Date post: | 27-Dec-2015 |
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Components: GP2D120
Sharp GP2D120 Analog Distance Sensorhttp://www.roboticsconnection.com/pc-23-4-sharp-
gp2d120-ir-sensor.aspxFeaturesLess influence on the color of reflective objects, reflectivityLine-up of distance output/distance judgment type
• Distance output type (analog voltage) GP2D120 Detecting distance 4 to 30cm
Recommended, buy the interconnect cableGP2D120.pdf$8.99
Components: GP2D12
Sharp GP2D12 Analog Distance Sensorhttp://www.roboticsconnection.com/pc-22-4-sharp-
gp2d12-ir-sensor.aspxFeatures
Less influence on the color of reflective objects, reflectivityLine-up of distance output/distance judgment type
• Distance output type (analog voltage) GP2DI 2 Detecting distance 10 to 80cm
• Distance judgment type: GP2DI5 Judgment distance 24cm. Adjustable within the range of 10 to 80cm) 3. External control circuit is unnecessary
GP2D12.pdf$11.95
Components: Infrared Transistor #: 350-00018
A phototransistor is a light-sensitive device similar to other transistors which act as current amplifiers, except that it converts visible light, or photons, to current which is then amplified.
http://www.parallax.com/detail.asp?product_id=350-00018
$1.29
http://www.robotroom.com/HBridge.html
This is just an example, we prefer to use the TC4422 in the T0-220 package which has higher Current capability but is single channel. You can order free samples from microchip
PWM
In the graphic, the green lines represent a regular time period. This duration or period is the inverse of the PWM frequency. In other words, with Arduino's PWM frequency at about 500Hz, the green lines would measure 2 milliseconds each. A call to analogWrite() is on a scale of 0 - 255, such that analogWrite(255) requests a 100% duty cycle (always on), and analogWrite(127) is a 50% duty cycle (on half the time) for example.
analogWrite(pin, value)
Components: TC4421/TC4422
Features High Peak Output Current: 9A Wide Input Supply Voltage Operating Range: 4.5V to 18V High Continuous Output Current: 2A Max Fast Rise and Fall Times:
30 ns with 4,700 pF Load 180 ns with 47,000 pF Load
Short Propagation Delays: 30 ns (typ) Low Supply Current:
With Logic ‘1’ Input: 200 µA (typ) With Logic ‘0’ Input: 55 µA (typ)
Low Output Impedance: 1.4 (typ) Latch-Up Protected: Will Withstand 1.5A Output Reverse Current Input Will Withstand Negative Inputs Up To 5V Pin-Compatible with the TC4420/TC4429 6A MOSFET Driver Space-saving 8-Pin 6x5 DFN Package http://www.microchip.com/stellent/idcplg?
IdcService=SS_GET_PAGE&nodeId=1335&dDocName=en010665
Position Determination
Stock#: 605-0005Melexis 90217 Hall-Effect SensorPrice: $4.95
3/8 diameter, 1/8 thick NdFeB plate magnet
Price: $0.79
Position Determination
1. Thru Distance Sensors
2. Hamamatsu P5587 Wheel Encoder Modules + 30 Spoke Wheel 1.5” Encoder Disks or similar
3. http://www.roboticsconnection.com/c-4-robot-sensors.aspx
4. Combination: $31.95
Position Determination
ACE 128 Absolute Encoder
http://www.newark.com/jsp/Passives/Encoders/BOURNS/EAW0D-B24-AE0128/displayProduct.jsp?sku=04B9184
$10.75
Position Determination
Incremental EncoderECL1J-B24-BC0024 —
BOURNS http://www.newark.com/j
sp/Passives/Encoders/BOURNS/ECL1J-B24-BC0024/displayProduct.jsp?sku=04B9197
$4.26
Type of Motors
“DC motors are widely used, inexpensive, small and powerful for their size. Reduction gearboxes are often required to reduce the speed and increase the torque output of the motor. Unfortunately more sophisticated control algorithms are required to achieve accurate control over the axial rotation of these motors. Although recent developments in stepper motor technologies have come a long way, the benefits offered by smooth control and high levels of acceleration with DC motors far outweigh any disadvantages.”
Stepper Motors http://www.cs.uiowa.edu/~jones/step/
Variable Reluctance
Unipolar
Winding 1 1001001001001001001001001
Winding 2 0100100100100100100100100
Winding 3 0010010010010010010010010
Winding 1a 1000100010001000100010001 Winding 1b 0010001000100010001000100 Winding 2a 0100010001000100010001000 Winding 2b 0001000100010001000100010
Stepper Motors http://www.cs.uiowa.edu/~jones/step/
Bipolar Bifilar
Terminal 1a +---+---+---+--- ++--++--++--++--
Terminal 1b --+---+---+---+- --++--++--++--++
Terminal 2a -+---+---+---+-- -++--++--++--++-
Terminal 2b ---+---+---+---+ +--++--++--++--+
Stepper Torque
Stepper motors have the greatest torque at slower speeds and less torque as the motor speeds up. If the motors are started at full speed they will not move the mouse at all, the motors will simply "twitch" and the rotor will not rotate to the next position. In order to move the mouse, the motors must be accelerated to top speed. Likewise, in order to stop the mouse, the motors must be slowed down. A graph of the stepper's speed would look like this:
http://www.micromouseinfo.com/introduction/steppers.html
Where to buy?
http://www.jameco.com/webapp/wcs/stores/servlet/KeywordSearchResultView?langId=-1&storeId=10001&catalogId=10001&searchType=k&searchValue=stepper&categoryId=351580&rscount=76
http://www.allelectronics.com/cgi-bin/category/400600/Stepper_Motors.html
Digital Potentiometer
They don’t have a DIP package for the up/down versions.
I would suggest using the SOIC package and soldering some cables to the IC
http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1335&dDocName=en025082
Components: 28015
Parallax's new PING)))™ ultrasonic sensor provides a very low-cost and easy method of distance measurement. This sensor is perfect for any number of applications that require you to perform measurements between moving or stationary objects.
The PING)))™ sensor measures distance using sonar; an ultrasonic (well above human hearing) pulse is transmitted from the unit and distance-to-target is determined by measuring the time required for the echo return.
http://www.parallax.com/Store/Sensors/ObjectDetection/tabid/176/CategoryID/51/List/0/Level/a/ProductID/92/Default.aspx?SortField=ProductName%2cProductName
28015.pdf
Components: 28015
FeaturesSupply Voltage: 5 VDCSupply Current: 30 mA typ; 35 mA maxRange: 3cm to3 m( 1.2in to 3.3yrds)Input Trigger: positive TTL pulse, 2 us mm, 5 us typ.Echo Pulse: positive TTL pulse, 115 us to 18.5 mSEcho Hold-off: 750 us from fall of Trigger pulse Burst Frequency: 40 kHz for 200 usBurst Indicator LED shows sensor activityDelay before next measurement: 200 usSize: 22 mm H x 46 mm W x 16 mm D (0.84 in x 1.8 in x 0.6 in
$24.95
Components: Memsic 2125 Dual-axis Accelerometer
The Memsic 2125 is a low cost, dual-axis thermal accelerometer capable of measuring dynamic acceleration (vibration) and static acceleration (gravity) with a range of ±2 g
Key Features of the Memsic 2125: Measure 0 to ±2 g on either axis; less than 1 mg resolution Fully temperature compensated over 0° to 70° C range Simple, pulse output of g-force for X and Y axis Analog output of temperature (TOut pin) Low current operation: less than 4 mA at 5 vdc
http://www.parallax.com/detail.asp?product_id=28017 Memsic 2125.pdf $ 29
Components: Memsic 2125 Dual-axis Accelerometer
How It Works Internally, the Memsic 2125 contains
a small heater. This heater warms a "bubble" of air within the device. When gravitational forces act on this bubble it moves. This movement is detected by very sensitive thermopiles (temperature sensors) and the onboard electronics convert the bubble position [relative to g-forces] into pulse outputs for the X and Y axis.
The pulse outputs from the Memsic 2125 are set to a 50% duty cycle at 0 g. The duty cycle changes in proportion to acceleration and can be directly measured by the BASIC Stamp. Figure 2 shows the duty cycle output from the Memsic 2125 and the formula for calculating g force.
Components: IR Transmitter Assembly Kit
FEATURES D= 940 nm Chip material = GaAs Package type: T-1 (3mm) Matched Photosensor: QSC112 Narrow Emission Angle, 24° High Output Power Package material and color: Clear, peach tinted plastic
http://www.parallax.com/detail.asp?product_id=350-00017 QEC112.pdf $2.40
Components: PNA4601M Infrared Receiver
FeaturesExtension distance is 8 m or moreExternal parts not requiredAdoption of visible light cutoff resin
For infrared remote control systems$3.95http://www.parallax.com/detail.asp?
product_id=350-00014PNA4601M.pdfPNA4601Mapp.pdf
UART2B-EEL
unsigned adcRes; char txt[6];
void main() { int i; PORTB = 0x0000; TRISB.F1 = 1; // set pin as input - needed for ADC to work
Uart1_Init(19200);
while (1) { adcRes = Adc_Read(1); // Read ADC channel 1 WordToStr(adcRes, txt); // Convert ADC value to text i=0; while (txt[i]) { Uart1_Write_Char(txt[i]); // Send text to UART one character at a time i=i+1; Delay_ms(1000); } } }//~!
Components: Parallax (Futaba) Continuous Rotation Servo: 900-00008
Technical Specifications Power 6vdc max Average Speed 60 rpm, Note: with 5vdc and no torque Weight 45.0 grams/1.59oz Torque 3.40 kg-cm/47oz-in Size mm (L x W x H), 40.5x20.0x38.0 Size in (L x W x H), 1.60x.79x1.50 Manual adjustment port www.parallax.com continuous rotation
$6.95 http://www.parallax.com/detail.asp?product_id=900-00008 crservo.pdf
Additional Resources
http://www.cs.cmu.edu/~cmucam/http://www.pololu.com/ (Check gear boxes)http://www.vexlabs.com/http://www.kitsusa.net/phpstore/index.php (Check
Motors and Robot Arm)