1. Designing with components II Fall 2009

2. Overview Possible Components

3. Components: GP2D120 Sharp GP2D120 Analog Distance Sensor http://www.roboticsconnection.com/pc-23-4-sharp- gp2d120-ir-sensor.aspx Features Less influence on the color of reflective objects, reflectivity Line-up of distance output/distance judgment type Distance output type (analog voltage) GP2D120 Detecting distance 4 to 30cm Recommended, buy the interconnect cable GP2D120.pdf $8.99

4. Components: GP2D120

5. 14,000 lx

6. Components: GP2D12 Sharp GP2D12 Analog Distance Sensor http://www.roboticsconnection.com/pc-22-4-sharp- gp2d12-ir-sensor.aspx http://www.roboticsconnection.com/pc-22-4-sharp- gp2d12-ir-sensor.aspx Features Less influence on the color of reflective objects, reflectivity Line-up of distance output/distance judgment type Distance output type (analog voltage) GP2DI 2 Detecting distance 10 to 80cm Distance judgment type: GP2DI5 Judgment distance 24cm. Adjustable within the range of 10 to 80cm) 3. External control circuit is unnecessary GP2D12.pdf $11.95

7. Components: GP2D12 80 cm 2.4 V

8. Components: GP2D12 14,000 lx

9. Components: Infrared Transistor #: 350- 00018 A phototransistor is a light-sensitive device similar to other transistors which act as current amplifiers, except that it converts visible light, or photons, to current which is then amplified. http://www.parallax.com/ detail.asp?product_id=35 0-00018 http://www.parallax.com/ detail.asp?product_id=35 0-00018 $1.29

10. http://www.robotroom.com/HBridge.html This is just an example, we prefer to use the TC4422 in the T0-220 package which has higher Current capability but is single channel. You can order free samples from microchip

11. Components: TC4421/TC4422

12. PWM  In the graphic, the green lines represent a regular time period. This duration or period is the inverse of the PWM frequency. In other words, with Arduino's PWM frequency at about 500Hz, the green lines would measure 2 milliseconds each. A call to analogWrite() is on a scale of 0 - 255, such that analogWrite(255) requests a 100% duty cycle (always on), and analogWrite(127) is a 50% duty cycle (on half the time) for example.analogWrite  analogWrite(pin, value)

13. Components: TC4421/TC4422 Features High Peak Output Current: 9A Wide Input Supply Voltage Operating Range: 4.5V to 18V High Continuous Output Current: 2A Max Fast Rise and Fall Times: 30 ns with 4,700 pF Load 180 ns with 47,000 pF Load Short Propagation Delays: 30 ns (typ) Low Supply Current: With Logic ‘1’ Input: 200 µA (typ) With Logic ‘0’ Input: 55 µA (typ) Low Output Impedance: 1.4 (typ) Latch-Up Protected: Will Withstand 1.5A Output Reverse Current Input Will Withstand Negative Inputs Up To 5V Pin-Compatible with the TC4420/TC4429 6A MOSFET Driver Space-saving 8-Pin 6x5 DFN Package http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1335&dDocName=en0 10665

14. Components: TC4421/TC4422

15. H Bridge ST L298 http://www.st.com/stonline/products/literature/ds/1773.pdf

16. Position Determination Stock#: 605-0005 Melexis 90217 Hall-Effect Sensor Price: $4.95 3/8 diameter, 1/8 thick NdFeB plate magnet Price: $0.79

17. Position Determination 1. Thru Distance Sensors 2. Hamamatsu P5587 Wheel Encoder Modules + 30 Spoke Wheel 1.5” Encoder Disks or similar 3. http://www.roboticscon nection.com/c-4-robot- sensors.aspx http://www.roboticscon nection.com/c-4-robot- sensors.aspx 4. Combination: $31.95

18. Position Determination ACE 128 Absolute Encoder http://www.newark.com/j sp/Passives/Encoders/B OURNS/EAW0D-B24- AE0128/displayProduct.j sp?sku=04B9184 http://www.newark.com/j sp/Passives/Encoders/B OURNS/EAW0D-B24- AE0128/displayProduct.j sp?sku=04B9184 $10.75

19. Position Determination Incremental Encoder ECL1J-B24-BC0024 — BOURNS http://www.newark.com/j sp/Passives/Encoders/B OURNS/ECL1J-B24- BC0024/displayProduct.j sp?sku=04B9197 http://www.newark.com/j sp/Passives/Encoders/B OURNS/ECL1J-B24- BC0024/displayProduct.j sp?sku=04B9197 $4.26

20. Type of Motors “DC motors are widely used, inexpensive, small and powerful for their size. Reduction gearboxes are often required to reduce the speed and increase the torque output of the motor. Unfortunately more sophisticated control algorithms are required to achieve accurate control over the axial rotation of these motors. Although recent developments in stepper motor technologies have come a long way, the benefits offered by smooth control and high levels of acceleration with DC motors far outweigh any disadvantages.”

21. Stepper Motors http://www.cs.uiowa.edu/~jones/step/ Variable Reluctance Unipolar Winding 1 1001001001001001001001001 Winding 2 0100100100100100100100100 Winding 3 0010010010010010010010010 Winding 1a 1000100010001000100010001 Winding 1b 0010001000100010001000100 Winding 2a 0100010001000100010001000 Winding 2b 0001000100010001000100010

22. Stepper Motors http://www.cs.uiowa.edu/~jones/step/ Bipolar Bifilar Terminal 1a +---+---+---+--- ++--++--++--++-- Terminal 1b --+---+---+---+- --++--++--++--++ Terminal 2a -+---+---+---+-- -++--++--++--++- Terminal 2b ---+---+---+---+ +--++--++--++--+

23. Stepper Torque Stepper motors have the greatest torque at slower speeds and less torque as the motor speeds up. If the motors are started at full speed they will not move the mouse at all, the motors will simply "twitch" and the rotor will not rotate to the next position. In order to move the mouse, the motors must be accelerated to top speed. Likewise, in order to stop the mouse, the motors must be slowed down. A graph of the stepper's speed would look like this: http://www.micromouseinfo.com/i ntroduction/steppers.html

24. Where to buy? http://www.jameco.com/webapp/wcs/stores/servlet/KeywordSearchResultView? langId=- 1&storeId=10001&catalogId=10001&searchType=k&searchValue=stepper&cate goryId=351580&rscount=76 http://www.jameco.com/webapp/wcs/stores/servlet/KeywordSearchResultView? langId=- 1&storeId=10001&catalogId=10001&searchType=k&searchValue=stepper&cate goryId=351580&rscount=76 http://www.allelectronics.com/cgi-bin/category/400600/Stepper_Motors.html

25. Digital Potentiometer They don’t have a DIP package for the up/down versions. I would suggest using the SOIC package and soldering some cables to the IC http://www.microchip.com/stellent/idcplg?IdcS ervice=SS_GET_PAGE&nodeId=1335&dDocN ame=en025082

26. Components: 28015 Parallax's new PING)))™ ultrasonic sensor provides a very low- cost and easy method of distance measurement. This sensor is perfect for any number of applications that require you to perform measurements between moving or stationary objects. The PING)))™ sensor measures distance using sonar; an ultrasonic (well above human hearing) pulse is transmitted from the unit and distance-to-target is determined by measuring the time required for the echo return. http://www.parallax.com/Store/Sensors/ObjectDetection/tabid/17 6/CategoryID/51/List/0/Level/a/ProductID/92/Default.aspx?SortFi eld=ProductName%2cProductName http://www.parallax.com/Store/Sensors/ObjectDetection/tabid/17 6/CategoryID/51/List/0/Level/a/ProductID/92/Default.aspx?SortFi eld=ProductName%2cProductName 28015.pdf

27. Components: 28015 Features Supply Voltage: 5 VDC Supply Current: 30 mA typ; 35 mA max Range: 3cm to3 m( 1.2in to 3.3yrds) Input Trigger: positive TTL pulse, 2 us mm, 5 us typ. Echo Pulse: positive TTL pulse, 115 us to 18.5 mS Echo Hold-off: 750 us from fall of Trigger pulse Burst Frequency: 40 kHz for 200 us Burst Indicator LED shows sensor activity Delay before next measurement: 200 us Size: 22 mm H x 46 mm W x 16 mm D (0.84 in x 1.8 in x 0.6 in $24.95

28. Components: 28015

31. Components: Memsic 2125 Dual-axis Accelerometer The Memsic 2125 is a low cost, dual-axis thermal accelerometer capable of measuring dynamic acceleration (vibration) and static acceleration (gravity) with a range of ±2 g Key Features of the Memsic 2125: Measure 0 to ±2 g on either axis; less than 1 mg resolution Fully temperature compensated over 0° to 70° C range Simple, pulse output of g-force for X and Y axis Analog output of temperature (TOut pin) Low current operation: less than 4 mA at 5 vdc http://www.parallax.com/detail.asp?product_id=28017 Memsic 2125.pdf $ 29

32. Components: Memsic 2125 Dual-axis Accelerometer How It Works Internally, the Memsic 2125 contains a small heater. This heater warms a "bubble" of air within the device. When gravitational forces act on this bubble it moves. This movement is detected by very sensitive thermopiles (temperature sensors) and the onboard electronics convert the bubble position [relative to g- forces] into pulse outputs for the X and Y axis. The pulse outputs from the Memsic 2125 are set to a 50% duty cycle at 0 g. The duty cycle changes in proportion to acceleration and can be directly measured by the BASIC Stamp. Figure 2 shows the duty cycle output from the Memsic 2125 and the formula for calculating g force.

33. Components: IR Transmitter Assembly Kit FEATURES D= 940 nm Chip material = GaAs Package type: T-1 (3mm) Matched Photosensor: QSC112 Narrow Emission Angle, 24° High Output Power Package material and color: Clear, peach tinted plastic http://www.parallax.com/detail.asp?product_id=350-00017 QEC112.pdf $2.40

34. Components : IR Transmitter Assembly Kit

35. Components: PNA4601M Infrared Receiver Features Extension distance is 8 m or more External parts not required Adoption of visible light cutoff resin For infrared remote control systems $3.95 http://www.parallax.com/detail.asp?p roduct_id=350-00014 http://www.parallax.com/detail.asp?p roduct_id=350-00014 PNA4601M.pdf PNA4601Mapp.pdf

36. Components: PNA4601M Infrared Receiver

39. Stepper Motor Driver. ON MC3479

41. CMUCAM http://www.cs.cmu.edu/~cmucam/

45. UART2B-EEL unsigned adcRes; char txt[6]; void main() { int i; PORTB = 0x0000; TRISB.F1 = 1; // set pin as input - needed for ADC to work Uart1_Init(19200); while (1) { adcRes = Adc_Read(1); // Read ADC channel 1 WordToStr(adcRes, txt); // Convert ADC value to text i=0; while (txt[i]) { Uart1_Write_Char(txt[i]); // Send text to UART one character at a time i=i+1; Delay_ms(1000); } }//~!

47. CAN

48. Components: Parallax (Futaba) Continuous Rotation Servo: 900-00008 Technical Specifications Power 6vdc max Average Speed 60 rpm, Note: with 5vdc and no torque Weight 45.0 grams/1.59oz Torque 3.40 kg-cm/47oz-in Size mm (L x W x H), 40.5x20.0x38.0 Size in (L x W x H), 1.60x.79x1.50 Manual adjustment port www.parallax.com continuous rotation $6.95 http://www.parallax.com/detail.asp?product_id=900-00008 crservo.pdf

49. Components: Parallax (Futaba) Continuous Rotation Servo: 900-00008

50. Additional Resources http://www.cs.cmu.edu/~cmucam/ http://www.pololu.com/ (Check gear boxes) http://www.pololu.com/ http://www.vexlabs.com/ http://www.kitsusa.net/phpstore/index.php (Check Motors and Robot Arm) http://www.kitsusa.net/phpstore/index.php

51. Overview Possible Components

52. & & Q uestions A nswers