1. STEERING TEAM: DRIFT KINGS ELEAZAR LUCIANO MATT HART SHANE MILLS STEVE GILLILAND

2. CONTENTS: 1. What is a servo? 2. SmartCar application. Goals for lab Guidelines/Specifications 3. Hardware 4. Software

3. WHAT IS A SERVO? Digital signal to angular motion actuator Controlled by PWM(Pulse-Width Modulation) Using Futaba S3010 Servo Operation +4.8V to +6V

4. SMARTCAR APPLICATION Goals Figure out how far the wheels should turn. PWM must run freely, independent from software.

5. SMARTCAR APPLICATION Guidelines/Specifications Required frequency: 50Hz (period = 20ms). High time should be between 1-2 ms, for 0-180 degree position, respectively.

6. HARDWARE 3 Wire GVS(Ground, Voltage, and signal) Configuration. (V+) = 5 Volts 10K Potentiameter 3.3V D.C. for Input A/D converter on Coldfire (Figure 1: Servo Pinout) ?

7. SOFTWARE: 1. Configure ADC Registers. Status and Control Register Configuration Register Pin Control Register

8. A/D SAMPLE CODE

9. SOFTWARE CONT. 2. Configure PWM Register TPM Status and Control Register TPM Counter Modulo Registers 16 bit Register Divides to 2 Registers Modulo H and Modulo Low Used for a counter TPM Channel n Status and Control Register

10. PWM SAMPLE CODE

11. MAIN CODE Global Variable word steerPW Hint: Some code missing.

12. RECAP 1. Servo motor 2. SmartCar Goals 3. Software Guidelines 4. Hardware components 5. Software

13. RESOURCES http://www.lirtex.com/robotics/servo-motors-information-and-control/ http://www.learn.parallax.com/KickStart/900-00008 http://www3.towerhobbies.com/cgi-bin/WTI0001P?I=LXDTB3&P=8#tech MCF51JM128 Reference Manual Lecture Notes Set 2: MCF51JM Microcontroller CET – 335: Lab 8 Motor Control

14. QUESTIONS?