ME456: Mechatronics Prof. Clark J. Radcliffe Mechanical Engineering Michigan State University http://www.egr.msu.edu/classes/me456/radcliff

Prof. Clark Radcliffe Office: 2445 Engineering Phone: 355-5198 Email: radcliff@egr.msu.edu Web: http://www.egr.msu.edu/classes/me456/radcliff/ Office Hours: WF 11:10-12:00 (after class..) OR by appointment

It is our intent to provide lots of office hours Joonho Lee, TA email: leejoon8@egr.msu.edu Office Hours: In 2200EB Lab Tuesday: 9:10am -10:10am 
Wednesday: 9:10am -10:10am 
Thursday: 2:00pm - 4:00pm 
Friday: 9:10am -10:10am It is our intent to provide lots of office hours Please use them…

Do you have the knack?

What’s Mechatronics? The integrated design of products and processes that include mechanical and electrical components under intelligent control.  The underlying products are physical in nature (electromechanical, hydraulic, magnetic, etc).  There are sensors and actuators for interfacing with them.   There is "intelligence" through imbedded computing capability.  All these processes are highly integrated into sophisticated products and processes. Reference: National Science Foundation

Mechatronics The study of systems with Mechanical Engineering Components Electronic Sensors and Electrical Actuators Computer Controls Each necessary to successful performance of the whole

Syllabus What’s a microcontroller Robotics BIG Design Project (Group) The “BASIC Stamp” microcontroller Small Design Project (individual) Robotics A typical mechanical interface BIG Design Project (Group) Learn by doing

Grading Virtual Laboratory 30% Biweekly Quiz 30% Written + Check-off Biweekly Quiz 30% 5 minutes each on Lab 1st Design Project 15% After WAM book Final Project 25% 100%

Course Operation Two “lectures” per week (2 hr) Come prepared to ask questions Demonstrations of lab material Two lab exercises per week (6 hr) Each has write-up & check-off Use 2200EB terminals any time TA scheduled in lab

1st Assignment Find the Webpage What’s a Microcontroller? v3.0 www.egr.msu.edu/classes/me456/radcliff Download a check-off sheet What’s a Microcontroller? v3.0 Do Chapter 1 (everything you can) Attach all code to the check-off sheet Demo action to a classmate Turn in next Friday

Homework Schedule http://www. egr. msu ME456: Mechatronics Fall 2012 C. Radcliffe (Assignments Due 1 week after assigned)

Computers Typical Computers CPU Monitor Keyboard & Mouse High Speed Random Access Memory (RAM) Long Term Memory (HDD, Tape, CD, …) Other peripheral devices (modem, printers, …)

Microcontrollers All around us without human interfaces Cars (as many as 20-30 today) Toys Phones Appliances (your microwave and VCR) Small for control of machines For connection to machines not people Inexpensive ($2.00 - $5.00 or less)

BASIC Stamp II An integrated microcontroller system Programmed in BASIC, Postage Stamp Size 2k byte EEPROM 5 volt Regulator Interpreter Chip PIC16C57 w/ 26 bytes RAM 20 MHz Resonator Serial Interface I/O Pins 0-7 8-15

BASIC Stamp II Specifications 4000 BASIC Statements per second 16 Digital I/O pins Source 20 mA, Sink 25 mA Special purpose control routines 5v power supply (50 mA) Low power (8 mA, sleep at 0.1mA) RS232-USB serial programming interface 2k bytes program token storage

Allows easy prototyping with BSII Board of Education Allows easy prototyping with BSII Wall Transformer Connection 5 volt 1.5A Regulator 9 volt Battery Connector RC Servo Connections 5v Power Supply Connection USB Interface To PC Circuit Prototyping Area BASIC Stamp II Microcontroller Socket Digital I/O Connector Reset Button

(5) pin groups connected BOE Breadboard (5) pin groups connected connections: +5v (Vdd) & Ground (Vss)

Application Kits BoeBot

Board of Education Demonstration Let’s Make Flashing Lights

Design Flashing Lights Vdd P1 P0  Digital I/O pins (0 or 5 volts)  Current Limiting Resistors  Light Emitting Diodes (LED)  5 volt power

Circuit Model and Analysis How big should resistors be? Limit current to 10 mA Assume: no voltage drop across LED P0 and P1 - go to ground - have zero input impedance Vdd P1 P0

Create Flashing Lights Hardware connection to +5v (Vdd) Note Polarity Of LED’s (2) 470 Ohm Resistors (yellow, violet, brown, …)

Create Flashing Lights Software 'Program Demo Listing written by C. Radcliffe 'Define Variables and Constants '------------------------------------------- left_led con 0 'left LED drive pin right_led con 1 'right LED drive pin blink con 100 'blink time (msec) 'Main Program flash: 'Start of Program high left_led 'turns left led off low right_led 'turns right led on pause blink 'wait for <blink> ms low left_led ‘turns left led on high right_led 'turns right led off goto flash ‘repeat the blink

Flashing Lights Solution Circuit Hardware Plus Control Software

Tonight at 8:00pm MSU vs. Boise State