Arduino Intro1a- Mod for Line Follower

Introduction to Microcontrollers

How to make Blinky with a MC?

MC Blinky Recipe

Hardware

Precautions

The Arduino MC

Static Chip fragility Lead breakage for components 40mA current limits!! Turn off while building circuits If power LED goes out, turn off immediately

Your parts kits(well keep adding to)

Labeled parts bin Arduino (numbered) USB cable (numbered) Breadboard (numbered) 2 x leds (your choice) resistors

2 x 470

MC Blinky Recipe

Hardware

V

The Arduino MC USB cable 2 LEDs 2 470 resistors Circuit #1 (test - no control over light) Why the resistor?

GND

Circuit

MC Blinky Recipe

Hardware

The code

The Arduino MC USB cable 2 LEDs 2 470 resistors Circuit #2 (control over 1 light)

But 1st our Program Development Environment (PDE) Run Arduino.exe

Circuit

D12

GND

Coders rule: never start from scratch Modify working code

Heres some working code (we wont worry about what it means yet) Save sketch Compile Set COM port12

12

Tools>COM

Upload to MC Uni-blinky? Uni-blinky? Whats it mean? Comment it!

Feeling confident? Then make Blinky! Blinky! Answerint RedledPin = 12; int GrnledPin = 13; void setup() { pinMode(RedledPin, OUTPUT); pinMode(GrnledPin, OUTPUT); } void loop() { digitalWrite(RedledPin, HIGH); digitalWrite(GrnledPin, LOW); delay(1000); digitalWrite(RedledPin, LOW); digitalWrite(GrnledPin, HIGH); delay(1000); }

D12 D13

What is a microcontroller?

Human analogy (3D vis)

Brain (CPU) Inputs (sensors) Outputs (actuators)

What MCs will you use today?

Why Arduino? Arduino?

Easy to use

Processing

OpenOpen-source Robust Cheap

$35 for board $4 /Atmega368 Arduino.cc

Huge user community

Getting to know your Arduino (Duemilanove) Duemilanove)

Arduino Specs

http://arduino.cc/en/Main/ ArduinoBoardDuemilanove Atmega 368

In/out pins

Power

Reset

32KB Flash, 16MHz

Reset button Power jack (9V) USB jack Lights PWR, TX, RX, L ICSP header(6 pins) direct MC programming (no bootloader) bootloader)

3V3, 5V GND Vin

Analog in - 0,1,2,3,4,5 Digital

2,4,7,8,12,13 2,4,7,8,12,13 0(RX),1(TX) PWM 3,5,6,9,10,11 GND,AREF

The PDE

Choosing board Choosing COM Saving/loading Examples Compiling Uploading

Digital Out review (Blinky) (Blinky)

ReRe-make if not on your boardint RedledPin = 12; int GrnledPin = 13; void setup() { pinMode(RedledPin, OUTPUT); pinMode(GrnledPin, OUTPUT); } void loop() { digitalWrite(RedledPin, HIGH); digitalWrite(GrnledPin, LOW); delay(1000); digitalWrite(RedledPin, LOW); digitalWrite(GrnledPin, HIGH); delay(1000); }

D12 D13

Digital in

What is digital in? Parts:

Pushbutton

1, 4 2, 3

1 2

4 3

1, 4 2, 3

1, 4 2, 3

How it works How to place it

10k

ResBr K O5V

Jumpers Why wont this work? add pull-down resistor pullExamples->DigitalExamples->Digital>Button

The circuit

D2

The code

D12 D13

const int buttonPin = 2; const int ledPin = 13; int buttonState = 0; void setup() { pinMode(ledPin, OUTPUT); pinMode(buttonPin, INPUT); } 5V void loop(){ buttonState = digitalRead(buttonPin); if (buttonState == HIGH) { digitalWrite(ledPin, HIGH); } else { digitalWrite(ledPin, LOW); } }

D2

Lets dissect the code

IF ELSE

Challenge button-activated Blinky button-

one solution Problems with? Better solutions? What would we do if our code didnt work?

const int buttonPin = 2; const int ledPin1 = 13; const int ledPin2 = 12; int buttonState = 0; void setup() { pinMode(ledPin1, OUTPUT); pinMode(ledPin2, OUTPUT); pinMode(buttonPin, INPUT); } void loop(){ buttonState = digitalRead(buttonPin); if (buttonState == HIGH) { digitalWrite(ledPin1, HIGH); digitalWrite(ledPin2, LOW); delay(1000); digitalWrite(ledPin1, LOW); digitalWrite(ledPin2, HIGH); delay(1000); } else { digitalWrite(ledPin1, LOW); digitalWrite(ledPin2, LOW); } }

Debugging code

How do you know whats going on in your MCs brain? Introducing the Serial monitor a brain window How do we use it?

Lets look at buttonState in the Button code

Examples->DigitalExamples->Digital>Button Add the following lines: Compile Upload Working? Now open Serial Monitor Working? What do these lines do? How is this debugging?

const int buttonPin = 2; const int ledPin = 13; int buttonState = 0; void setup() { Serial.begin(9600); pinMode(ledPin, OUTPUT); pinMode(buttonPin, INPUT); } void loop(){ buttonState = digitalRead(buttonPin); Serial.print(buttonState= ); Serial.println(buttonState); if (buttonState == HIGH) { digitalWrite(ledPin, HIGH); } else { digitalWrite(ledPin, LOW); } }

Our MC tool chest (so far)

Inputs

Serial In (from computer) Push button (digitalRead) digitalRead)

Code

Structure

Outputs

setup loop IF ELSE delay(#milliseconds) delay(#milliseconds) pinmode( pinmode(pin#, mode) mode)

Led lights (digitalWrite) (digitalWrite) Serial Out (to computer)

Commands

More Inputs!

5V

Analog input Hardware

A A

+ + +

10k

pot

A0

10 k

The circuit

W B

A

10 kk; 10 ; Pot Pot

W W

Voltage dividers Check with multimeterint sensorPin = 0; //int ledPin = 13; int sensorValue = 0; void setup() { Serial.begin(9600); // pinMode(ledPin, OUTPUT); }

B B

The code Upload, open Serial Monitor Working? Dissect code Challenge: variable rate uni-blinky (0uni(01024ms)

void loop() { sensorValue = analogRead(sensorPin); Serial.println(sensorValue); }

One answer More analog input!

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { pinMode(ledPin, OUTPUT); } void loop() { sensorValue = analogRead(sensorPin); digitalWrite(ledPin, HIGH); delay(sensorValue); digitalWrite(ledPin, LOW); delay(sensorValue); }

The QRD1114 reflectance sensor How does it work? How to connect why? To do write code to read values from serial monitor in real time

How about more output? The hardware The circuit The code Does it do what it should? More inputs?

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { pinMode(ledPin, OUTPUT); } void loop() { sensorValue = analogRead(sensorPin); digitalWrite(ledPin, HIGH); delayMicroseconds(sensorValue); digitalWrite(ledPin, LOW); delayMicroseconds(sensorValue); }

5VD13

+A0

10 k

Easier way to make sound

Under construction Tone() command (add content) Note: output mode not needed with Tone Does pitch go same way? Why?

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { } void loop() { sensorValue = analogRead(sensorPin); tone(ledPin, sensorValue); }

sensorValue controls frequency, not period

Tone(pin, freq, dur) freq, dur)

LightLight-controlled blinky

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { pinMode(ledPin, OUTPUT); } void loop() { sensorValue = analogRead(sensorPin); digitalWrite(ledPin, HIGH); delay(sensorValue); digitalWrite(ledPin, LOW); delay(sensorValue); }

photoresistor

CircuitHow can we make better? 5V

A0

10 k

Introducing Map() functionint sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { //Serial.begin(9600); pinMode(ledPin, OUTPUT); }

Input range: Low High

Output range: Low High

void loop() { sensorValue = analogRead(sensorPin); //sensorValue = map(sensorValue, 580, 1000, 20, 500); //Serial.println(sensorValue); Set these Get these digitalWrite(ledPin, HIGH); according to from serial delay(sensorValue); your output monitor digitalWrite(ledPin, LOW); device delay(sensorValue); }

Using Comments // to keep code you might use later handy

Homework: make a Theremin

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { pinMode(ledPin, OUTPUT); } void loop() { sensorValue = analogRead(sensorPin); digitalWrite(ledPin, HIGH); delayMicroseconds(sensorValue); digitalWrite(ledPin, LOW); delayMicroseconds(sensorValue); }

How can we make better? 5V

A0

D13

+

10 k

int sensorPin = 0; int ledPin = 13; int sensorValue = 0; void setup() { //Serial.begin(9600); pinMode(ledPin, OUTPUT); } void loop() { sensorValue = analogRead(sensorPin); //sensorValue = map(sensorValue, 580, 1000, 20, 1000); //Serial.println(sensorValue); digitalWrite(ledPin, HIGH); delayMicroseconds(sensorValue); digitalWrite(ledPin, LOW); delayMicroseconds(sensorValue); }

Use Serial Monitor to get 1st 2 values in map() Then comment out Serial.println command

What if Daves not around to hold my hand?

http://arduino.cc/en/Reference/HomePage http://arduino.cc/en/Reference/HomePage

Cutting the USB umbilical

And mounting Arduinos on boards

Our MC tool chest (so far)

Inputs

Serial In (from computer) Push button (digitalRead) digitalRead) Pot (analogRead) (analogRead)Photoresistor (analogRead) analogRead)

Code

Structure

setup loop IF ELSE delay(#milliseconds) delay(#milliseconds)delayMicroseconds(#microseconds) delayMicroseconds(#microseconds)

Commands

Outputs

Led lights (digitalWrite) (digitalWrite) Serial Out (to computer) Speaker (digitalWrite) (digitalWrite)

pinmode( pinmode(pin#, mode) mode) map(val,inlow,inhigh, map(val,inlow,inhigh, outlow,outhigh) outlow,outhigh)

How about some movement ?

Introducing the Servo What does it do?

How is this different from a regular DC motor?

How do you control it?

Pulse Width Modulation PWM) Almost

Analog output?

Cant encode info in V (+5 or 0V) Can encode in time

The nitty gritty of servo signals2.0 ms Vdd (5 V)standard servo www.parallax.com

2.0 ms

Vss (0 V) 20 ms

Vdd (5 V)

But you dont need to know any of this thanks to Arduino #include Libraries2.0 ms1.0 ms Vdd (5 V)standard servo www.parallax.com

1.0 ms

Vss (0 V)Vss (0 V)

10 o clock

2 o clock

12 o clock

20 ms

1.5 ms Vdd (5 V)standard servo www.parallax.com standard servo www.parallax.com standard servo www.parallax.comstandard servo www.parallax.com

1.5 ms

Vss (0 V)

1.0 ms

2.0 ms

1.5 ms

20 ms

Lets try make our servo work The Hardware

Servo 3-pin header Jumpers

#include Servo myservo; int pos = 0; void setup() { myservo.attach(9); } void loop() { for(pos = 0; pos < 180; pos += 1) { myservo.write(pos); delay(15); } for(pos = 180; pos>=1; pos-=1 { myservo.write(pos); delay(15); } }

The circuit The code: Example-> ExampleServo -> Sweep

Dont modify damage!

Working? Dissect code

5V D9

GND

Challenge: make a potpotcontrolled servo Dont cheat and use Knob code! The circuit Hints: Dont need for loopoutVal = map(inVal, 0, 1023, 0, 179);

#include 5V Servo myservo; int potpin = 0; int val; void setup() 10 k A0 { myservo.attach(9); } void loop() { val = analogRead(potpin); val = map(val, 0, 1023, 0, 179); myservo.write(val); }

Working?

An answer

5V D9

GND

Another use for PWM?

Light fading

D9

The Hardware - LED The Circuit The code: Example-> Analog -> ExampleFading Working? What would Dissect codeint ledPin = 9; void setup() { }

GND

our output signals looks like?

void loop() { for(int fadeValue = 0 ; fadeValue = 0; fadeValue -=5) { analogWrite(ledPin, fadeValue); delay(30); } }

490Hz

Our MC tool chest (so far)

Inputs

Serial In (from computer) Push button (digitalRead) digitalRead) Pot (analogRead) (analogRead)Photoresistor (analogRead) analogRead)

Code

Structure

setup loop if else for delay(#milliseconds) delay(#milliseconds)delayMicroseconds(#microseconds) delayMicroseconds(#microseconds)

Outputs

Commands

LED on/off (digitalWrite) (digitalWrite)

Serial Out (to computer) Speaker (digitalWrite) (digitalWrite) Servo (myServo.write) (myServo.write) LED fade (analogWrite) (analogWrite)

pinmode( pinmode(pin#, mode) mode) map(val,d0,d1,r0,r1) #include Servo objectname

More?

Other sensors/actuators

Input (sensors)

Piezo knock sensor Accelerometer PIR (motion detector) Temperature Pressure Strain Force Microphone GPS US sensor more

Output (actuators/ indicators)

LED and LCD displays DC motor Stepper motor Cameras Solonoids more

MC project

Goal: Make an MC device that interests you

Ideas

at least 1 output at least 1 input

Can use pre-written code preparts (cite), but overall project should be your own Level of complexity should reflect your skill level Daily progress report (oral) I may add/subtract from your project Assessment (more to come) Due early/mid Nov

Musical instrument Spooky Halloween thing Science Data Logger

Solar, weather, water quality, go-kart motion, goenergy monitoring, compost, animal camera

Timelapse camera Robot Reverse Geocache puzzle Blackcloud.org Arduino Playground

Example projects

AntiAnti-poo alarm

Bunny potty trainer

Puzzle box

Words on wheels

Solar tracker

RoboRobo-roach

Teen cave

Flowcharts

What are they?

Graphical representation of program flow Clear idea of structure Loops look like loops Easy to ID endless loops Easy to move from chart to code

Why use them?

START

Flowchart symbols

i=i+1DISPLAY i

IS i