week1-velocity-controller-1 (1)

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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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pdf

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27

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RBE 2002: Unified Robotics II, B2023 Week 1 – lecture 1 Prof. Markus Nemitz Departments of Robotics Engineering www.roboticmaterialsgroup. com October 23 rd , 2023 20-minute session
Worcester Polytechnic Institute Join a group: go to canvas
Faculty and staff available to you Yernar Zhetpissov ytzhetpissov@wpi.edu Emma Pollak empollak@wpi.edu Justin Kyi jkyi@wpi.edu Tom Pyorre ttpyorre@wpi.edu Isabella Lucas itlucas@wpi.edu Cem Aygül caygul@wpi.edu Neil Rosenberg nrosenberg@wpi.edu TAs Lab manager SAs Prof. Markus Nemitz mnemitz@wpi.edu Course instructor WPI Will Merry wmerry@wpi.edu
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Worcester Polytechnic Institute Grading 20% 10% 20% 20% 30% 5% 105% Individual course work Six challenge problems Mid-term exam Final-exam Individual lab work Six pre-labs Group lab work Six post-lab (group) Optional project Total Weekly deliverables
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 Our hardware Romi from Pololu (Microchip Atmega 32U4) HC-SR04 Sonar distance sensor GP2Y0A41SK0F IR distance sensor OpenMV Cam H7 R2 (we have a classroom set) ESP32 for WiFi communication MaxBotix EZ ultrasonic rangefinger
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Worcester Polytechnic Institute Components of our robot 7
Worcester Polytechnic Institute Which components does your robot need to perform velocity control and why? Class question 5 minutes
Worcester Polytechnic Institute Sensor, motor, control board DC motor Encoder + motor pins Control board
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Worcester Polytechnic Institute Sensor, motor, control board DC motor Encoder + motor pins Control board
Worcester Polytechnic Institute Encoder
Worcester Polytechnic Institute Encoder
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Worcester Polytechnic Institute AH1751-WG
Worcester Polytechnic Institute AH1751-WG
Worcester Polytechnic Institute Lets dive into the encoder first 90 deg. 60 deg.
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Worcester Polytechnic Institute Encoder
Worcester Polytechnic Institute Encoder
Worcester Polytechnic Institute Where do the encoder pins go to?
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Worcester Polytechnic Institute Where do the encoder pins go to?
Worcester Polytechnic Institute Where do the encoder pins go to?
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 12 counts per revolution (of the magnetic disk). The faster the motor, the faster the pulses (hence we need to keep track of time).
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Worcester Polytechnic Institute 32U4 Control Board – schematic diagram
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Worcester Polytechnic Institute Encoder 12 counts per revolution (disk) 120:1 gearmotor 1440 counts per revolution (wheel) When we detect 1440 counts on pin PB4, we know that our wheel rotated one full turn.
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Worcester Polytechnic Institute XOR gate connects to control board
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Worcester Polytechnic Institute Easy to use … 29
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