Autonom robotväckarklocka med trådlös basstation - KTH

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KUNGLIGA TEKNISKA HÖGSKOLAN Stegmotor Ett fördjupningsarbete i mekatronik Mazda Imani, 890803-0151 28/3//2011 Institution: <strong>KTH</strong> Maskinkonstruktion Kurs: MF106X Handledare: Martin Grimheden
Abstract This report describes the theory of how a stepper motor works and can be controlled. The report also describes the development of a working prototype that fulfills the following three desired main features: 1. The ability to, with the help of a keyboard, control how many degrees the stepper motor will rotate with a resolution of at least 1 degree. The stepper motor will also have the possibility to rotate backwards. The rotational velocity should be adjustable while running. 2. Have a mode where the stepper motor is rotating continuous with the ability of changing the step modes. The velocity and rotational direction should also be able to be adjusted while running. 3. A mode with an unusual implementation of the stepper motor, for example the ability to play a simple song by generating tones. The part of the report where the prototype is constructed is written as an argumentative text in which each choice of component is justified by both the pros and cons. The prototype is lastly built as a standalone unit to demonstrate that everything works as it should.
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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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} { outfreq = 1; enable = 1; count
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} 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 192 and 193: 10 3953 FULL-BRIDGE PWM MOTOR DRIVE
Page 194 and 195: 0.280 0.240 0.210 MAX 7.11 6.10 5.3
Page 196 and 197: 14 3953 FULL-BRIDGE PWM MOTOR DRIVE
Page 198 and 199: Bilaga 3: Programkoden //fördjupni
Page 200 and 201: } } } PORTB = 0x11; _delay_ms(5); b
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
Page 236 and 237: C:\Documents and Settings\mazda\My
Page 242 and 243: 0 0 1 1 2 2 3 3 4 A A GND Motordriv
Page 244 and 245: Recommended Substitutions: Dual Ful
Page 246 and 247: 2916 Description (continued) of bat
Page 248 and 249: 2916 Dual Full-Bridge Motor Driver
Page 250 and 251: 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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