1. Designing with components II
Fall 2009/R Fall 2013

2. Overview
Possible Components

3. DC/DC Converters Pololu item #: 799 Pololu item #: 2101
Adjustable boost regulator can generate an output voltage as high as 25 V from an input voltage as low as 1.5 V.
A trimmer potentiometer lets you set the boost regulator’s output voltage to a value between 4 and 25 V.
Switching step-down voltage regulator takes an input voltage between 4.5 V and 42 V and efficiently reduces it to a lower, user-adjustable voltage. It has a output voltage range of 2.5 V to 7.5 V and a maximum output current of 300mA.

4. Components: 28015 http://www.parallax.com/product/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.
28015.pdf

5. 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

6. Components: 28015

7. Components: 28015

8. Components: 28015

9. Components: GP2D120 Sharp GP2D120 Analog Distance Sensor
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
(Buy New Versions)

10. Components: GP2D120

11. Components: GP2D120
14,000 lx

12.
These new rangers all use triangulation and a small linear CCD array to compute the distance and/or presence of objects in the field of view.  The basic idea is this: a pulse of IR light is emitted by the emitter.  This light travels out in the field of view and either hits an object or just keeps on going.  In the case of no object, the light is never reflected and the reading shows no object.  If the light reflects off an object, it returns to the detector and creates a triangle between the point of reflection, the emitter, and the detector. 

13. Components: GP2D12 Sharp GP2D12 Analog Distance Sensor 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

14. Components: GP2D12
2.4 V
80 cm

15. Components: GP2D12
14,000 lx

16.
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.

17. Components: TC4421/TC4422

18. PWM analogWrite(pin, value)
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 , 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)

19. Components: TC4421/TC4422 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:
30 ns with 4,700 pF Load
180 ns with 47,000 pF Load
Short Propagation Delays: 30 ns (typ)
Low Supply Current:
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

20. Components: TC4421/TC4422

21. H Bridge ST L298

22. Position Determination
Stock#:  Melexis Hall-Effect Sensor Price:  $4.95
3/8 diameter, 1/8 thick NdFeB plate magnet

23. Position Determination
Hamamatsu P5587 Wheel Encoder Modules + 30 Spoke Wheel 1.5” Encoder Disks or similar

24.
This is the motor and encoder portion the 37D mm metal gearmotors with 64 CPR (cycles per revolution) encoders.

25. Position Determination

26. Position Determination
ACE 128 Absolute Encoder
$10.75

27. Position Determination
Incremental Encoder
ECL1J-B24-BC0024 — BOURNS
$4.26

28. DC 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.
Accurate control over the axial rotation of these motors requires additional components and algorithms.
Compared to stepper motor they offer smooth control and high levels of acceleration.

29. Stepper Motor Driver. ON MC3479

31. Stepper Motors http://www.cs.uiowa.edu/~jones/step/
Variable Reluctance
Unipolar
Winding
Winding
Winding
Winding 1a Winding 1b Winding 2a Winding 2b

32. Stepper Motors http://www.cs.uiowa.edu/~jones/step/
Bifilar
Bipolar
Terminal 1a
Terminal 1b
Terminal 2a
Terminal 2b

33. 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:

34. 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

35. 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:
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

36. 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 g-forces] 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.

37. CMUCAM

41. UART2B-EEL unsigned adcRes; char txt[6]; void main() { int i;
PORTB = 0x0000;
TRISB.F1 = 1; // set pin as input - needed for ADC to work
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); }
}//~!

43. CAN

44. Components: Parallax (Futaba) Continuous Rotation Servo: 900-00008
Technical Specifications
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
continuous rotation
$6.95
crservo.pdf

45. Components: Parallax (Futaba) Continuous Rotation Servo: 900-00008

46. Additional Resources http://www.cs.cmu.edu/~cmucam/
gear boxes)
Motors and Robot Arm)

47. Overview
Possible Components

48. &
Questions
Answers