Week 12: Output Devices

Group assignment: group page

Individual assignment:

Individual assignment:

For this week I used 'Servo motor' for the Individual assignment & Group assignment since I went to learn more about it to use it in my final project.

  1. I connect the servo motor to my microcontroller board that I have designed.

  2. I used Arduino IDEto program the servo motor I program it to change the angle from 0 degree to 90 degree to 180 degree.

    3. Servo motor Code:

    #include 

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

void setup() {
  myservo.attach(D0,540,2400);  // attaches the servo on pin 9 to the servo object
}

void loop() {
    myservo.write(0);              // tell servo to go to position in variable 'pos'
    delay(1000);                       // waits 15ms for the servo to reach the position
    myservo.write(90);    
    delay(1000);                       // waits 15ms for the servo to reach the position
    myservo.write(180); 
    delay(1000);  
  }

    How it's work with the code & the reading from Multimeter & oscilloscope:

    First let's know that the the length of the puls call --> • Pulse width

    • Pulse width: at 0 degree

    • Pulse width: at 90 degree

    • Pulse width: at 180 degree

    as we can see as angle increase the 'Pulse width' increase beacue the time increase when increasing the angle of the servo motor I program it to change the angle from 0 degree to 90 degree to 180 degree, so now we can caulculat the Power need to change the angle.

    Final Project::

    Finaly I used 2 servo motor in my final project to track the sun light by changing the X & Y axis

    Final Project: Servo motor::


    Code: To control all the Output in the Final project.

    #include 

Servo horizontal; // horizontal servo
int servoh = 180;
int servohLimitHigh = 175;
int servohLimitLow = 5;

Servo vertical; // vertical servo
int servov = 0;
int servovLimitHigh = 60;
int servovLimitLow = 0;

// LDR pin connections
// name = analogpin;
int ldrlt = A3;
int ldrrt = A0;
int ldrld = A2;
int ldrrd = A1;

const int button1 = 7;
const int button2 = 6;
const int motorA = D8;
const int motorB = D7;
int buttonStateA;
int buttonStateB;

int pos = 0;
int pos2 = 0;
int oldvalue;
int oldvalue2;

void setup() {
  horizontal.attach(3);
  vertical.attach(4);
  horizontal.write(180);
  vertical.write(0);
  pinMode(motorA, OUTPUT);
  pinMode(motorB, OUTPUT);
  pinMode(button1, INPUT);
  pinMode(button2, INPUT);
  delay(2500);
}

void loop() {
  int ldrStatus = analogRead(ldrlt);
  if (ldrStatus > 30) {
    buttonStateA = digitalRead(button1);
    if (buttonStateA == LOW) {
      digitalWrite(motorA, 255); // Counter-clockwise
      digitalWrite(motorB, LOW);
    } else {
      digitalWrite(motorA, LOW);
      digitalWrite(motorB, LOW);
    }

    int lt = analogRead(ldrlt);
    int rt = analogRead(ldrrt);
    int ld = analogRead(ldrld);
    int rd = analogRead(ldrrd);
    int dtime = 10;
    int tol = 90; // dtime = difference time, tol = tolerance
    int avt = (lt + rt) / 2; // average value top
    int avd = (ld + rd) / 2; // average value down
    int avl = (lt + ld) / 2; // average value left
    int avr = (rt + rd) / 2; // average value right
    int dvert = avt - avd; // check the difference of up and down
    int dhoriz = avl - avr; // check the difference of left and right

    if (-tol > dvert || dvert > tol) {
      if (avt > avd) {
        servov++;
        if (servov > servovLimitHigh) {
          servov = servovLimitHigh;
        }
      } else if (avt < avd) {
        servov--;
        if (servov < servovLimitLow) {
          servov = servovLimitLow;
        }
      }
      vertical.write(servov);
    }

    if (-tol > dhoriz || dhoriz > tol) {
      if (avl > avr) {
        servoh--;
        if (servoh < servohLimitLow) {
          servoh = servohLimitLow;
        }
      } else if (avl < avr) {
        servoh++;
        if (servoh > servohLimitHigh) {
          servoh = servohLimitHigh;
        }
      } else if (avl == avr) {
        delay(10);
      }
      horizontal.write(servoh);
    }
    delay(dtime);
  } else {
    oldvalue = horizontal.read();
    oldvalue2 = vertical.read();
    for (pos = oldvalue; pos <= 180; pos += 1) {
      horizontal.write(pos);
      delay(15);
    }
    for (pos2 = oldvalue2; pos2 <= 0; pos2 += 1) {
      vertical.write(pos2);
      delay(15);
    }
    buttonStateB = digitalRead(button2);
    if (buttonStateB == LOW) {
      digitalWrite(motorA, LOW); // Clockwise
      digitalWrite(motorB, 255);
    } else {
      digitalWrite(motorA, LOW);
      digitalWrite(motorB, LOW);
    }
  }
}

    Group Assignment: