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en:iot-open:remotelab:sut:roboarm:m1 [2018/12/27 12:53]
127.0.0.1 external edit
en:iot-open:remotelab:sut:roboarm:m1 [2019/03/20 00:18]
gdrabik
Line 1: Line 1:
 ==== Synchronize servo, stepmotor using accelerometer to ensure linear route of the end of the robot arm ==== ==== Synchronize servo, stepmotor using accelerometer to ensure linear route of the end of the robot arm ====
-//Give few words about this scenario. Provide some objectives and impact ​on the students.//+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 === === Target group ===
-//This hands-on lab guide is intended for the Beginners/Undergraduates/Masters/​ProfessionalsChoose appropriate.//​+This hands-on lab guide is intended for the Undergraduates Masters.
  
 === Prerequisites === === Prerequisites ===
-//Provide prerequisite readings/​hardware/​software/​software libraries/​skills if other than stated in the Laboratory Description. If noneremove along with the header. Please note some of those may be common ​for all scenarios ​(i.e. mqtt library)so provide it in the laboratory description level, not in the scenario level.//+At the beginningstudents should make both exercises ​for Beginners at this laboratory ​(controling stepmotor and servomotors)Additionaly students should understanding of working proximity sensorsand methods resolving reverse kinematic problem.
  
 === Scenario === === Scenario ===
-//Describe scenario to let the user understand its idea and process. Write information about the approachalgorithmetc. (depends on the lab). Provide useful information about protocolsassumptionsaddresses ​(i.ecommunication servers)credentials,​ etc.//+ 
 + - using schematic, check ESP ports which I2C controlled,​ 
 +  - using schematic, check ESP ports which DIR and STEP (stepmotor) controlled, 
 +  - using schematiccheck ESP port which servomotors signal controlled ​(PWM), 
 +  - using schematiccheck ESP port which proximity sensors controlled,​ 
 +  - using documentation of sensor check registers of accelerometer,​ 
 +  - using documentation check working of proximity sensor, 
 +  - using display documentation check way for display digits on HD44780, 
 +  - check I2C address for every device, 
 +  - append programs from both previously exercises, which will can move stepmotor and servomotor,​ 
 +  - find points ​(sending command to stepmotor and servomotor) in trajectory which to make way shifting brick 
 +  - write the program loop which shifting the brick from left wall to right wallAfter indicate brick near right wall, reverse direction of shifting. 
 +NOTE: For reverse directionend of arm has to move above the brick.
  
 === Result === === Result ===
-//Describe expected result when scenario ​is finished.//+Effect of running algorithm, can be observed via camera. Second way for acknowledge ​is observe signal from proximity sensors.
  
 === Start === === Start ===
-//Write starting conditions, i.e. what to do at the beginning, what to pay attention before beginning, how the mechanical part should look like,  etc.// 
  
 === Steps === === Steps ===
-// Write some extra information if i.e. some steps are optional otherwise cancel this paragraph (but do not remove header).// 
-== Step 1 == 
-//Describe activities done in Step 1.// 
- 
-... 
- 
-== Step n == 
-//Describe activities done in Step n.// 
  
 === Result validation === === Result validation ===
en/iot-open/remotelab/sut/roboarm/m1.txt · Last modified: 2019/03/20 00:19 by gdrabik
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