Autonom robotväckarklocka med trådlös basstation - KTH

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alarm.h – baskontrollern const char alarm[][128] = { {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0xE0,0xF0,0xF8,0x3C,0x1E,0x0E,0x0E,0x06,0x07,0x07,0x07,0x07,0x07, 0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x0 7,0x07,0x07,0x07,0x07,0x07,0x0E,0x0E,0x1E,0x1C,0x7C,0xF8,0xF0,0xE0,0x00,0x00,0 x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 ,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00}, {0x00,0x00,0x00,0x00,0x00,0x80,0x80,0xC0,0xE0,0xF0,0xF0,0xF8,0xF8,0xFC,0xFC,0x FC,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFE,0xFE,0xFC,0xF8, 0xE0,0x38,0x38,0x38,0x38,0x38,0x38,0x1C,0x1C,0x1C,0x00,0x00,0x00,0x00,0x00,0xE 0,0xF8,0xFC,0xFE,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFE,0xFE,0 xFC,0xFC,0xFC,0xF8,0xF8,0xF0,0xF0,0xE0,0xC0,0x80,0x80,0x00,0x00,0x00,0x00,0x00 ,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00}, {0x80,0xF0,0xF8,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x FF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x7F,0x3F,0x1F,0x1F,0x0F,0x07,0x83, 0x81,0x80,0x80,0x80,0x80,0x80,0xCF,0xC0,0xC0,0xC0,0x80,0x80,0x80,0x80,0x80,0x8 1,0x83,0x07,0x0F,0x1F,0x1F,0x3F,0x7F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0 xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFE,0xF8,0xF0,0x80 ,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00}, {0x0F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x7F,0x3F,0x3F,0x1F,0x9F,0x CF,0xCF,0xE7,0xF7,0xFB,0x7B,0x7D,0x3C,0x3C,0x1E,0x1E,0x1F,0x0F,0x0F,0x0F,0x07, 0x07,0x07,0x07,0x07,0x03,0x03,0x03,0x63,0x03,0x03,0x03,0x03,0x07,0x07,0x07,0x0 7,0x07,0x0F,0x0F,0x0F,0x1E,0x1E,0x1E,0x3C,0x3C,0x7D,0xFB,0xFB,0xF7,0xE7,0xCF,0 xCF,0x9F,0x1F,0x3F,0x3F,0x7F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x0F ,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00}, {0x00,0x00,0x00,0x01,0x01,0x01,0x00,0xC0,0xE0,0xF0,0xF8,0xFC,0x3E,0x1F,0x0F,0x 07,0x43,0x83,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x83,0x47,0 x0F,0x0F,0x1F,0x7E,0xFC,0xF8,0xF0,0xE0,0x80,0x00,0x01,0x01,0x01,0x00,0x00,0x00 ,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0 0,0x00,0x00,0x00}, {0x00,0x00,0x00,0xE0,0xF8,0xFE,0xFF,0x3F,0x0F,0x03,0x01,0x00,0x00,0x00,0x00,0x 00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xFE,0xFE, 0xFC,0xF8,0x70,0x30,0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0
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Page 1 and 2:
Autonom robotväckarklocka med trå
Page 3 and 4:
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
Page 25 and 26: Figur 20 Stödhjulet Locket gjordes
Page 27 and 28: Färdig lösning När både roboten
Page 29 and 30: Slutsatser och förslag till förb
Page 31 and 32: Referenser H-brygga, Allegro UDN291
Page 33 and 34: Bilaga B. Komponentlista och kostna
Page 35 and 36: PA4 (ADC4) Rad 4 i matrisen. PA3 (A
Page 37 and 38: PD7 (OC2) - PC0 (SCL) - PC1 (SDA) -
Page 39 and 40: } bluetoothSend(254); bluetoothSend
Page 41 and 42: 0 0 1 1 2 2 3 3 4 A A MISO SCK J1 B
Page 43 and 44: 0 0 1 1 2 2 3 3 4 A A B B C C J3 HD
Page 45 and 46: 0 0 1 1 2 2 3 3 4 A A B B Touch Kop
Page 47 and 48: 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 A A B
Page 49 and 50: Bilaga F. Mekaniska ritningar med m
Page 51 and 52: 45 1,5 15 O 4 10 Skapad av mazda 92
Page 53 and 54: Bluetooth.c - LEDkontrollern // G
Page 55 and 56: Initialize USART usart_init(BAUD_RE
Page 57 and 58: LED_KLOCKA_ATMEGA16.c- LEDkontrol
Page 59 and 60: } } } void tid(void){ // 16-bit tim
Page 61 and 62: } } tid(); if(mode==2) text(); ////
Page 63 and 64: {0x00, 0x00, 0x00, 0x7E, 0x81, 0x81
Page 65 and 66: eciever.h - LEDkontrollern #ifnde
Page 67 and 68: } } } command = 7; // DO SOMETHING,
Page 69 and 70: } if (step2==8) step2=0; //wake up
Page 71 and 72: Run_alarm(); }else if (signal == 3)
Page 73 and 74: luetooth.h Baskontrollern #ifnde
Page 75: }; 0x01, 0x01, 0x7F, 0x01, 0x01,//
Page 79 and 80: -----------------------------------
Page 81 and 82: } send_spi(set[0]); send_spi(set[2]
Page 83 and 84: struct retarr touch(){ // returns c
Page 85 and 86: Clear the usart status register UCS
Page 87 and 88: void sendStartMoving(){ USART_Trans
Page 89 and 90: } m[2] = 0; } text(m,42,3); itoa(se
Page 91 and 92: struct retarr xy; xy = touch(); x =
Page 93 and 94: } text("stop",48,3); text("right",9
Page 95 and 96: eturn 0; } initRealtime(); // initi
Page 97: Bilaga I. Individuell rapport, LED
Page 100 and 101: Innehåll 1. Inledning 1 2. Fördju
Page 102 and 103: 2.1.1 Lysdiodteknologi En lysdiod (
Page 104 and 105: Stockholm var den första staden i
Page 106 and 107: Figur 5 Modulen monterad på breadb
Page 108 and 109: Figur 6 Illustration för hur du t
Page 110 and 111: visats klart. Därför lägger vi t
Page 112 and 113: 7. Löda ihop en egen LED-matris F
Page 114 and 115: När sedan alla lamporna lös igen
Page 116 and 117: B. Kopplingsschema för kretskortet
Page 118 and 119: C. Ekonomianalys En ekonomianalys g
Page 120 and 121: E. Programkod Eftersom samtliga pro
Page 122 and 123: {0x00, 0x00, 0x00, 0xFF, 0x01, 0x01
Page 124 and 125: } } } } else // 16-bit timer interr
Page 126 and 127:
} } } void effekter(){ // Plocka ef
Page 128 and 129:
} } for(j = 0; j < antal_kolumner;
Page 130 and 131:
Bilaga J. Individuell rapport, Ultr
Page 132 and 133:
Ola Johannesson FiM 11-03-28 890502
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Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Page 146 and 147:
Page 148 and 149:
} { outfreq = 1; enable = 1; count
Page 150 and 151:
} outfreq = 0; PORTB = outfreq; cha
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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
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Page 170 and 171:
Page 172 and 173:
Page 174 and 175:
Page 176 and 177:
Erfarenheter Annie Gustafsson, M-08
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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 188 and 189:
Page 190 and 191:
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
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} } } PORTB = 0x11; _delay_ms(5); b
Page 202 and 203:
KUNGLIGA TEKNISKA HÖGSKOLAN Stegmo
Page 204 and 205:
Sammanfattning I denna rapport avha
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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
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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 238 and 239:
Page 240 and 241:
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
Page 252 and 253:
2916 24X 0.10 C 0.41 ±0.10 24 1 A
Page 254 and 255:
1 23 TSC TS7800 3-Terminal Fixed Po
Page 256 and 257:
TSC TS7808 Electrical Characteristi
Page 258 and 259:
TSC TS7815 Electrical Characteristi
Page 260 and 261:
TSC FIG. 3 - QUIESCENT CURRENT AS A
Page 262 and 263:
Technical data Dimensions []
Page 264 and 265:
MR [mNm] 200 180 160 140 120 100 80
Page 266 and 267:
LCD med touchpanel Individuellt pro
Page 268 and 269:
André Berglund FiM 2011 Innehåll
Page 270 and 271:
André Berglund FiM 2011 Teoretisk
Page 272 and 273:
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
Page 280 and 281:
André Berglund FiM 2011 Bilagor Bi
Page 282 and 283:
André Berglund FiM 2011 Bilaga 4,
Page 284 and 285:
André Berglund FiM 2011 void init_
Page 286 and 287:
André Berglund FiM 2011 //--------
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