Synchronize servo, stepmotor using accelerometer to ensure linear route of the end of the robot arm

This is scenario similar to “Operating robot arm to slide brick on the rail”. Mainly different is precisely defined trajectory of end of arm.

Target group

This hands-on lab guide is intended for the Undergraduates Masters.


At the beginning, students should make both exercises for Beginners at this laboratory (controling stepmotor and servomotors). Additionaly students should understanding of working proximity sensors, and methods resolving reverse kinematic problem.


  1. using schematic, check ESP ports which I2C controlled,
  2. using schematic, check ESP ports which DIR and STEP (stepmotor) controlled,
  3. using schematic, check ESP port which servomotors signal controlled (PWM),
  4. using schematic, check ESP port which proximity sensors controlled,
  5. using documentation of sensor check registers of accelerometer,
  6. using documentation check working of proximity sensor,
  7. using display documentation check way for display digits on HD44780,
  8. check I2C address for every device,
  9. append programs from both previously exercises, which will can move stepmotor and servomotor,
  10. find points (sending command to stepmotor and servomotor) in trajectory which to make way shifting brick
  11. write the program loop which shifting the brick from left wall to right wall. After indicate brick near right wall, reverse direction of shifting.

NOTE: For reverse direction, end of arm has to move above the brick.


Effect of running algorithm, can be observed via camera. Second way for acknowledge is observe signal from proximity sensors.



Result validation

Provide some result validation methods, for self assesment.


This section is to be extended as new questions appear.
When using the printed version of this manual please refer to the latest online version of this document to obtain the valid and up-to-date list of the FAQ. Provide some FAQs in the following form:
Question?: Answer.

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