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ME456: Mechatronics Prof. Clark J. Radcliffe Mechanical Engineering Michigan State University http://www.egr.msu.edu/classes/me456/radcliff Prof. Clark Radcliffe • • • • • Office: 2445 Engineering Phone: 355-5198 Email: [email protected] Web: http://www.egr.msu.edu/classes/me456/radcliff/ Office Hours: WF 11:10-12:00 (after class..) – OR by appointment Joonho Lee, TA email: [email protected] Office Hours: In 2200EB Lab Tuesday: Wednesday: Thursday: Friday: 9:10am -10:10am 9:10am -10:10am 2:00pm - 4:00pm 9:10am -10:10am It is our intent to provide lots of office hours Please use them… Do you have the knack? What’s Mechatronics? The integrated design of products and processes that include mechanical and electrical components under intelligent control. The underlying products are physical in nature (electromechanical, hydraulic, magnetic, etc). There are sensors and actuators for interfacing with them. There is "intelligence" through imbedded computing capability. All these processes are highly integrated into sophisticated products and processes. Reference: National Science Foundation Mechatronics • The study of systems with – Mechanical Engineering Components – Electronic Sensors and Electrical Actuators – Computer Controls • Each necessary to successful performance of the whole Syllabus • What’s a microcontroller – The “BASIC Stamp” microcontroller – Small Design Project (individual) • Robotics – A typical mechanical interface • BIG Design Project (Group) – Learn by doing Grading • Virtual Laboratory 30% – Written + Check-off • Biweekly Quiz 30% – 5 minutes each on Lab • 1st Design Project 15% – After WAM book • Final Project 25% 100% Course Operation • Two “lectures” per week (2 hr) – Come prepared to ask questions – Demonstrations of lab material • Two lab exercises per week (6 hr) – Each has write-up & check-off – Use 2200EB terminals any time – TA scheduled in lab 1st Assignment • Find the Webpage • www.egr.msu.edu/classes/me456/radcliff – Download a check-off sheet • What’s a Microcontroller? v3.0 – – – – Do Chapter 1 (everything you can) Attach all code to the check-off sheet Demo action to a classmate Turn in next Friday Homework Schedule http://www.egr.msu.edu/classes/me456/radcliff/ME456_Schedule.html ME456: Mechatronics Fall 2012 C. Radcliffe (Assignments Due 1 week after assigned) Computers • Typical Computers – – – – – – CPU Monitor Keyboard & Mouse High Speed Random Access Memory (RAM) Long Term Memory (HDD, Tape, CD, …) Other peripheral devices (modem, printers, …) Microcontrollers • All around us without human interfaces – – – – Cars (as many as 20-30 today) Toys Phones Appliances (your microwave and VCR) • Small for control of machines • For connection to machines not people • Inexpensive ($2.00 - $5.00 or less) BASIC Stamp II • An integrated microcontroller system • Programmed in BASIC, Postage Stamp Size 5 volt Regulator 2k byte EEPROM I/O Pins 8-15 20 MHz Resonator Interpreter Chip PIC16C57 w/ 26 bytes RAM Serial Interface I/O Pins 0-7 BASIC Stamp II • Specifications – 4000 BASIC Statements per second – 16 Digital I/O pins • Source 20 mA, Sink 25 mA – – – – – Special purpose control routines 5v power supply (50 mA) Low power (8 mA, sleep at 0.1mA) RS232-USB serial programming interface 2k bytes program token storage Board of Education Allows easy prototyping with BSII 9 volt Battery Connector Wall Transformer Connection 5 volt 1.5A Regulator RC Servo Connections 5v Power Supply Connection USB Interface To PC Circuit Prototyping Area BASIC Stamp II Microcontroller Socket Reset Button Digital I/O Connector BOE Breadboard connections: +5v (Vdd) & Ground (Vss) (5) pin groups connected Application Kits BoeBot Board of Education Demonstration Let’s Make Flashing Lights Design Flashing Lights Vdd 5 volt power Light Emitting Diodes (LED) Current Limiting Resistors P0 P1 Digital I/O pins (0 or 5 volts) Circuit Model and Analysis • How big should resistors be? – Limit current to 10 mA Vdd R P0 R P1 Assume: a) no voltage drop across LED b) P0 and P1 - go to ground - have zero input impedance R = V I = 5v 0.010A = 500W » 470W Create Flashing Lights Hardware connection to +5v (Vdd) Note Polarity Of LED’s (2) 470 Ohm Resistors (yellow, violet, brown, …) Create Flashing Lights Software 'Program Demo Listing written by C. Radcliffe 'Define Variables and Constants '------------------------------------------- left_led con 0 right_led con 1 'right LED drive pin blink con 'blink time (msec) 100 'left LED drive pin '------------------------------------------- 'Main Program '------------------------------------------- flash: 'Start of Program high left_led 'turns left led off low right_led 'turns right led on pause blink 'wait for <blink> ms low left_led ‘turns left led on high right_led 'turns right led off pause blink 'wait for <blink> ms goto flash ‘repeat the blink Flashing Lights Solution • Circuit Hardware Plus • Control Software Tonight at 8:00pm MSU vs. Boise State