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Bangladesh University of Engineering & Technology (BUET), Dhaka-1000 Microcontroller Programming Beginning with Arduino Ashifur Rahaman Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m Click to BUY NOW! P D F - X C h a n g e Ed i t o r w w w . t r a c k e r - s o f t w a r e . c o m

Arduino Basics

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Page 1: Arduino Basics

Bangladesh University of Engineering & Technology (BUET), Dhaka-1000

MicrocontrollerProgramming Beginning

with Arduino

Ashifur Rahaman

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Ashifur Rahaman
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Dept : NAME Roll: 1213029
Page 2: Arduino Basics

   

Microcontrollers

Tiny, self­contained computers in an IC Often contain peripherals Different packages availible Vast array of size and power availible

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Ashifur Rahaman
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Bangladesh University of Engineering & Technology (BUET), Dhaka-1000
Page 3: Arduino Basics

Bangladesh University of Engineering & Technology (BUET), Dhaka-1000

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Page 4: Arduino Basics

Bangladesh University of Engineering & Technology (BUET), Dhaka-1000

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Page 5: Arduino Basics

Bangladesh University of Engineering & Technology (BUET), Dhaka-1000

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Ashifur Rahaman
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Bangladesh University of Engineering & Technology (BUET), Dhaka-1000
Page 6: Arduino Basics

   

Sensory Input

Robots need to be able to recieve input from the world in the form of sensory input.

Microcontrollers handle this input. Thousands of sophisticated sensors availiable

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Page 7: Arduino Basics

   

Pressure/Force SensorsClic

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Page 8: Arduino Basics

   

GPS LocatorsClic

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Page 9: Arduino Basics

   

GyroscopesClic

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Ashifur Rahaman
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Bangladesh University of Engineering & Technology (BUET), Dhaka-1000
Page 10: Arduino Basics

   

Wheel EncodersClic

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Page 11: Arduino Basics

   

Infared Proximity DetectorsClic

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Page 12: Arduino Basics

   

AccelerometersClic

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Page 13: Arduino Basics

   

Ultrasonic RangefindersClic

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Ashifur Rahaman
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Page 14: Arduino Basics

   

Alcohol Vapor Density Detectors

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Page 15: Arduino Basics

   

Arduino

Development board for the ATMega328 Inludes

Programmer, Voltage Regulators Seral to USB Converter

CHEAP ­­ $30! Has everything you need!

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Page 16: Arduino Basics

   

Arduino C Template

void setup() {

  // Setup stuff to only run once at the beginning   

}

void loop()

{

  // This function gets called indefinatly

}

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Page 17: Arduino Basics

   

Peripherals

Analog to Digital Converters (ADC) Counters/Timers (TMRx) PWM Modules (CCP/PWM) Serial Ports (UART) Many, many more....

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Page 18: Arduino Basics

   

Digital I/O

Only HIGH and LOW values Each pin configurable to do input or output

pinMode(pinNumber, pinState)

pinMode(13, INPUT) pinMode(13, OUTPUT)

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Page 19: Arduino Basics

   

Digital I/O (Part II)

Output digitalWrite(pinNumber, HIGH/LOW)

Input int val = digitalRead(pinNumber)

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Page 20: Arduino Basics

   

Arduino Digital I/O Example

int ledPin =  13;

void setup() {

  // Set the digital pin as output:

  pinMode(ledPin, OUTPUT);      

}

void loop()

{

  // Bring the pin high (1)

  digitalWrite(ledPin, HIGH);

}

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Page 21: Arduino Basics

   

Serial Interface (UART)

Communicate with other microcontrollers or PC's Asynch. communication Arduino libraries make it extremely easy

Serial.begin(baudRate) Serial.println(”String To Send”) int bytesWaiting = Serial.Availible() Char incomingData = Serial.read()

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Page 22: Arduino Basics

   

Arduino Serial Example

void setup() {Serial.begin(9600);  // Setup baud rate

}

void loop() {Serial.println(”Give me input”);  // output datawhile(Serial.availible() < 1) {     // if there's data waiting

char input = Serial.read();     // get a byte of data}

}

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Page 23: Arduino Basics

   

Analog to Digital Converter (ADC)

Take analog voltage as input on one of the pins

Return digital representation to program

Different numbers of bits change precision.

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Page 24: Arduino Basics

   

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Page 25: Arduino Basics

   

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Page 26: Arduino Basics

   

Light Sensors

Photoresistors Extremely Simple to Use Resistance changes with light Measure voltage over the sensor with

an ADC, and you're done

Many more complicated sensorssimulate this behavior for simplicity

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Ashifur Rahaman
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Bangladesh University of Engineering & Technology (BUET), Dhaka-1000
Page 27: Arduino Basics

   

Arduino ADC Example

int sensorPin = 0;

void setup() {  Serial.begin(9600); // Turn on Serial Connection}void loop() {  // read the value from the sensor:  sensorValue = analogRead(sensorPin);    // Print sensor value to the Serial  Serial.println(sensorValue);}

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Page 28: Arduino Basics

   

PWM Modules (CCP)

Create PWM signals on output pins Measure PWM signals on input pins CCP stands for Capture/Compare

What is PWM, anyway?

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Page 29: Arduino Basics

   

Pulse Width Modulation (PWM)

Transmit analog values using a single digital input/output pin through careful timing.

A PWM signal consists of two values Period: how long before the signal repeats Pulse Width: how long the signal is HIGH before it 

goes LOW.

Duty Cycle: % of time the signal is HIGH, or(Pulse Width / Period)

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Page 30: Arduino Basics

   

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Page 31: Arduino Basics

   

PWM In Robotics

The average voltage (Duty Cycle * Voltage) can be used to control the speed of DC motors.

Innaccurate, poor strength, braking, and other problems exist.

Servo Motors and Speed Controllers.

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Page 32: Arduino Basics

   

Servo Motors

DC Motor with gears allow for high torque Embedded microcontroller monitors PWM input 

and motor position.

Vary pulse width to change position of motor

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Page 33: Arduino Basics

   

Speed Controllers

Embedded microcontroller varies voltage on output lines based on PWM input.

Results in constant voltage to motors rather than intermittent.

Allow a second, more powerful, power supply to drive large motors.

Alter pusle width to change the speed of the motor

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Page 34: Arduino Basics

   

Arduino PWM Command

AnalogWrite(Pin, DutyCycle) DutyCycle = 0   0%, 127   50%, 255   100%→ → → Pin can be 3, 5, 6, 9, 10, or 11

Frequency of about 490Htz Other periods are possible, but not with AnalogWrite

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Page 35: Arduino Basics

   

Arduino PWM Example

int Pin = 9;

void setup()

{

  pinMode(Pin, OUTPUT);

}

void loop()

{

  analogWrite(Pin, 127);  // Generate 50% duty cycle on ”Pin”

}

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Page 36: Arduino Basics

Bangladesh University of Engineering & Technology (BUET), Dhaka-1000

Useful Resources

Robot Parts and Excellent Forumswww.TrossenRobotics.com

Electrical parts, sensors, and microcontrollerswww.Sparkfun.com

Arduino Development Platformwww.ardiono.cc

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