
Schottky diodes or hot-carrier diodes, same as normal diodes except for very small forward voltage drop.
Silicon 0.6V, Germanium 0.2V, Schottky 0.15V to 0.46V
LED is normally between 1.3 to 2.7V forward drop depending on type colour, etc
Photo forward or backward as a reactant or in photovoltic mode.
RGB LEDs
http://www.upwardnotnorthward.com/
TiniTinct was Trinome
AVR Programmer
AVR ATTiny13 Blinky
AVR ATTiny13 Blinky
/* Two LEDs, tied to pin b0 and to b1 which correspond to physical pins 5 and 6 on ATTINY13 are turned
on for 100ms and then off for 200ms
*/
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include "pin_macros.h" // Leah Buechley's pin macros for AVRs - very useful
int main(void)
{ // Set Port B pins for 3 and 4 as outputs
b0_output; //initialize LED pin
b1_output; //initialize LED pin
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h> Include the
#include "pin_macros.h" // Leah Buechley's pin macros for AVRs - very useful
int main(void)
libraries and set
{ // Set Port B pins for 3 and 4 as outputs
b0_output; //initialize LED pin
the speed of chip
b1_output; //initialize LED pin
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include "pin_macros.h" // Leah Buechley's pin macros for AVRs - very useful
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include "pin_macros.h" // Leah Buechley's pin macros for AVRs - very useful
int main(void)
{ // Set Port B pins for 3 and 4 as outputs
Loop - Turn the pins
b0_output; //initialize LED pin
b1_output; //initialize LED pin
on, wait for 262ms, and
b0_high;
b1_high;
//LED is off
//LED is off
turn off. Repeat.
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
# default target when "make" is run w/o arguments Use avr-gcc to compile
all: sample_led_program.rom
‘c’ program
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# default target when "make" is run w/o arguments Use avr-gcc on `o’ obj
all: sample_led_program.rom
file
# compile sample_led_program.c into sample_led_program.o
to create `elf’ file
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# default target when "make" is run w/o arguments Clean up the files
all: sample_led_program.rom
Example:
– Programmable Watchdog Timer with Separate On-chip Oscillator
•
– On-chip Analog Comparator
Special Microcontroller Features
Flash
– debugWIRE On-chip Debug System
– In-System Programmable via SPI Port
– External and Internal Interrupt Sources ATtiny13V
– Low Power Idle, ADC Noise Reduction, and Power-down Modes
Models
– Enhanced Power-on Reset Circuit
– Programmable Brown-out Detection Circuit
ATtiny13
ATtiny13
– Internal Calibrated Oscillator
• I/O and Packages
– 8-pin PDIP/SOIC: Six Programmable I/O Lines
– 20-pad MLF: Six Programmable I/O Lines
Summary
• Operating Voltage:
– 1.8 - 5.5V for ATtiny13V
– 2.7 - 5.5V for ATtiny13 If it is the short summary
• Speed Grade
– ATtiny13V: 0 - 4 MHz @ 1.8 - 5.5V, 0 - 10 MHz @ 2.7 - 5.5V or longer full datasheet
– ATtiny13: 0 - 10 MHz @ 2.7 - 5.5V, 0 - 20 MHz @ 4.5 - 5.5V
• Industrial Temperature Range
• Low Power Consumption
– Active Mode:
1 MHz, 1.8V: 240µA
– Power-down Mode:
< 0.1µA at 1.8V
Date
Rev. 2535HS–AVR–10/07
Pin Configurations Figure 1. Pinout ATtiny13
NC
NC
NC
NC
NC
20
19
18
17
16
(PCINT5/RESET/ADC0/dW) PB5 1 15 VCC
(PCINT3/CLKI/ADC3) PB3 2 14 PB2 (SCK/ADC1/T0/PCINT2)
NC 3 13 NC
NC 4 12 PB1 (MISO/AIN1/OC0B/INT0/PCINT1)
Example:
(PCINT4/ADC2) PB4 5 11 PB0 (MOSI/AIN0/OC0A/PCINT0)
10
6
7
8
9
NC
NC
GND
NC
NC
NOTE: Bottom pad should be soldered to ground.
NC: Not Connect
ATtiny13
10-QFN/MLF
Overview The ATtiny13 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced
RISC architecture. By executing powerful instructions in a single clock cycle, the
ATtiny13 achieves throughputs approaching 1 MIPS per MHz allowing the system
designer to optimize power consumption versus processing speed.
Date
2 ATtiny13
2535HS–AVR–10/07
Interrupt system to continue functioning. The Power-down mode saves the register con-
tents, disabling all chip functions until the next Interrupt or Hardware Reset. The ADC
Noise Reduction mode stops the CPU and all I/O modules except ADC, to minimize
switching noise during ADC conversions.
The device is manufactured using Atmel’s high density non-volatile memory technology.
The On-chip ISP Flash allows the Program memory to be re-programmed In-System
through an SPI serial interface, by a conventional non-volatile memory programmer or
by an On-chip boot code running on the AVR core.
The ATtiny13 AVR is supported with a full suite of program and system development
tools including: C Compilers, Macro Assemblers, Program Debugger/Simulators, In-Cir-
cuit Emulators, and Evaluation kits.
Pin Descriptions
Descriptions of the pins
VCC Digital supply voltage. shown in the previous
GND Ground. diagram with comments
Example:
Port B (PB5..PB0) Port B is a 6-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port B output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset
condition becomes active, even if the clock is not running.
Port B also serves the functions of various special features of the ATtiny13 as listed on
page 51.
ATtiny13
RESET Reset input. A low level on this pin for longer than the minimum pulse length will gener-
ate a reset, even if the clock is not running. The minimum pulse length is given in Table
12 on page 31. Shorter pulses are not guaranteed to generate a reset.
Note: 1.
Data Retention Reliability Qualification results show that the projected data retention failure rate is much
less than 1 PPM over 20 years at 85°C or 100 years at 25!C.
About Code This documentation contains simple code examples that briefly show how to use various
parts of the device. These code examples assume that the part specific header file is
Examples
included before compilation. Be aware that not all C compiler vendors include bit defini-
tions in the header files and interrupt handling in C is compiler dependent. Please
confirm with the C compiler documentation for more details.
4 ATtiny13
2535HS–AVR–10/07
Electrical Characteristics
DC Current VCC and GND Pins................................ 200.0 mA maximum ratings for device are.
Running at these or beyond will
DC Characteristics damage the device
Example:
T = -40!C to 85!C, V = 1.8V to 5.5V (unless otherwise noted)(1)
A CC
ATtiny13
Input Low-voltage
VIL1 VCC = 1.8V - 5.5 -0.5 0.1VCC V
CLKI pin
Input High-voltage VCC = 1.8V - 2.4V 0.8VCC(3)
VIH1 VCC +0.5 V
CLKI pin VCC = 2.4V - 5.5V 0.7VCC(3)
Input Low-voltage
VIL2 VCC = 1.8V - 5.5 -0.5 0.2VCC V
RESET pin
Input High-voltage
VIH2 VCC = 1.8V - 5.5 0.9VCC(3) VCC +0.5 V
RESET pin
Input Low-voltage VCC = 1.8V - 2.4V
VIL3 -0.5 0.2VCC V
RESET pin VCC = 2.4V - 5.5V
Input High-voltage VCC = 1.8V - 2.4V 0.7VCC(3)
VIH3 VCC +0.5 V
RESET pin VCC = 2.4V - 5.5V 0.6VCC(3)
Output Low Voltage(4) IOL = 20 mA, VCC = 5V 0.7 V
VOL
(PB1 and PB0) IOL = 10 mA, VCC = 3V 0.5 V
Output Low Voltage(4) IOL = 10 mA, VCC = 5V 0.7 V
VOL1
(PB5, PB4, PB3 and PB2) IOL = 5 mA, VCC = 3V 0.5 V
IOL =TBD mA, VCC =
Output Low Voltage(4) TBDV V
VOL2
(PB5, Reset used as I/O) IOL =TBD mA, VCC = V
TBDV
Output High-voltage(5) IOH = -20 mA, VCC = 5V 4.2 V
VOH
( PB1 and PB0) IOH = -10 mA, VCC = 3V 2.5 V
120 ATtiny13
2535H–AVR–10/07
ATtiny13
Example:
Active 8MHz, VCC = 5V 6 mA
Power Supply Current
Idle 1MHz, VCC = 2V 0.08 0.2 mA
ICC
Idle 4MHz, VCC = 3V 0.41 1 mA
Idle 8MHz, VCC = 5V 1.6 3 mA
WDT enabled, VCC = 3V <5 10 µA
Power-down mode
ATtiny13
WDT disabled, VCC = 3V < 0.5 2 µA
Analog Comparator Input VCC = 5V
VACIO < 10 40 mV
Offset Voltage Vin = VCC/2
Analog Comparator Input VCC = 5V
IACLK -50 50 nA
Leakage Current Vin = VCC/2
Analog Comparator VCC = 2.7V 750
tACPD ns
Propagation Delay VCC = 4.0V 500
Notes: 1. All DC Characteristics contained in this data sheet are based on simulation and characterization of other AVR microcontrol-
lers manufactured in the same process technology. These values are representing design targets, and will be updated after
characterization of actual silicon.
2. “Max” means the highest value where the pin is guaranteed to be read as low.
3. “Min” means the lowest value where the pin is guaranteed to be read as high.
4. Although each I/O port can sink more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V for PB5, PB1:0, 10 mA
at VCC = 5V, 5 mA at VCC = 3V for PB4:2) under steady state conditions (non-transient), the following must be observed:
1] The sum of all IOL, for all ports, should not exceed 60 mA.
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater
than the listed test condition.
5. Although each I/O port can source more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V for PB5, PB1:0, 10
mA at VCC = 5V, 5 mA at VCC = 3V for PB4:2) under steady state conditions (non-transient), the following must be observed:
1] The sum of all IOH, for all ports, should not exceed 60 mA.
If IOH exceeds the test condition, VOH may exceed the related specification. Pins are not guaranteed to source current
greater than the listed test condition.
121
2535H–AVR–10/07