Dennis Lab

2012年6月23日星期六

Arduino / motoduino controls 7 Servos + 1 Stepper Motor (步進馬達)

做了一個簡單實驗, 利用Arduino/Motoduino控制七顆伺服馬達(手上只有七顆)和一顆步進馬達(2-Phase)運轉,運轉還算順暢! 主要利用 I/O Expansion Shield疊在motoduino上,除了馬達電線容易接線外,還可讓七顆伺服馬達吃外部電源.DIY material (材料):
1. Motoduino (Arduino + L293D motor driver)
2. I/O Expansion shield
3. Servo motor (伺服馬達) x 7
4. Stepper Motor(步進馬達二相四線) x 1
5. 9V Battery x 2

接線圖

I/O Expansion Shield V5

Arduino Sketch: (有興趣網友可以把重複程式建立function來呼叫)

#include <Stepper.h>
#include <Servo.h>

Servo servo12; // Define servo12
Servo servo11; // Define servo11
Servo servo10; // Define servo10
Servo servo9; // Define servo9
Servo servo4; // Define servo4
Servo servo3; // Define servo3
Servo servo2; // Define servo2

const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution // for your motor
const int Motor_E1 = 5; // digital pin 5 of Arduino (PWM)
const int Motor_E2 = 6; // digital pin 6 of Arduino (PWM)
const int Motor_M1 = 7; // digital pin 7 of Arduino
const int Motor_M2 = 8; // digital pin 8 of Arduino

Stepper myStepper(stepsPerRevolution, Motor_M1, Motor_M2);
int pos = 0;

void setup() {
// set the speed at 60 rpm:
myStepper.setSpeed(60);
// initialize the serial port:
Serial.begin(9600);
pinMode(Motor_M1, OUTPUT);
pinMode(Motor_M2, OUTPUT);

digitalWrite( Motor_E1, HIGH); // speed control
digitalWrite( Motor_E2, HIGH); // speed control

servo12.attach(12);
servo11.attach(11);
servo10.attach(10);
servo9.attach(9);
servo4.attach(4);
servo3.attach(3);
servo2.attach(2);

}

void loop() {
// step one revolution in one direction:
// Serial.println("clockwise");
myStepper.step(200);
delay(500);

for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
servo12.write(pos); // tell servo to go to position in variable 'pos'
servo11.write(pos); // tell servo to go to position in variable 'pos'
servo10.write(pos); // tell servo to go to position in variable 'pos'
servo9.write(pos); // tell servo to go to position in variable 'pos'
servo4.write(pos); // tell servo to go to position in variable 'pos'
servo3.write(pos); // tell servo to go to position in variable 'pos'
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
{
servo12.write(pos); // tell servo to go to position in variable 'pos'
servo11.write(pos); // tell servo to go to position in variable 'pos'
servo10.write(pos); // tell servo to go to position in variable 'pos'
servo9.write(pos); // tell servo to go to position in variable 'pos'
servo4.write(pos); // tell servo to go to position in variable 'pos'
servo3.write(pos); // tell servo to go to position in variable 'pos'
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 15ms for the servo to reach the position
}
for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
servo12.write(pos); // tell servo to go to position in variable 'pos'
servo11.write(pos); // tell servo to go to position in variable 'pos'
servo10.write(pos); // tell servo to go to position in variable 'pos'
servo9.write(pos); // tell servo to go to position in variable 'pos'
servo4.write(pos); // tell servo to go to position in variable 'pos'
servo3.write(pos); // tell servo to go to position in variable 'pos'
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
{
servo12.write(pos); // tell servo to go to position in variable 'pos'
servo11.write(pos); // tell servo to go to position in variable 'pos'
servo10.write(pos); // tell servo to go to position in variable 'pos'
servo9.write(pos); // tell servo to go to position in variable 'pos'
servo4.write(pos); // tell servo to go to position in variable 'pos'
servo3.write(pos); // tell servo to go to position in variable 'pos'
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 10ms for the servo to reach the position
} `
for(pos = 0; pos < 180; pos += 1){ // goes from 0 degrees to 180 degrees
servo12.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1){ // goes from 0 degrees to 180 degrees
servo11.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1){ // goes from 0 degrees to 180 degrees
servo10.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1){ // goes from 0 degrees to 180 degrees
servo9.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1) { // goes from 0 degrees to 180 degrees
servo4.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1) { // goes from 0 degrees to 180 degrees
servo3.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 0; pos < 180; pos += 1) { // goes from 0 degrees to 180 degrees
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}

for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo2.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo3.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo4.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo9.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo10.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo11.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}
for(pos = 180; pos>=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo12.write(pos); // tell servo to go to position in variable 'pos'
delay(10);
}

for(pos = 0; pos < 180; pos+=1) { // goes from 0 degrees to 180 degrees
servo12.write(pos); // tell servo to go to position in variable 'pos'
servo11.write(pos); // tell servo to go to position in variable 'pos'
delay(5);
}

for(pos = 180; pos >=1; pos-=1) { // goes from 180 degrees to 0 degrees
servo12.write(pos);
servo11.write(pos); // tell servo to go to position in variable 'pos'
delay(5);
}
myStepper.step(-200);
delay(500);
}

Video: http://www.youtube.com/watch?v=rB-noWhgbXM&list=UU6aKpj71jLKYABYLr3Wbpuw&index=1&feature=plcp

更多影片請看: http://www.youtube.com/user/sinocgtchen
部落格 : http://sinocgtchen.blogspot.com
Motoduino資訊: http://motoduino.com

2012年4月24日星期二

Color Shield Remote Control = Motoduino / Arduino + Bluetooth + Android + RGB LED 8x8

Arduino Color Shield 加上 RGB LED 很適合做學生專題及LED基本學習, Color shield 是Colorduino的簡易版,主要差在color shield無法繼續串接下去,只有8x8 RGB LED可顯示,顯示的顏色有 256x256x256這麼多種顏色. 此範例配合Android手機藍芽控制RGB LED亮或暗.

DIY材料:
1. Motoduino / Arduino
2. Bluetooth
3. Arduino Color Shield
4. 8x8 RGB LED
5. Android 手機

Motoduino

Arduino Colors Shield

8x8 RGB LED

組合上去

8x8 RGB LED

影片請看: http://www.youtube.com/watch?v=UBoWGyyYmic

更多影片請看: http://www.youtube.com/user/sinocgtchen
部落格 : http://sinocgtchen.blogspot.com
Motoduino資訊: http://motoduino.com

2012年4月20日星期五

Changes Bluetooth Baud Rate / Name on Motoduino/Arduino (AT Command)

這次來說明另一個簡單的方式修改bluetooth設定值,利用Arduino IDE直接下AT Command給bluetooth修改藍芽名稱或Baud Rate等, 此範例以藍芽名稱為例, 修改Baud Rate方法一樣,AT Command不一樣而已.

步驟如下:
1.把Motoduino/Arduino MCU 移除,如下圖:

2. 需要一條4 pin 或 6 pin排線把BT跟Motoduino做連接,注意Bluetooth的RX接Motoduino/Arduino的RX, Bluetooth的TX接Motoduino/Arduino的TX. Bluetooth的Vcc接板子Vcc, GND接GND, 只需接四根pin腳.如下圖:

3. 把板子連接PC, 打開Arduino IDE 選擇正確的 Serial Port,如下圖:

4. 注意Arduino IDE的baud rate設定,如果Bluetooth目前default baud rate是 57600,則設定為57600,和No Line Ending. 如下圖:

5. 開始下AT Command給bluetooth, 下 AT 則會回應 OK, 在此以修改藍芽名稱為例, AT+NAMEMOTOBT , ( 如修改baud rate則 AT+BAUD7 表示設定baud rate成 57600)

6. Bluetooth 回應的訊息, OKsetname表示藍芽名稱修改完成.

7. 移除板子電源,把Atmega328P or MCU 插上板子還原. 這樣就大功告成!!

部落格 : http://sinocgtchen.blogspot.com
Motoduino資訊: http://motoduino.com

2012年4月18日星期三

手機遙控智慧車 = Motoduino(Arduino + L293D) + two Servos (伺服馬達) + Bluetooth

把兩顆伺服馬達(兩個自由度,可以承受13kg大扭力)架設在小車子上,且把照相功能的攝影鏡頭架在伺服馬達上,利用Motoduino跟藍芽傳輸控制訊號,Android手機可以控制鏡頭角度,目前照相功能未整合進去,不過測試是沒問題的,下一階段在整合進去...

DIY使用材料:
1. Motoduino (Arduino + L293D)
2. Bluetooth module
3. MG995 Servo x 2
4. 9V battery
5. 兩輪小車一台
6. IO Expansion Shield (option, 可省略)
7. Android phone

IO Expansion Shield

MG995 伺服馬達

影片: http://www.youtube.com/watch?v=Ass0XSu98wE

更多影片請看: http://www.youtube.com/user/sinocgtchen
部落格 : http://sinocgtchen.blogspot.com
Motoduino資訊: http://motoduino.com

2012年4月8日星期日

Stepper Motor Control (步進馬達控制) = Motoduino (Arduino+293D) + Stepper Motor

Motoduino這塊板子也可以控制步進馬達(stepper motor), 方法很簡單, 手上這顆是二相激磁四線式步進馬達, 電壓 5V, 精度1.8度, 電流 0.3A, 四線接法: 紅線接M1+, 棕色接M1-, 藍色接 M2-, 黃色接 M2+. 影片中實驗是順時針走 200步(200x1.8度=360)剛好一圈,逆時針走200步回原點.

影片請參考這裡 : http://www.youtube.com/watch?v=AIZBQgjQ3rQ

使用材料:

1. Motoduino
2. Stepper Motor (KH42JM2B011) 5V, 0.3A, 1.8 Deg.

The Sketch(for Motoduino):

#include <Stepper.h>

const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
// for your motor
const int Motor_E1 = 5; // digital pin 5 of Arduino (PWM)
const int Motor_E2 = 6; // digital pin 6 of Arduino (PWM)
const int Motor_M1 = 7; // digital pin 7 of Arduino
const int Motor_M2 = 8; // digital pin 8 of Arduino
//Stepper myStepper(stepsPerRevolution, 8,9,10,11);
Stepper myStepper(stepsPerRevolution, Motor_M1, Motor_M2);

void setup() {
// set the speed at 60 rpm:
myStepper.setSpeed(60);
// initialize the serial port:
Serial.begin(9600);
pinMode(Motor_M1, OUTPUT);
pinMode(Motor_M2, OUTPUT);

digitalWrite( Motor_E1, HIGH); // speed control
digitalWrite( Motor_E2, HIGH); // speed control
}

void loop() {
// step one revolution in one direction:
Serial.println("clockwise");
myStepper.step(stepsPerRevolution);
delay(500);

// step one revolution in the other direction:
Serial.println("counterclockwise");
myStepper.step(-stepsPerRevolution);
delay(500);
}

Blog: http://sinocgtchen.blogspot.com
Motoduino : http://motoduino.com
Youtube: http://www.youtube.com/user/sinocgtchen
My Email: sinocgtchen@gmail.com

2012年3月11日星期日

Motoduino / Arduino WiFi Shield ( IEEE 802.11b 無線網路擴充板)

Motoduino WiFi Shield v1.0主要是配合Arduino (Diecimila/Duemilanove/Uno) 及 Motoduino 板子所設計,讓Arduino/Motoduino能有無線網路的功能且提供IEEE 802.11b連線能力。此塊模組完全相容於 Asynclab WiShield 1.0 和 Cupperhead WiFi Shield。

Motoduino WiFi模組特性(Microchip):
 802.11b Wi-Fi certified
 1Mbps and 2Mbps throughput speeds
 Supports both infrastructure (BSS) and ad hoc (IBSS) wireless networks
 Ability to create secured and unsecured networks
 WEP (64-bit and 128-bit)
 WPA/WPA2 (TKIP and AES) PSK
 Low power usage
 Sleep mode: 250μA
 Transmit: 230mA
 Receive: 85mA

腳位說明:
 1.SPI 介面
     * Slave select (SS) : Arduino pin 10
     * Clock (SCK) : Arduino pin 13
     * Master in, slave out (MISO) : Arduino pin 12
     * Master out, slave in (MOSI) : Arduino pin 11
 2. Interrupt (Uses only one of the following, depending on jumper setting)
     * INT0 : Arduino pin 2
     * DIG8 : Arduino pin 8
 3. LED : Arduino pin 9
     * To regain use of this pin, remove the LED jumper cap
 4. 5V power
 5. GND

實做應用參考網站: http://www.youtube.com/user/sinocgtchen
部落格參考網站 : http://sinocgtchen.blogspot.com
Motoduino相關資訊: http://motoduino.com

2012年3月6日星期二

Remote Control LED Matrix = Android + Motoduino (Arduino) + MAX7219 + Bluetooth

最近做一個LED 8x8 實驗,主要是利用手機藍芽來控制一個8x8 LED,這個實驗不是很難,主要在硬體接線部分要搞清楚pin腳的對應.

使用材料:
1. LED 8x8 matrix
2. Bluetooth
3. Motoduino or Arduino
4. MAX7219
5. 27k 電阻
6. 10uF 電容
7. 0.1 uF 電容
8. 一些線材

線路圖請參考這裡(reference schematic): Arduino playground

手機程式下載處(download android apk): http://www.motoduino.com/tw/downloadfiles

影片請看: http://www.youtube.com/user/sinocgtchen
部落格 : http://sinocgtchen.blogspot.com

有任何問題或有興趣朋友,歡迎來信討論,謝謝!!

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