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Designing with
components II
Fall 2009
Overview
 Possible Components
Components: GP2D120
 Sharp GP2D120 Analog Distance Sensor
 http://www.roboticsconnection.com/pc-23-4-sharpgp2d120-ir-sensor.aspxFeatures
 Less influence on the color of reflective objects, reflectivity
 Line-up of distance output/distance judgment type
• Distance output type (analog voltage) GP2D120 Detecting distance 4 to
30cm
 Recommended, buy the interconnect cable
 GP2D120.pdf
 $8.99
Components: GP2D120
Components: GP2D120
14,000 lx
Components: GP2D12
 Sharp GP2D12 Analog Distance Sensor
 http://www.roboticsconnection.com/pc-22-4-sharp-
gp2d12-ir-sensor.aspx
 Features
 Less influence on the color of reflective objects, reflectivity
 Line-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: GP2D12
2.4 V
80 cm
Components: GP2D12
14,000 lx
Components: Infrared Transistor #: 35000018
 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=35
0-00018
 $1.29
http://www.robotroom.com/HBridge
.html
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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
Components: TC4421/TC4422
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
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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:
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Short Propagation Delays: 30 ns (typ)
Low Supply Current:
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30 ns with 4,700 pF Load
180 ns with 47,000 pF Load
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=en0
10665
Components: TC4421/TC4422
H Bridge ST L298
http://www.st.com/stonline/products/literature/ds/1773.pdf
Position Determination
 Stock#: 605-0005
Melexis 90217 Hall-Effect Sensor
Price: $4.95
 3/8 diameter, 1/8 thick NdFeB
plate magnet
Price: $0.79
Position Determination
1.
2.
3.
4.
Thru Distance
Sensors
Hamamatsu P5587
Wheel Encoder
Modules + 30 Spoke
Wheel 1.5” Encoder
Disks or similar
http://www.roboticscon
nection.com/c-4-robotsensors.aspx
Combination: $31.95
Position Determination
 ACE 128 Absolute
Encoder
 http://www.newark.com/j
sp/Passives/Encoders/B
OURNS/EAW0D-B24AE0128/displayProduct.j
sp?sku=04B9184
 $10.75
Position Determination
 Incremental Encoder
 ECL1J-B24-BC0024 —
BOURNS
 http://www.newark.com/j
sp/Passives/Encoders/B
OURNS/ECL1J-B24BC0024/displayProduct.j
sp?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
Terminal 1a +---+---+---+--- ++--++--++--++-Terminal 1b --+---+---+---+- --++--++--++--++
Terminal 2a -+---+---+---+-- -++--++--++--++-
Terminal 2b ---+---+---+---+ +--++--++--++--+
Bifilar
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/i
ntroduction/steppers.html
Where to buy?
 http://www.jameco.com/webapp/wcs/stores/servlet/KeywordSearchResultView?
langId=1&storeId=10001&catalogId=10001&searchType=k&searchValue=stepper&cate
goryId=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
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http://www.microchip.com/stellent/idcplg?IdcS
ervice=SS_GET_PAGE&nodeId=1335&dDocN
ame=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/17
6/CategoryID/51/List/0/Level/a/ProductID/92/Default.aspx?SortFi
eld=ProductName%2cProductName
 28015.pdf
Components: 28015
 Features
 Supply Voltage: 5 VDC
 Supply Current: 30 mA typ; 35 mA max
 Range: 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 mS
 Echo Hold-off: 750 us from fall of Trigger pulse
 Burst Frequency: 40 kHz for 200 us
 Burst Indicator LED shows sensor activity
 Delay before next measurement: 200 us
 Size: 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: 28015
Components: 28015
Components: 28015
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:
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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 gforces] 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.
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Components: IR Transmitter
Assembly Kit
 FEATURES
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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
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$2.40
Components: IR Transmitter
Assembly Kit
Components: PNA4601M Infrared
Receiver
 Features
 Extension distance is 8 m or more
 External parts not required
 Adoption of visible light cutoff resin
 For infrared remote control systems
 $3.95
 http://www.parallax.com/detail.asp?p
roduct_id=350-00014
 PNA4601M.pdf
 PNA4601Mapp.pdf
Components: PNA4601M Infrared
Receiver
Components: PNA4601M Infrared
Receiver
Components: PNA4601M Infrared
Receiver
Stepper Motor Driver. ON
MC3479
CMUCAM

http://www.cs.cmu.edu/~cmucam/
UART2B-EEL
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unsigned adcRes;
char txt[6];
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void main() {
int i;
PORTB = 0x0000;
TRISB.F1 = 1;
// set pin as input - needed for ADC to work
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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);
}
}
}//~!
CAN
Components: Parallax (Futaba) Continuous
Rotation Servo: 900-00008
 Technical Specifications
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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
Components: Parallax (Futaba) Continuous
Rotation Servo: 900-00008
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)
Overview
 Possible Components
&
Questions
Answers