week1-velocity-controller-2

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Worcester Polytechnic Institute *

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2002

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Mechanical Engineering

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Oct 30, 2023

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RBE 2002: Unified Robotics II, B2023 Week 1 – lecture 2 Prof. Markus Nemitz Departments of Robotics Engineering www.roboticmaterialsgroup.com
Worcester Polytechnic Institute Deadlines this week Mon. Tue. Wed. Thu. Fri. Sat. Sun. Mo. Lecture (SL104) 11:00- 11:50 am Lab-BX01 (IS103) 1:00- 2:50 pm Challenge problem Due: midnight Lecture (SL104) 11:00- 11:50 am Lecture (SL104) 11:00- 11:50 am Lecture (SL104) 11:00- 11:50 am Post-lab Due: midnight Pre-lab Due: 10 am Lab-BX02 (IS103) 3:00- 4:50 pm Challenge problem released Team finding Due: midnight
Worcester Polytechnic Institute Recap DC motor + gearbox Encoder + motor pins Control board XOR gate 12 counts per revolution (disk) 120:1 gearmotor 1440 counts per revolution (wheel) 60 deg. Magnetic disk
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Worcester Polytechnic Institute Reminder: pick teams 44 unassigned students 3:35 pm, October 23 rd After midnight today, I will assign students to groups
Worcester Polytechnic Institute Easy to use …
Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use … Enables interrupts Disables interrupts
Worcester Polytechnic Institute Easy to use … Enables interrupts Disables interrupts
Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use …
Worcester Polytechnic Institute Easy to use …
Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use … Header files provide information about how to use code and what it does
Worcester Polytechnic Institute Easy to use … Header files provide information about how to use code and what it does
Worcester Polytechnic Institute Easy to use … Particularly fast responding pins
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Worcester Polytechnic Institute 4 minutes 3 minutes 3 minute (2 students) I will make time announcements
Worcester Polytechnic Institute Easy to use … 4 3 3
Worcester Polytechnic Institute Easy to use … Reconstruct A from XOR and B
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Worcester Polytechnic Institute Easy to use … new last
Worcester Polytechnic Institute Easy to use … new last
Worcester Polytechnic Institute Easy to use … Determines counts Determines direction
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Worcester Polytechnic Institute getCountsLeft()
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Worcester Polytechnic Institute Velocity measurements But we want to measure speeds and not counts
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Worcester Polytechnic Institute Challenge problem question Your magnetic encoder outputs 10 counts per revolution of the magnetic disk. Your motor is connected to a gearbox with ratio 1:100. How far did the robot travel after 500 counts and a robot wheel diameter of 50 mm. Round up your answer.
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Worcester Polytechnic Institute Challenge problem question Your magnetic encoder outputs 10 counts per revolution of the magnetic disk. Your motor is connected to a gearbox with ratio 1:100. How far did the robot travel after 500 counts and a robot wheel diameter of 50 mm. Round up your answer. ࠵? ࠵? = ࠵? ࠵? d := distance driven C := circumference of wheel n := number of counts measured N := number of counts per wheel revolution
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Worcester Polytechnic Institute Challenge problem question Your magnetic encoder outputs 10 counts per revolution of the magnetic disk. Your motor is connected to a gearbox with ratio 1:100. How far did the robot travel after 500 counts and a robot wheel diameter of 50 mm. Round up your answer. ࠵? ࠵? = ࠵? ࠵? d := distance driven C := circumference of wheel n := number of counts measured N := number of counts per wheel revolution ࠵? = ࠵? ࠵? ࠵?
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Worcester Polytechnic Institute Challenge problem question Your magnetic encoder outputs 10 counts per revolution of the magnetic disk. Your motor is connected to a gearbox with ratio 1:100. How far did the robot travel after 500 counts and a robot wheel diameter of 50 mm. Round up your answer. ࠵? ࠵? = ࠵? ࠵? d := distance driven C := circumference of wheel n := number of counts measured N := number of counts per wheel revolution ࠵? = ! " ࠵? = #$$ &’(!)* +$ !"#$%& ’(&) +,-".#%("$ /00 ’(&) +,-".#%("$& 12,,. +"%3%("$ ∗ 2 ∗ ࠵? ∗ 25 -- ./001 2’)3)4’! =79 mm
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Worcester Polytechnic Institute Velocity measurements But we want to measure speeds and not counts
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Worcester Polytechnic Institute DC motors
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Worcester Polytechnic Institute Motor control board
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Worcester Polytechnic Institute Motor control board What is this?
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Worcester Polytechnic Institute Motor control board What is this? 8 +1 terminals
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Worcester Polytechnic Institute Motor control board 8 +1 terminals
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Worcester Polytechnic Institute Motor control board 8 +1 terminals Which one do we have?
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Worcester Polytechnic Institute H-bridge driver – DRV8838
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Worcester Polytechnic Institute H-bridge driver – DRV8838
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Worcester Polytechnic Institute Motor control board
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram COAST means the motor coasts to a stop ;
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram How do we control the speed of the motor (not just reverse, forward, and break)?
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram How do we control the speed of the motor (not just reverse, forward, and break)? We PWM the EN pin
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Worcester Polytechnic Institute Easy to use … What does it do?
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Worcester Polytechnic Institute Easy to use … What does it do? What does it do?
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Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use …
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Worcester Polytechnic Institute Easy to use … Output Compare Register (OCR) is compared with timer/counter value to generate a PWM output.
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Worcester Polytechnic Institute Encoders.getCounts() & Motors.setEfforts() We are able to set efforts and read counts
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Worcester Polytechnic Institute PID control But we want to set efforts and read speeds
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Worcester Polytechnic Institute Important considerations Our gearbox: 1:120 12 counts per revolution of the encoder disk
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Worcester Polytechnic Institute Angular velocity ࠵? = ࠵?࠵?࠵?. ࠵? = 2࠵? ࠵? ࠵? ࠵? ࠵? = 12 ࠵?࠵?࠵?࠵?࠵?࠵? ࠵?࠵?࠵?࠵? ࠵?࠵?࠵?. 120 ࠵?࠵?࠵?࠵? ࠵?࠵?࠵?. ࠵?ℎ࠵?࠵?࠵? ࠵?࠵?࠵?. = 1440 ࠵?࠵?࠵?࠵?࠵?࠵? ࠵?ℎ࠵?࠵?࠵? ࠵?࠵?࠵?. ࠵? 2 w t Const. angular velocity n t Lin. Increase in number of counts 5 10 50 100 Example: w
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Worcester Polytechnic Institute Tangential velocity ࠵? ! = ࠵? ࠵? = ࠵? ∗ ࠵? = 2࠵? ࠵? ࠵? ࠵? ࠵? w r ࠵? !
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Worcester Polytechnic Institute Tangential velocity ࠵? > = ࠵? ࠵? = ࠵? ∗ ࠵? = 2࠵? ࠵? ࠵? ࠵? ∗ ࠵? = 2࠵? ࠵? ࠵? ∗ ࠵? 1 ࠵? w r ࠵? !
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Worcester Polytechnic Institute Angular and tangential velocities w r ࠵? ! ࠵? ! = ࠵? ࠵? = "# % & (
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Worcester Polytechnic Institute Encoders.getCounts() & Motors.setEfforts() We are able to set motor efforts, and transfer counts into speeds:
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Worcester Polytechnic Institute Challenge problem question Your robot measured 500 counts in 2.2 seconds. It has a wheel diameter of 50 mm. Your optical encoder outputs 1000 counts for one wheel revolution. What is the tangential velocity of your robot? Round down your results (answer in mm/s).
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Worcester Polytechnic Institute Challenge problem question Your robot measured 500 counts in 2.2 seconds. It has a wheel diameter of 50 mm. Your optical encoder outputs 1000 counts for one wheel revolution. What is the tangential velocity of your robot? Round down your results (answer in mm/s). w r ࠵? ! ࠵? ! = 2࠵? ࠵? ࠵? ࠵? ࠵? = 2࠵? 25࠵?࠵? 500 ࠵?࠵?࠵?࠵?࠵?࠵? 1000 ࠵?࠵?࠵?࠵?࠵?࠵? ∗ 2.2 ࠵? = 35 ࠵?࠵? ࠵?
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