Autonom robotväckarklocka med trådlös basstation - KTH

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10 3953 FULL-BRIDGE PWM MOTOR DRIVER mended) placed as close to the device as is physically practical. To minimize the effect of system ground I x R drops on the logic and reference input signals, the system ground should have a low-resistance return to the motor supply voltage. See also “Current Sensing” and “Thermal Considerations” above. Fixed Off-Time Selection. With increasing values of t OFF, switching losses will decrease, low-level load-current regulation will improve, EMI will be reduced, the PWM frequency will decrease, and ripple current will increase. The value of t OFF can be chosen for optimization of these parameters. For applications where audible noise is a concern, typical values of t OFF are chosen to be in the range of 15 µs to 35 µs. Stepper Motor Applications. The MODE terminal can be used to optimize the performance of the device in microstepping/sinusoidal stepper-motor drive applications. When the load current is increasing, slow decay mode is used to limit the switching losses in the device and iron losses in the motor. This also improves the maximum rate at which the load current can increase (as compared to fast decay) due to the slow rate of decay during t OFF. When the load current is decreasing, fast-decay mode is used to regulate the load current to the desired level. This prevents tailing of the current profile caused by the back- EMF voltage of the stepper motor. In stepper-motor applications applying a constant current to the load, slow-decay mode PWM is typically used to limit the switching losses in the device and iron losses in the motor. DC Motor Applications. In closed-loop systems, the speed of a dc motor can be controlled by PWM of the PHASE or ENABLE inputs, or by varying the reference input voltage (REF). In digital systems (microprocessor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog voltage reference. In this case, a dc voltage on the REF input is used typically to limit the maximum load current. In dc servo applications, which require accurate positioning at low or zero speed, PWM of the PHASE input is selected typically. This simplifies the servo control loop because the transfer function between the duty cycle on the PHASE input and the average voltage applied to the motor is more linear than in the case of ENABLE PWM control (which produces a discontinuous current at low current levels). With bidirectional dc servo motors, the PHASE terminal can be used for mechanical direction control. Similar to when braking the motor dynamically, abrupt changes in the direction of a rotating motor produces a current generated by the back-EMF. The current generated will depend on the mode of operation. If the internal current control circuitry is not being used, then the maximum load current generated can be approximated by I LOAD = (V BEMF + V BB)/R LOAD where V BEMF is proportional to the motor’s speed. If the internal slow current-decay control circuitry is used, then the maximum load current generated can be approximated by I LOAD = V BEMF/R LOAD. For both cases care must be taken to ensure that the maximum ratings of the device are not exceeded. If the internal fast current-decay control circuitry is used, then the load current will regulate to a value given by: I LOAD = V REF/R S. CAUTION: In fast current-decay mode, when the direction of the motor is changed abruptly, the kinetic energy stored in the motor and load inertia will be converted into current that charges the V BB supply bulk capacitance (power supply output and decoupling capacitance). Care must be taken to ensure that the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. See also “Brake Operation” above. BRAKE 470 pF REF PHASE ENABLE 30 kΩ Figure 4 — Typical Application +5 V 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 1 2 3 4 5 6 7 V CC LOGIC V BB 16 15 14 13 12 11 10 VBB 8 9 V BB + 47 µF 0.5 Ω MODE Dwg. EP-047-2A
Soldering Considerations. The lead (Pb) free (100% matte tin) plating on lead terminations is 100% backwardcompatible for use with traditional tin-lead solders of any composition, at any temperature of soldering that has been traditionally used for that tin-lead solder alloy. Further, 100% matte tin finishes solder well with tin-lead solders even at temperatures below 232°C. This is because the matte tin dissolves easily in the tin-lead. Additional information on soldering is available on the Allegro Web site, www.allegromicro.com. www.allegromicro.com 3953 FULL-BRIDGE PWM MOTOR DRIVER 11
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Autonom robotväckarklocka med trå
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Godkänt 2011-005-18 Sammaanfattnin
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En självgående väckarklocka med
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Abstract This report is the result
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Bilaga C. Använda portpinnar hos A
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Problemlösning Projektet består a
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Funktionerna i roboten har av prakt
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De olika tillstånden är: Figur 7
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LED-matris Figur 10 Flödesschema f
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Program Figur 13 Styrkrets för LED
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Kommunikation mellan LED-kontroller
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100 4 Kör bakåt 101 5 Sväng vän
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Figur 20 Stödhjulet Locket gjordes
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Färdig lösning När både roboten
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Slutsatser och förslag till förb
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Referenser H-brygga, Allegro UDN291
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Bilaga B. Komponentlista och kostna
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PA4 (ADC4) Rad 4 i matrisen. PA3 (A
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PD7 (OC2) - PC0 (SCL) - PC1 (SDA) -
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} bluetoothSend(254); bluetoothSend
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0 0 1 1 2 2 3 3 4 A A MISO SCK J1 B
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0 0 1 1 2 2 3 3 4 A A B B C C J3 HD
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0 0 1 1 2 2 3 3 4 A A B B Touch Kop
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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 A A B
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Bilaga F. Mekaniska ritningar med m
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45 1,5 15 O 4 10 Skapad av mazda 92
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Bluetooth.c - LEDkontrollern // G
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Initialize USART usart_init(BAUD_RE
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LED_KLOCKA_ATMEGA16.c- LEDkontrol
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} } } void tid(void){ // 16-bit tim
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} } tid(); if(mode==2) text(); ////
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{0x00, 0x00, 0x00, 0x7E, 0x81, 0x81
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eciever.h - LEDkontrollern #ifnde
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} } } command = 7; // DO SOMETHING,
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} if (step2==8) step2=0; //wake up
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Run_alarm(); }else if (signal == 3)
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luetooth.h Baskontrollern #ifnde
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}; 0x01, 0x01, 0x7F, 0x01, 0x01,//
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0,0x00,0x00,0x00,0x00,0x00,0x00,0x0
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-----------------------------------
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} send_spi(set[0]); send_spi(set[2]
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struct retarr touch(){ // returns c
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Clear the usart status register UCS
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void sendStartMoving(){ USART_Trans
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} m[2] = 0; } text(m,42,3); itoa(se
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struct retarr xy; xy = touch(); x =
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} text("stop",48,3); text("right",9
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eturn 0; } initRealtime(); // initi
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Bilaga I. Individuell rapport, LED
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Innehåll 1. Inledning 1 2. Fördju
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2.1.1 Lysdiodteknologi En lysdiod (
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Stockholm var den första staden i
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Figur 5 Modulen monterad på breadb
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Figur 6 Illustration för hur du t
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visats klart. Därför lägger vi t
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7. Löda ihop en egen LED-matris F
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När sedan alla lamporna lös igen
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B. Kopplingsschema för kretskortet
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C. Ekonomianalys En ekonomianalys g
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E. Programkod Eftersom samtliga pro
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{0x00, 0x00, 0x00, 0xFF, 0x01, 0x01
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} } } } else // 16-bit timer interr
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} } } void effekter(){ // Plocka ef
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} } for(j = 0; j < antal_kolumner;
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Bilaga J. Individuell rapport, Ultr
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Ola Johannesson FiM 11-03-28 890502
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Page 142 and 143: Ola Johannesson FiM 11-03-28 890502
Page 148 and 149: } { outfreq = 1; enable = 1; count
Page 150 and 151: } outfreq = 0; PORTB = outfreq; cha
Page 152 and 153: 0 0 1 1 2 2 3 3 4 A A B B C C J1 D
Page 154 and 155: Bilaga 5 Två huvudkort gjordes, f
Page 156 and 157: Bilaga 7: Breadboard mottagare Figu
Page 158 and 159: Bilaga 9: Använda portpinnar Följ
Page 160 and 161: Stegmotorer - Funktion och tillämp
Page 162 and 163: Abstract Annie Gustafsson, M-08 KTH
Page 164 and 165: Inledning Annie Gustafsson, M-08 KT
Page 166 and 167: Annie Gustafsson, M-08 KTH Fördjup
Page 176 and 177: Erfarenheter Annie Gustafsson, M-08
Page 178 and 179: Referenser Information är hämtad
Page 180 and 181: Technical data Dimensions []
Page 182 and 183: MR [mNm] 200 180 160 140 120 100 80
Page 184 and 185: 2 3953 FULL-BRIDGE PWM MOTOR DRIVER
Page 186 and 187: 3953 FULL-BRIDGE PWM MOTOR DRIVER E
Page 194 and 195: 0.280 0.240 0.210 MAX 7.11 6.10 5.3
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Page 198 and 199: Bilaga 3: Programkoden //fördjupni
Page 200 and 201: } } } PORTB = 0x11; _delay_ms(5); b
Page 202 and 203: KUNGLIGA TEKNISKA HÖGSKOLAN Stegmo
Page 204 and 205: Sammanfattning I denna rapport avha
Page 206 and 207: Inledning Denna rapport är ett res
Page 208 and 209: Typiska användningsområden för s
Page 210 and 211: Problemdefinition och lösning Krav
Page 212 and 213: Genom att vända på drivstegen kan
Page 214 and 215: Steg Bild 3. Den färdiga motordriv
Page 216 and 217: Figur 5. En plott över helsteg fö
Page 218 and 219: Drivsteg IFas A IFas B 1 (0°- 30°
Page 220 and 221: Bild 11. En plott över mikrosteg m
Page 222 and 223: Pinne på tangentbordet Funktion Ko
Page 224 and 225: Bild 18. Spänningsregulatorn och t
Page 226 and 227: göra motordrivkretsen till separat
Page 228 and 229: Referenser Källor Wikipedia, Brush
Page 230 and 231: Bilagor Komponentlista Komponent An
Page 232 and 233: Motordrivaren (Bättre bild finns i
Page 234 and 235: Interruptrutiner Extern interrupt 0
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0 0 1 1 2 2 3 3 4 A A GND Motordriv
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Recommended Substitutions: Dual Ful
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2916 Description (continued) of bat
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2916 Dual Full-Bridge Motor Driver
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2916 LOGIC CONTROL OF OUTPUT CURREN
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2916 24X 0.10 C 0.41 ±0.10 24 1 A
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1 23 TSC TS7800 3-Terminal Fixed Po
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TSC TS7808 Electrical Characteristi
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TSC TS7815 Electrical Characteristi
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TSC FIG. 3 - QUIESCENT CURRENT AS A
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Technical data Dimensions []
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MR [mNm] 200 180 160 140 120 100 80
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LCD med touchpanel Individuellt pro
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André Berglund FiM 2011 Innehåll
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André Berglund FiM 2011 Teoretisk
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André Berglund FiM 2011 Förutom k
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André Berglund FiM 2011 Kapacitiv
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André Berglund FiM 2011 Då system
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André Berglund FiM 2011 Diskussion
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André Berglund FiM 2011 Bilagor Bi
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André Berglund FiM 2011 Bilaga 4,
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André Berglund FiM 2011 void init_
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André Berglund FiM 2011 //--------
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Autonom robotväckarklocka med trådlös basstation - KTH

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