Lab4B:RobotPositionControl

usingaMicrocontroller

ECEN2270

ElectronicsDesignLaboratory

Lab4Plan
Tuesday:finishpartsAandB
Thursday:Lab4demowithabatterypackpoweredrobot
Stop,waitfortheswitchtobeintheONposition
Wait1second
360o clockwiserotationoftherobot(notthewheel)
Stopandwait1second
360o counterclockwiserotationoftherobot(notthewheel)
Stopandwait1second
Accuracy:therobotshouldcomebacktothestartingposition
Thedemocanbecompletedwithjustonewheel,orwithbothwheels

Lab4QuiznextMonday
ECEN2270

ElectronicsDesignLaboratory

Lab4,PartBTopics
1. Robotpositioncontrol,introtohardwareinterrupts
2. CommunicationbetweenPCandArduino whilea
programisrunning
Readingvariablevaluesduringprogramexecution,debugging
SendingcommandsoralteringoperationfromPC

ECEN2270

ElectronicsDesignLaboratory

PositionControl
Robotpositioningtaskexamples:

Turn45o
Do3rotationsofawheel
Moveforward325cm(requiresdrivesonbothwheels)
Lab4demo:360o clockwise,followedby360o counter
clockwise

ECEN2270

ElectronicsDesignLaboratory

PositionControlApproach1:distance=speed*time
ThisiswhatyouareexpectedtodoinLab4PartATask3:
Modifythespeedcontrolcodetoperformthefollowinginvoidloop():

Stop,waitfortheswitchtobeintheONposition
Wait1second
360o clockwiserotationoftherobot(notthewheel)
Stopandwait1second
360o counterclockwiserotationoftherobot(notthewheel)

Solution:pickaspeedreferenceanddoabitofgeometry
tofigureouthowlongthewheelshouldmove(needto
knowthespeedsensorgainKsense =vref/)
Wheeldiameter:2*r =13cm
Distancebetweenwheels:2*rw =28cm

ECEN2270

ElectronicsDesignLaboratory

PositionControlApproach1:distance=speed*time
t

Vref t
K sense

distance speed time

r
Vref(t) = d(t) 5V

distance

r Vref t
time
distance * r * t
K sense
Lab4demowithtwowheels: distance 2 * rw
Lab4demowithonewheel: distance 2 * 2rw

Wheelradius: r =6.5cm
Wheeltocenter:rw =14cm

Whatdoto:
KnowKsense foryourspeedsensor,choosed tosetthewheelspeed,calculate
timerequiredtomovethespecifieddistance

Remember, K sense 610ton 610R2C2 ln 3

ECEN2270

ElectronicsDesignLaboratory

PositionControlApproach1:distance=speed*time
t

Vref t
K sense

distance speed time

r
Vref(t) = d(t) 5V

distance

Thisapproachisprettygoodbut:
DependsontheexactknowledgeofKsense,i.e.ton inthespeedsensor
Speedcontrolisnotinstantaneous;itisdifficulttocompensatefor
errors
delay(time)doesnotallowC todoanyothertask

ECEN2270

ElectronicsDesignLaboratory

PositionControlApproach2:distance encodercount
Encodergenerates12*64=768pulsesforeachwheelrotation
Wheelradius,r =6.5cm
Wheelperimeter,p =2*r =40.85cm
1encoderpulseisworthp/768=0.53mmoflineardistance
Givenatargetdistance,itisveryeasytocalculatethetarget
numberofencoderpulses
Example:do3rotationsofawheel,target=3*12*64=2304pulses
Allweneedtodoistocounttheencoderpulses

Encoderoutput

+1

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ElectronicsDesignLaboratory

+1

PositionControlApproach2
N enc 12 64 turns

r
Vref(t) = d(t) 5V

N enc
distance
2r
12 64
distance

Eachencoderpulserepresentsafractionofawheelturn
0.53mmofforwardmotionperencoderpulse

Distancereaddirectly,withoutguessingspeed/distancerelation
Countingrisingedgesof
encodertotelldistance

+0.53mm

+0.53mm

Thisisbetterbuthowdowereadencoderpulses?
Thesimpleapproachiscalledpolling,orbusywait
Thebetterapproachuseseventdriven(interrupt)programming
ECEN2830

ElectronicsDesignLaboratory

ProgramArduino tocountencoderpulses:PollingApproach
Pollencoderoutput

+1

+1

int target = 3*12*64; // set target count to 3 rotations

int enc_count_Left = 0; // reset count to zero
int encValue = digitalRead(pinEncoder); // poll encoder output
digitalWrite(pinCW_Left,HIGH); // go clockwise
do {
do {
encValue = digitalRead(pinEncoder); // poll encoder output
} while (encValue == LOW);
// until it goes HIGH
enc_count_Left++;
// increment count
do {
encValue = digitalRead(pinEncoder); // poll encoder output
} while (encValue == HIGH);
// until it goes LOW
} while (enc_count_Left < target); // do the above until
// pulse count reaches target

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ElectronicsDesignLaboratory

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ProblemswiththePollingApproach
Pollencoderoutput

+1

+1

Cantdoanythingelsewhilepollingandcountingtheencoderpulses!

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ElectronicsDesignLaboratory

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PositionControlApproach2 EventDriven
Encoderoutput
C executes
othertasks

C executes
othertasks

Increment

C executes
othertasks

Increment

Wantourprogramtodousefulstuffbetweenencoderpulses
Wecantdothisifwespendallourtimewaitingforpulsesthisistheissuewiththe
busywait,orpollingprogrammingapproach

Ideally,whenarisingencoderpulseisseen,ourmicrocontrollerwithswitch
tasksforasecondtoincrementourencodercounter
Thisisdonebyinterrupting themainprogram,switchingtoasmallfunction
tohandlethepulse,thenswitchingbacktothemainprogram
Thesmallfunctioniscalledaninterruptserviceroutine,andhandlinginputs
thiswayiscalledeventdriveninput/outputprogramming
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ElectronicsDesignLaboratory

12

Eventdrivenapproach:HardwareInterrupts
Encoderoutput
+1

+1
C executes
othertasks

C executes
othertasks

C executes
othertasks

ISR

ISR

Risingedgeoftheencoderoutput
triggersexecutionofanInterrupt
ServiceRoutine(ISR)

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ElectronicsDesignLaboratory

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PositionControlUsingHardwareInterrupt
Seecompleteposition_control_example programpostedontheLab4page
// encoder counter variable
volatile int enc_count_Left = 0; // "volatile means stored in RAM
void setup(){ (other setup lines not shown here)
/*
Connect left-wheel encoder output to pin 2 (external Interrupt 0)
Rising edge of the encoder signal triggers an interrupt
count_Left is the interrupt service routine attached to Interrupt 0
*/
attachInterrupt(0, count_Left, RISING);
}
/*
Interrupt 0 service routine:
Increment enc_count_Left on each rising edge of the encoder signal
*/
void count_Left(){
enc_count_Left++;
}

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ElectronicsDesignLaboratory

14

Whatshouldspeedreferencebe
duringpositioning?
Goals:accuracyandspeed
Desired
Position

2r

12

64

Desired
Nenc

Nenc

Motor
Control Vref
Code

Counter
ISR

1
s
1
s
o
o
2

Encoder

SeeErickson'slecturenotesonOptimalPositioningstrategiesontheLab4page

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ElectronicsDesignLaboratory

15

Howtocheckwhatisgoingonduringexecution
ofaprogramonArduino?
PCtoArduinocommunicationviaUSB:
SerialMonitor

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ElectronicsDesignLaboratory

16

PCtoArduino communicationviaUSB
serial_read_example (programpostedontheLab4page)
/*
ECEN2270 example of displaying a value using Serial Monitor
Open the Serial Monitor window: Tools > Serial Monitor
*/
// define pins
const int pinON = 6; // connect pin 6 to ON/OFF switch
// via 1k resistor, active HIGH
void setup() {
Serial.begin(9600); // start serial communication
// via USB at 9600 bits per second (baud)
pinMode(pinON, INPUT); // set on/off switch pin as input
}
void loop() {
int onoff_switch = digitalRead(pinON);// read switch on/off state
Serial.println(onoff_switch); // send value as
// ASCII-encoded decimal
delay(500);
// wait 0.5 seconds
}

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PCtoArduino communicationviaUSB
SerialMonitor
window

0:SwitchisOFF

1:SwitchisON

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ElectronicsDesignLaboratory

18

Lab4Demo
Bepreparedto:
Showhowtherobotpoweredfrom2batterypacksinseries
(approximately10V)canaccomplishthespecifiedPartB
positioningtask
Extracredit willbegivenforexceptionallyfastandaccurate*
positioning
Showyourpositioncontrolprogram
Showcompletespeedcontrolcircuit,andcompleteLTspice
diagramofyourspeedcontrolcircuit
Answerquestionsrelatedtoyourpositioncontrolcodeand
speedcontrolcircuit

* YoumayuseSerialMonitortodisplaytheactualencodercountafter
completionofthepositioningroutine
ECEN2270

ElectronicsDesignLaboratory

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