- Supplies: limit switch, Arduino board
- How to connect and the result of serial monitor.
#define limit_switch_pin 2 void setup() { // put your setup code here, to run once: // switch pin setting Serial.begin(9600); pinMode(limit_switch_pin, INPUT); } void loop() { // put your main code here, to run repeatedly: if(digitalRead(limit_switch_pin) == LOW){ Serial.println("Switch close"); }else{ Serial.println("Switch open"); } }
- Supplies: Arduino board, ... sensor, ... actuator
- Comment: I use 'AutoPID' library and this code is based on the bottom *site.
*https://r-downing.github.io/AutoPID/
- How to install a PID library?
Sketch-> Include Library -> Manage Libraries... -> Write 'pid'
#include <AutoPID.h> #define p_gain 1 #define i_gain 1 #define d_gain 1 //Min and Max values depend on your actuator function code. #define control_input_min -255 #define control_input_max 255 // unit: milliseconds // ex) 20 ms => 50 Hz #define control_interval 20 double measured_value, desired_value, control_input, value_from_sensor; AutoPID PID_control(&measured_value, &desired_value, &control_input, control_input_min, ...,
control_input_max, p_gain, i_gain, d_gain);
void setup() { // put your setup code here, to run once: PID_control.setTimeStep(control_interval); } void loop() { // put your main code here, to run repeatedly: desired_value = 0; //It depends on your tasks. measured_value = value_from_sensor; //It is measured by sensor, so its type depends on your sensor. PID_control.run(); //Then, 'control_input' is calculated and its value drives your actuators. //So, you need to insert your actuator function code to the bottom side. //ex) move(1, 1, control_input); }
- Supplies: *IMU sensor (MPU-9250), Arduino board
* https://learn.sparkfun.com/tutorials/mpu-9250-hookup-guide/all
- How to connect?!
#include "quaternionFilters.h" #include "MPU9250.h" #define AHRS true // Set to false for basic data read #define SerialDebug true // Set to true to get Serial output for debugging // Pin definitions int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins int myLed = 13; // Set up pin 13 led for toggling #define I2Cclock 400000 #define I2Cport Wire
// Use either this line or the next to select which I2C address your device is using#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1 MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock); #define measure_period 100 //1000ms = 1sec unsigned long current_time; void setup() { Wire.begin(); // TWBR = 12; // 400 kbit/sec I2C speed Serial.begin(38400); while(!Serial){}; // Set up the interrupt pin, its set as active high, push-pull pinMode(intPin, INPUT); digitalWrite(intPin, LOW); pinMode(myLed, OUTPUT); digitalWrite(myLed, HIGH); // Read the WHO_AM_I register, this is a good test of communication byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); Serial.print(F("MPU9250 I AM 0x")); Serial.print(c, HEX); Serial.print(F(" I should be 0x")); Serial.println(0x71, HEX);
#include <TM1637Display.h> #define baud_rate 9600 #define CLK 9 #define DIO 10 TM1637Display dsp(CLK, DIO); void setup() { Serial.begin(baud_rate); Serial.println("Serial Start"); } void loop() { dsp.setBrightness(5); // brightness: 0 ~ 7 double number = 123; // dsp.showNumberDec(number); // dsp.showNumberDec(number, true); // dsp.showNumberDecEx(number, 0x40); // dsp.showNumberDecEx(number, 0x40, true); }
Top left: dsp.showNumberDec(number); Top right: dsp.showNumberDec(number, true);
Bottom left: dsp.showNumberDecEx(number, 0x40);, Bottom right: dsp.showNumberDecEx(number, 0x40, true);
- Example code#include <Wire.h> void setup() { Wire.begin(); Serial.begin(9600); while (!Serial); // Leonardo: wait for serial monitor Serial.println("\nI2C Scanner"); }
Installation methods can be dependent on your program version.
0. First, install Visual Studio 2019.
1. In Menu bar, Click [Extensions]->[Manage Extensions].
4. Restart the VS program and Clink the 'Create a new project'.
5. Write 'arduino' and Clink the 'Arduino Empty Project'.
6. Write the Project name (ex) VS_Arduino_example).
7. Write some code in the blank sheet and check the version, board, and port. After then, click the upload button.
* You can find some example codes in the red marked button.
#define baud_rate 9600 #define low_window_size 5 #define high_window_size 20
//... //...
int low_index = 0; int high_index = 0; float low_readings[low_window_size]; float high_readings[high_window_size]; float low_sum_measurement = 0; float high_sum_measurement = 0; float low_avg_measurement = 0; float high_avg_measurement = 0; void setup() { //... //... Serial.begin(baud_rate); //initialize ************************************************************** for(int i = 0; i<low_window_size; i++){ low_readings[i] = 0; } for(int k = 0; k<high_window_size; k++){ high_readings[k] = 0; } } void loop() { //... //... //moving average filter *************************************************** low_sum_measurement = low_sum_measurement - low_readings[low_index]; high_sum_measurement = high_sum_measurement - high_readings[high_index]; // sensor measurement low_readings[low_index] = measurement; high_readings[high_index] = measurement; low_sum_measurement = low_sum_measurement + low_readings[low_index]; high_sum_measurement = high_sum_measurement + high_readings[high_index]; low_index = low_index + 1; high_index = high_index + 1; if(low_index>=low_window_size){ low_index = 0; } if(high_index>=high_window_size){ high_index = 0; } low_avg_measurement = low_sum_measurement/low_window_size; high_avg_measurement = high_sum_measurement/high_window_size; // serial display ******************************************************** Serial.print(measurement); Serial.print(", "); Serial.print(low_avg_measurement); Serial.print(", "); Serial.print(high_avg_measurement); Serial.println(); }
As 'window size' increases, noise decreases but a time delay occurs.window size 가 커질수록 노이즈는 줄어들지만 시간 지연 현상이 발생한다.
- Goal: Check the button address of IR remote controller. (IR 조종기의 버튼 주소 확인)
- Supplies: Arduino Uno, IR kit (ELB030102 (YwRobot), ...)
- 준비물: 아두이노 우노, 적외선 실험 키트
https://www.devicemart.co.kr/goods/view?no=1280305#goods_description
1. You need to install Arduino IR library. (아두이노 IR 라이브러리 설치 필요.)
2. Arduino code: File => Example => IRremote => IRrecvDumpV2
- Supplies: Servo motor (SG90), wood stick, potentiometer, Arduino board
- 준비물: 서보모터, 나무 막대기, 가변저항, 아두이노 보드
The operation principle is that the signal generated by each potentiometer is directly sent to each servo motor, So the servo type robot arm moves based on the control signals from the potentiometer type robot arm.
가변저항기에서 생성된 제어신호가 서보모터에 전달되어 서보모터로 만든 로봇팔이 가변저항기로 만든 로봇팔의 동작을 따라한다.
- RPM measurement of motor/servo motor using photo diode.
- 포토 다이오드를 활용한 모터/서보모터의 RPM 측정.
- Sensor: SZH-EKAD-109https://www.devicemart.co.kr/goods/view?no=1329652
- 원리
포토 다이오드: 빛에너지 -> 전기에너지
발광 다이오드: 전기에너지 -> 빛에너지
https://youtu.be/SFc673lEyQA
- 코드
const byte interruptPin = 2;
volatile int pre_count, count;
unsigned long skip_milli_time = 100;
unsigned long cur_time = 0;
unsigned long pre_time = 0;
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| (left) board, (right) 3D image |
unsigned int bd_rate = 9600; void setup() { // put your setup code here, to run once: Serial.begin(bd_rate); Serial.println("Serial START"); } void loop() { // put your main code here, to run repeatedly: char X = 97; int Y = 97; Serial.print("X: "); Serial.print(X);Serial.print("\t"); Serial.write(X); Serial.println(); Serial.print("Y: "); Serial.print(Y); Serial.print("\t"); Serial.write(Y); Serial.println(); delay(1000); }
<Snap shot of Arduino serial moniter>
double pre_value_1 = 0; double pre_value_2 = 0; double pre_time = 0;
//Set the LPF parameter double tau_1 = 30; double tau_2 = 100;
void setup() { // put your setup code here, to run once: Serial.begin(9600); Serial.println("Low pass filter starts!"); } void loop() { // put your main code here, to run repeatedly: double st_time = millis(); double dt = (st_time - pre_time);
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| Connected configuration (연결 상태) |
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| Turn off (LED 끄기) |
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| Turn on (LED 켜기) |
// LED pin # int LED_pin = 3; // Switch pin# int switch_pin = 5; void setup() { // put your setup code here, to run once: pinMode(LED_pin, OUTPUT); pinMode(switch_pin, INPUT_PULLUP); }
- Simple Arduino code to operate a DC motor with the motor driver.
- 1개의 DC 모터를 구동시키기 위해 모터 드라이버를 이용하는 간단한 아두이노 코드.
int Enable_pin = 9;
int Phase_pin = 8;
void setup() {
// put your setup code here, to run once:
pinMode(Enable_pin, OUTPUT);
pinMode(Phase_pin, OUTPUT);
}
