Michelle Vossen

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Output Devices

Assignments

Progress Task
Done Documented how you determined power consumption of an output device with your group.
Done Documented what you learned from interfacing output device(s) to microcontroller and controlling the device(s).
Done Documented your design and fabrication process or linked to the board you made in a previous assignment.
Done Explained the programming process/es you used.
Done Explained any problems you encountered and how you fixed them.
Done Included original design files and source code.
Done Included a ‘hero shot’ of your board.

Servo earring

As a first motor project, I wanted to make an earring with a micro servo that opens and closes based on proximity. I want to make a very small board, so I’m going to use an ATtiny 44 or 84. They can handle max. 6V. I would like for it to be coincell battery powered so it needs to be able to run with 3V. That doesn’t work for the motor however so I’ll see what’s in the lab; maybe I can combine two coincell batteries, one full and one half full so I get about 5V instead of over 6V (this consideration was before I thought about voltage regulators).

About the ATtiny44:

The high-performance Microchip picoPower® 8-bit AVR® RISC-based microcontroller combines 4 KB ISP Flash memory, 256B EEPROM, 256B SRAM, 12 general purpose I/O lines, 32 general purpose working registers, an 8-bit timer/counter with two PWM channels, a 16-bit timer/counter with two PWM channels, internal and external interrupts, an 8-channel 10-bit A/D converter, programmable gain stage (1x, 20x) for 12 differential ADC channel pairs, programmable watchdog timer with internal oscillator, internally calibrated oscillator, and four software selectable power saving modes. The device operates between 1.8-5.5 volts.

I looked at the SG90 mini servo; here it says it can operate at 3.0-7.2V. However in the datasheet here it says that the operating voltage is 4,8-6 V. Max current draw is 600 mA; I can measure what it actually draws with the power bench. The high torque one drew max 100mA, I’m not planning to put a lot of weight on it so I think it will stay in the low ranges.

hello.servo.44

I started looking at how others had made circuits with a servo and ATtiny. At this point I learned that there were example boards for all kinds of components on the Fabacademy pages; not just for programmers. I made Neil’s hello.servo with the ATtiny44 since I was going to build that basically the same circuit in KiCad.

I was worried about powering the chip and the servo from the same power supply but Neil’s example uses one input for power to power both the chip and the servo so I guess it’s fine. I’m just going to make it and make sure I use less than 6V as input. I guess the amperage should be fine since you can also operate the servo from an arduino pin (https://electronics.stackexchange.com/questions/67092/how-much-current-can-i-draw-from-the-arduinos-pins).

I milled the example board and gathered the components needed. I first grabbed the wrong crystal with two pads instead of the one with three pads (more on the difference between crystals, oscillators and resonators here; to summarize resonators have integrated capacitors, that is why it has three legs).

After soldering:

I replaced the voltage regulator I had used (LM2940) with the ZLDO1117, but then I saw that Neil had two examples that were exactly the same apart from the voltage regulator; the one I had just removed would also have been possible.

Some things I learned from making this board:

  • I was confused about current draw from a pin versus from a power source, but I didn’t realize that the pin isn’t powering the servo; the servo is connected to the pin for data, not for power. Power is coming from the power source directly.
  • I didn’t realize that the purpose of the voltage regulator was exactly that: regulating the voltage. This means that higher voltages will be regulated to a voltage of the value of that regulator, in this case 5V
  • There are example boards and they’re really insightful. I learned a lot, making the board basically answered all of my questions I had about it (like: what is a voltage regulator, how is it powered, can the chip and servo be powered from the same power source etc.)

Programming the board

Now it’s time to program the board. I’ve used the fabtinyISP before to program ATtiny’s so that’s what I used today too. I added the ATtiny chips by adding https://raw.githubusercontent.com/damellis/attiny/ide-1.6.x-boards-manager/package_damellis_attiny_index.json to my external boards in preferences and installed attiny via the boards manager. Then I tested if I could upload code to the board, and I could. I tried uploading the same servo code as used for the group assignment, but then I learned that this library doesn’t work with ATtiny. I found this forum describing the same issue I had: the servo moves when uploading code but then it stops after uploading is finished (using the Servo.h libary).

I first looked for the SoftwareServo.h library but I could’t find it. Then I tried out Servo8bit libray described here. I followed the following steps mentioned on the Github on how to make files with WinAVR:

  1. Download WinAVR via sourceforge
  2. open a CMD window and navigate to the Servo8Bit folder
  3. type in “make” in the CMD window and the code will be compiled
  4. type in “make program” to program your Attiny. This assumes you are using a usb programmer (such as the AVRISP mkII). However that didn’t do anything (I gave up very quickly though).

From C to Arduino

Then I figured I might as well figure out how Neils code works. On the Fabacademy page Neil provides makefiles and C code. I went with the C code since it’s closer to Arduino code. I first tried just pasting it into the Arduino IDE but that wasn’t enough of course. I asked Pieter what to do, because C looked like gibberish to me. He mentioned that Arduino expects a void setup() and void loop(), so to replace the int main(void) and while (1) with those. After some other small syntax changes the code compiled without issue and I could upload it to the board. It didn’t work very well though; the motor was vibrating and not doing what I expected it to do.

Now I needed to figure out how to make it move how I wanted it to move. Even though Arduino had no issues with the code, I had: it looked very different from code I’ve seen before and I didn’t know why it worked. I asked Pieter again to help me make sense of the code, and he pointed me in the direction of OCR1A and ICR1. They have to do with timing and PWM, which is what you need for controlling a servo with PWM.

This forum post explains:

OCR is the “Output Compare Register.” When the timer counter value matches the value you’ve put in the OCR, the module does “something”. The core configures an output pin to be set when the counter hits zero, and cleared when the counter matches an OCR value, which gives you PWM. (approximately. There are details…)

ICR is the “Input Capture Register.” You can set up the timer so that when the ICRn pin changes, the timer value at that instant is copied (by hardware) to the ICR, where you SW can read it “later.” So if you read the ICR at each edge of a pulse on that input pin, you can measure the length of the pulse.

OCR1A determines the angle of the servo. It was behaving weird because the values in Neils example where too high but this is also because ICR1 is set to 25000 instead of 4999 as on stack overflow. In Neil’s code ICR1 is set to 25000 and has a comment that says ‘20 ms frequency’. I changed this to 5000 Hz because that’s what the person here did (well, 4999) but I don’t know why I did that now that I’m looking at it again. In any case, changing the values for OCR1A to those in the stack exchange answer did work better than the previous values.

I looked at the datasheet for the servo where I learned that the duty cycle is a 20 ms square wave:

I tried to calculate the correct values for OCR1A using the same logic as the person in the post, because this stepper has the same PWM signal timings. These would be calculated as follows:

Angle 0 should be 1ms (1/20 = 0.05), so OCR1A = 4999 * 0.05 ~= 250 Angle 90 should be 1.5ms (1.5/20 = 0.075), so OCR1A = 4999 * 0.075 ~= 375 Angle 180 should be 2ms (2/20 = 0.1) so OCR1A = 4999 * 0.1 ~= 500

These angles worked for me in a sense that the motor was moving around, but it definitely wasn’t swinging 180 degrees.

This person found out that the values should be 0.5-2.5ms for 0-180 degrees. In their case and the datasheet was wrong (or it wasn’t the right datasheet). I tried the values they found but still the motor wasn’t doing what I hoped. At this point I didn’t know where else to look so I just started trying out many different values manually to get somewhere.

Flipping between OCR1A 250, 375 and 500:

I also changed the code to a for loop that would go back and forth with a delay in between. I controlled the speed by changing the value with which the servo position would increase and decrease.

After some more trial and error I got an almost full 180 degrees by moving between OCR1A 200 and 900, so I settled on these values:

Power usage:

I then connected a battery pack with 3 1.5V batteries to get 4.5V. Samson asked me why I didn’t just use a 9V battery. At this point I decided to look into what a voltage regulator does, because I had a feeling that he was right because that voltage regulator isn’t on the example board for nothing. As it turns out, yes, a voltage regulator indeed regulates voltage. The 5V regulator can take up to 18V as input voltage and outputs 5V as read in the datasheet. Now I finally dared to attach a 9V battery which went perfectly fine.

Code

//
// hello.servo.44.c
//
// servo motor hello-world
//
// set lfuse to 0x5E for 20 MHz xtal
//
// Neil Gershenfeld
// 4/8/12
// Modified by Michelle Vossen
// March 24, 2023
//
// (c) Massachusetts Institute of Technology 2012
// This work may be reproduced, modified, distributed,
// performed, and displayed for any purpose. Copyright is
// retained and must be preserved. The work is provided
// as is; no warranty is provided, and users accept all
// liability.
//

#include <avr/io.h>
#include <util/delay.h>

#define output(directions,pin) (directions |= pin) // set port direction for output
#define set(port,pin) (port |= pin) // set port pin
#define clear(port,pin) (port &= (~pin)) // clear port pin
#define pin_test(pins,pin) (pins & pin) // test for port pin
#define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set
#define position_delay() _delay_ms(20)

#define PWM_port PORTA
#define PWM_pin (1 << PA6)
#define PWM_direction DDRA

void setup() {
  //
  // main
  //
  // set clock divider to /1
  //
  CLKPR = (1 << CLKPCE);
  CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
  //
  // set up timer 1
  //
  TCCR1A = (1 << COM1A1) | (0 << COM1A0); // clear OC1A on compare match
  TCCR1B = (0 << CS12) | (1 << CS11) | (0 << CS10) | (1 << WGM13); // prescaler /8, phase and frequency correct PWM, ICR1 TOP
  ICR1 = 5000; // 20 ms frequency
  //
  // set PWM pin to output
  //
  clear(PWM_port, PWM_pin);
  output(PWM_direction, PWM_pin);

}
//
// main loop
//
void loop() {
  //
  // 1 ms PWM on time
  //

  for (int servoPos = 200; servoPos <= 900; servoPos = servoPos + 20) {
    OCR1A = servoPos;
    position_delay();
  }
  _delay_ms(2000);
  for (int servoPos = 900; servoPos >= 200; servoPos = servoPos - 5) {
    OCR1A = servoPos;
    position_delay();
  }
}

Laser cutting

Now that I had somewhat useful code, I went on with my plan: to make an earring that would ‘open and close’ with the servo rotating. I had some bioplastic that I made a while back and drew up some flames in Illustrator, then cut them with the laser cutter.

I cleaned them up with a wet paper towel. Then I drilled a couple of holes in the bioplastic and soldered some jewelry chains I had to close them. It didn’t work very well like this though because the chains where too short and the earring couldn’t stack all of its leaves under one another.

In the end I just used one long chain to go through the drilled holes, and I replaced the screw on top of the servo with a longer one so I could add 3 washers between the flames. This somehow worked and this is the result:

Neopixel necklace

Then I wanted to make a quick Neopixel sample (spoiler: it was not quick). I know how Neopixels work already, I just wanted to have a sample made with love since I had to give an e-textiles workshop on the following Monday. I still ran into plenty of problems.

I first wanted to connect the Neopixels to my XIAO development board, but then I realized I could just as well use the ATtiny board that I made for the servo. That way, the sample would be wearable as a scarf. So again, I did not design a board. I did design some shapes in Illustrator again to lasercut and use as the Neopixel traces. This is the fabric I used. This fabric is amazing because it cuts very well and you can solder onto it. I fused some Vlisofix (glue fabric) onto the fabric before cutting, so I could iron on the fabric easily.

Then I went on with soldering. The Neopixels are connected in parallel and have a direction: you have to connect the first data in to the microcontroller pin through a 300-500 Ohm resistor to prevent voltage spikes (as suggested here), then connect the data out to the next pixel’s data in and keep on connecting data out to data in. I soldered the data wires to the middle conductive fabric trace. All of the VCC and GND pads have to be connected too. For this I used the upper and lower fabric traces.

Here the soldered results; I soldered the Neopixels with the light emitting side down, so it can shine through the fabric as a diffuser.

I soldered the resistor between the microcontroller and the data in of the first pixel directly to the pad, attached the wire to the resistor and secured it with shrink tube.

Programming

Burn bootloader

Then it was time to test it out! I remembered some steps I had to take from last time working with Neopixels and ATtiny. The first one is that I had to burn the bootloader in Arduino because otherwise the pixels would only emit white light.

At this point I found out that only the first two pixels turned on. I measured with the multimeter trying to find where it wasn’t connected, and I found that the power and ground weren’t going conducting past the second pixel. I think it’s because I tried to get rid of the double sided tape on the back of the pixel and I didn’t clean it properly. I fixed it with some extra solder on my connections and with this double wire bridge:

CPU speed not supported

The next problem I had was this ‘CPU speed not supported’ error. I’ve had it before and documented it here:

I found the solution here. Just change one line in the Adafruit_NeoPixel.cpp file that can be found in the library. This increases the CPU limit on the 16MHz(ish) AVR code from 19MHz to 21MHz (the clock speed of the ATTiny used is 20MHz with the external resonator). Then the code succesfully compiles. It’s this line: 19000000L has to be changed to 21000000L.

// 16 MHz(ish) AVR --------------------------------------------------------
#elif (F_CPU >= 15400000UL) && (F_CPU <= 19000000L)

#if defined(NEO_KHZ400) // 800 KHz check needed only if 400 KHz support enabled
  if (is800KHz) {
#endif

File size

The next issue I ran into was a file size issue. Since I used the ATtiny 44 I only had 4400 bytes of space available, and the example file that I tried to upload was just a little bit too big. I removed some functions that I didn’t need which fixed the issue.

Sketch uses 4436 bytes (108%) of program storage space. Maximum is 4096 bytes.

I tried a couple of the examples in the Neopixel library which seemed to work fine, but with the rainbow example I could only see it switching between red, green and blue. I noticed that the first neopixel is doing what it should do, the second one doesn’t do green and the last one doesn’t do red (instead it turns off). I also thought it was weird that I only saw red, green and blue and not more hues.

This is the code I used:

#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif

// Which pin on the Arduino is connected to the NeoPixels?
// On a Trinket or Gemma we suggest changing this to 1:
#define LED_PIN     6

// How many NeoPixels are attached to the Arduino?
#define LED_COUNT  3

// NeoPixel brightness, 0 (min) to 255 (max)
#define BRIGHTNESS 100 // Set BRIGHTNESS to about 1/5 (max = 255)

// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRBW + NEO_KHZ800);

void setup() {
  strip.begin();           // INITIALIZE NeoPixel strip object (REQUIRED)
  strip.show();            // Turn OFF all pixels ASAP
  strip.setBrightness(BRIGHTNESS);
}

void loop() {
  rainbow(5);
}

// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait) {
  // Hue of first pixel runs 3 complete loops through the color wheel.
  // Color wheel has a range of 65536 but it's OK if we roll over, so
  // just count from 0 to 3*65536. Adding 256 to firstPixelHue each time
  // means we'll make 3*65536/256 = 768 passes through this outer loop:
  for (uint32_t pixelHue = 0; pixelHue < 3 * 65536; pixelHue += 256) {
    strip.setPixelColor(0, strip.gamma32(strip.ColorHSV(pixelHue)));
    strip.setPixelColor(1, strip.gamma32(strip.ColorHSV(pixelHue)));
    strip.setPixelColor(2, strip.gamma32(strip.ColorHSV(pixelHue)));
    strip.show(); // Update strip with new contents
    delay(wait);  // Pause for a moment
  }
}

I tested them individually and they are all able to display those colors. I’m not sure what the issue is there. I tried a different code and that worked just fine so I think the code isn’t great for use with only 3 pixels.

Here you can see the behavior of the pixels; they should all be doing the same thing but only the first pixel is behaving correctly:

I found this code and modified it slightly and it worked exactly how I expected it to work, displaying random colors and giving a colorful light glitter effect.

#include <Adafruit_NeoPixel.h>

#define PIN 6       // GPIO pin the neopixels are attached
#define NUMPIXELS 3 // number of pixels

Adafruit_NeoPixel pixels(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

const int COLOR_COUNT = 5;
enum colors { RED = 0, GREEN, BLUE, YELLOW, PURPLE };

const int SLEEP_AMOUNT = 30;  //wait until changing the next random pixel
const uint8_t BRIGHTNESS = 50;        //0-255 scale

void setup()
{
    pixels.begin();
}
 
void loop()
{   
    // Method 1: pick a random pixel and change it
    // int pixelId = random(pixels.numPixels());
    // pixels.setPixelColor(pixelId, getRandomColor());
     
    // Method 2: change every pixel to a random color
    for(int i = 0; i < pixels.numPixels(); i++)
    {
        pixels.setPixelColor(i, getRandomColor());    
    }
    
    pixels.setBrightness(BRIGHTNESS);  
    pixels.show();

    delay(SLEEP_AMOUNT);
}

uint32_t getRandomColor()
{    
    switch(random(COLOR_COUNT))
    {
        case RED:    { return pixels.Color(255, 0, 0);   }
        case GREEN:  { return pixels.Color(0, 255, 0);   }
        case BLUE:   { return pixels.Color(0, 0, 255);   }
        case YELLOW: { return pixels.Color(255, 255, 0); }
        case PURPLE: { return pixels.Color(255, 0, 255); }
        
        // should never happen
        default:{ return pixels.Color(255, 255, 255); }
    }  
}

Here you can see what that code does. It doesn’t skip colors now or turn off sometimes at pixel 2 and 3 so that’s something to investigate.

Final result:

Worn:

OLED

Since my I2S research (see the next part) was bringing me nowhere except for confusion and I still hadn’t designed a board for this week, I decided to have a look at OLED screens instead. We have these 128 x 64 pixel PEMENOL displays in the fablab.

I first wanted to make a module I can add to my development board. On my development board, I have my SDA and SCL pins next to each other.

However then I thought it would be nice to make a wearable device that I can integrate into the chest pocket of a shirt and that you can see through a little window in the pocket, and I was thinking that I could mount the screen on the back of the milled board, making it really small. I’ll still use vertical female header pins for easy removal of the XIAO board though.

Battery powering

I also want it to be battery-powered again. I thought I might need a voltage regulator again like on the attiny44 so I looked up how I should do it and found some this on stackoverflow:

Using unregulated voltage between 5V and 12V, connected to the 5V and GND pins. This voltage is regulated on-board.

The person that answered a similar question here has a strong opinion on using a 9V battery to power an ESP:

You are far better off using a 3.7 volt lithium polymer battery. I use a 250mAH rated one for a small ESP8266 project, a remote control. You can get a cheap TP4056 Lithium Battery Charger for it and then charge it with 5 volt USB chargers. (what I use). If for some reason you really wanted to use a 9V battery then it would make more sense to have a “buck” switching regulator to convert the 9V down to 4.2-5v and then use a linear regulator after that. Using a switching regulator will not waste as much energy from the battery. A switching regulator acts as a transformer, and is mainly power conversion and not just series wasted heat. Assuming a regulator with 100% efficiency (does not exist but makes the math easier) if we had the regulator provide 4.5V from the 9V battery, then the current drawn from the battery would be 1/2 of what the load at 4.5V draws. Like if the load needed 200mA at the 4.5V then the 9V would only see a load of 100mA.

I read up a little bit more on the type of voltage regulator that is on Neil’s hello.servo.44 board. It’s a LDO (low-dropout) linear regulator that ‘use a transistor controlled by a negative-feedback circuit to produce a specified output voltage that remains stable despite variations in load current and input voltage’.

This is what that looks like:

A serious disadvantage of linear regulators is their low efficiency in many applications. The transistor inside the regulator, which is connected between the input and output terminals, functions like a variable series resistance; thus, high input-to-output voltage differential combined with high load current results in large amounts of power dissipation. The current required for the functionality of the regulator’s internal circuitry, labeled IGND in the diagram, also contributes to total power dissipation. (via)

What this means, is that a lot of power is wasted and dissipates into heat. Of course I don’t want to waste 4V of the 9V battery. I could use a switching regulator that can converses the power instead of wasting it, as suggested above. I looked in the fab inventory and I couldn’t find anything when looking for a buck switching regulator; I’ll check with Henk later. However right now it’s Tuesday night and I need to design a board, so we continue.

Finally, on the Seeedstudio wiki I read this:

5V - This is 5v out from the USB port. You can also use this as a voltage input but you must have some sort of diode (schottky, signal, power) between your external power source and this pin with anode to battery, cathode to 5V pin.

So to be sure, I’ll add a schottky diode in between (this one). The voltage is then regulated on board. I don’t know how it’s being regulated though: if it’s being regulated by dissipating all excess voltage into heat it would still be very wasteful. I do think there is some power conversion on board because if you can input up to 12V, I can’t imagine it would dissipate 7V into heat safely without a heat sink (but I can be wrong).

I’m using a 100V 150mA Schottky diode.

The screen uses I2C over the SDA (serial data) and SCL (serial clock) pins. As read in the Arduino tutorial for OLEDs, I2C communication is generally slower than SPI, but it requires less pins and it can be shared with other I2C peripherals.

Kicad

There aren’t any footprints for screens in the library but I checked the distance between the pins on the display and it’s the standard 2.54mm. To mount the display on the back, I’ll use through holes.

I was thinking what I wanted to display on the screen; I think it would be fun to add an input to the screen in two weeks when we have the input devices week. Some ideas:

  • Generating visuals based on audio input (microphone, piezo)
  • Displaying messages sent from my phone over Bluetooth
  • Heartbeat sensor

To prepare for this, I’m adding some header pins to the GPIO pins that I’m not using, and a connector for ground and Vcc.

Schematic:

PCB Editor

After seeing this rat’s nest, I went straight back to EEschema to flip the connectors.

This looks better:

I double checked the design rules; they weren’t saved so I imported them from another board (this time making sure the default minimum clearance was 0,4mm)

Default 0,4 mm 0,39 mm 0,8 mm 0,4 mm 0,3 mm 0,1 mm 0,39 mm 0,25 mm

I also know that I should run the DRC:

Finished board:

Milling and soldering

Milling went well; I used the 3018 CNC. I was happy until I soldered everything and realized I messed up with converting the SVG in Illustrator and I managed to disconnect all of my ground connections. I fixed it with a couple of bridges and a lot of frustration.

Direction of tiny Schottky diode (for future reference):

This is how my traces looked like in mods; you can see all of my ground connections are gone. Of course I didn’t notice it when I was milling.

This is how it should’ve been:

I also found out that we didn’t have the exact same display as was in the inventory. The one we have has VCC and GND switched, so I also had to change those. That didn’t matter too much since I had to reroute so much anyway.

Finished board:

Arduino

I installed the library and its dependencies for the ssd1306 via the libraries manager.

When I finally fixed all of the messes I made in the previous step, at least uploading the Hello, world! sketch went well without any problems.

Animation on OLED

Then I wanted to make something more visual and I found this tutorial on how to convert a gif into something the screen understands. The example code works well:

Global steps:

  1. Transform gif into black and white frames with a 128x64 resolution with ez-gif and export frames as JPG
  2. Transform frames into C with https://sourceforge.net/projects/lcd-image-converter/files/latest/download
  3. Paste hex into Arduino arrays

It’s a not a great workflow because it involves a lot of manual labor; I think it shouldn’t be too hard to turn it into a script. The first try didn’t work because I got way too many frames in C (24576 instead of 1024). I found another tutorial here showing the steps better; I had to set the bit size to 8 because it was set to 32. Then I manually added all of the hex arrays into the Arduino IDE. This is the result:

It’s a watering can that I 3D printed a while back.

Code

Hello world code:

#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels

// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

void setup() {
  Serial.begin(115200);

  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3D for 128x64
    Serial.println(F("SSD1306 allocation failed"));
    for(;;);
  }
  delay(2000);
  display.clearDisplay();

  display.setTextSize(1);
  display.setTextColor(WHITE);
  display.setCursor(0, 10);
  // Display static text
  display.println("Hello, world!");
  display.display(); 
}

void loop() {
  
}

Watering can gif code:

#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels

// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

int frame_delay = 90;

const unsigned char Frame0 [1024] PROGMEM = {
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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};

const unsigned char Frame1 [1024] PROGMEM = {
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};

const unsigned char Frame2 [1024] PROGMEM = {
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};

const unsigned char Frame3 [1024] PROGMEM = {
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};

const unsigned char Frame4 [1024] PROGMEM = {
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};

const unsigned char Frame5 [1024] PROGMEM = {
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};

const unsigned char Frame6 [1024] PROGMEM = {
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};

const unsigned char Frame7 [1024] PROGMEM = {
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};

const unsigned char Frame8 [1024] PROGMEM = {
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};

const unsigned char Frame9 [1024] PROGMEM = {
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};

const unsigned char Frame10 [1024] PROGMEM = {
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};

const unsigned char Frame11 [1024] PROGMEM = {
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  0x00, 0x03, 0xc0, 0x00, 0x01, 0x80, 0x07, 0xff, 0xff, 0xfe, 0x04, 0x00, 0x00, 0x1f, 0xff, 0x80,
  0x00, 0x03, 0xc0, 0x00, 0x00, 0x80, 0x07, 0xff, 0xff, 0xfc, 0x84, 0x00, 0x00, 0xf7, 0xdf, 0xc0,
  0x00, 0x01, 0xe0, 0x00, 0x01, 0xe0, 0x57, 0xff, 0xff, 0xfe, 0x0c, 0x00, 0x03, 0xff, 0xff, 0xd0,
  0x00, 0x01, 0xf0, 0x00, 0x01, 0x00, 0x3b, 0xff, 0xff, 0xff, 0x3c, 0x00, 0x3f, 0xff, 0xcf, 0xd0,
  0x00, 0x00, 0xf8, 0x00, 0x01, 0x80, 0x1f, 0xff, 0xff, 0xff, 0x1c, 0x00, 0xff, 0xfe, 0x03, 0xf0,
  0x00, 0x00, 0x7c, 0x00, 0x01, 0x40, 0x3f, 0xff, 0xff, 0xff, 0x7c, 0x07, 0xff, 0xf8, 0x01, 0xe0,
  0x00, 0x00, 0x3f, 0x00, 0x07, 0x80, 0x3b, 0xff, 0xff, 0xff, 0x7c, 0x3f, 0xff, 0xc0, 0x00, 0x00,
  0x00, 0x00, 0x1f, 0xe0, 0x0f, 0xc0, 0x0b, 0xff, 0xff, 0xfe, 0x7f, 0xff, 0xff, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x07, 0xfe, 0x7f, 0x80, 0x07, 0xff, 0xff, 0xfe, 0x3f, 0xff, 0xf8, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x01, 0xfe, 0xfb, 0x80, 0x1f, 0xff, 0xff, 0xff, 0x7f, 0xff, 0xe0, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x3f, 0xc3, 0xc0, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0xff, 0xc0, 0x37, 0xff, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0xff, 0xc0, 0x1f, 0xff, 0xff, 0xff, 0xff, 0xf0, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x07, 0x80, 0x1f, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x03, 0x80, 0x1f, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x03, 0x80, 0x1f, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x03, 0xc0, 0x3f, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x03, 0x40, 0x8f, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x01, 0xc0, 0xef, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x1f, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x3f, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xc0, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7f, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};

void setup() {
  Serial.begin(115200);

  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3D for 128x64
    Serial.println(F("SSD1306 allocation failed"));
    for (;;);
  }
}

void loop() {

  display.clearDisplay();
  display.drawBitmap(0, 0, Frame0, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame1
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame1, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame2
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame2, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame3
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame3, 128, 64, 1);
  display.display();
  delay(frame_delay);

  display.clearDisplay();
  display.drawBitmap(0, 0, Frame4, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame1
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame5, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame2
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame6, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame3
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame7, 128, 64, 1);
  display.display();
  delay(frame_delay);

  display.clearDisplay();
  display.drawBitmap(0, 0, Frame8, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame1
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame9, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame2
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame10, 128, 64, 1);
  display.display();
  delay(frame_delay);

  // Frame3
  display.clearDisplay();
  display.drawBitmap(0, 0, Frame11, 128, 64, 1);
  display.display();
  delay(frame_delay);

}

I2S & ESP32

I couldn’t figure out how to use I2S with the XIAO ESP32; I found this discussion which was the start of my deep dive into audio and I2S and the start of my realization that audio is actually pretty hard. I’ve been told it is hard, but now I’m starting to understand that it’s actually hard.

Some links:

I tried following this tutorial but I didn’t have the right parts, a different ESP, and absolutely no clue what I was doing.

I used this documentation as a reference too.

I Installed this library: https://github.com/earlephilhower/ESP8266Audio

Arduino library for parsing and decoding MOD, WAV, MP3, FLAC, MIDI, AAC, and RTTL files and playing them on an I2S DAC or even using a software-simulated delta-sigma DAC with dynamic 32x-128x oversampling.

  • internal DAC (pin 25 & pin 26)
  • external DAC
    • DAC1/2 are the 2 8-bit DACs internal to the ESP32; if you want to get an analog output directly from the ESP32 you must use those two pins as the analog output pins. If you use an external DAC, you can use any available GPIO for any I2S signal (https://www.esp32.com/viewtopic.php?t=12527)
  • Or a software-simulated DAC https://www.digikey.com/en/products/detail/texas-instruments/LM4871M/3701369

During Global Open Time I was recommended to either use the ATtiny 412 or the ESP32 WROOM.

Ricardo’s Zoom comments:

Neil hasn't talked about hardcore programming yet. only in small doses, but everytime you see him saying he coded something without arduino it's sometimes called bit-banging because your forcing the controllers to do something in software they might not support in hardware. the library might be doing that. you can kinda pick random pins. or the library might be able to assign different pins to hardware functions. because that's possible too xD

the wroom is harder to mill because they're smaller. in the long run it's just better to understand the basics of why this works or not because it'll be useful for other things in the future
i2c was the basis of my project because I needed to connect 3x i2c sensors in individual boards connected to my mainboard with the micro-controller. I had to breath i2c for 4 months

you might be able to use any compatible pins
// The pin config as per the setup
  const i2s_pin_config_t pin_config = {
      .bck_io_num = 26,   // Serial Clock (SCK)
      .ws_io_num = 25,    // Word Select (WS)
      .data_out_num = I2S_PIN_NO_CHANGE, // not used (only for speakers)
      .data_in_num = 33   // Serial Data (SD)
  };

it's everything…. the library is just an algorithm so you feed it information and it does things. If it doesn't know the correct pins for the board you're using then it wont work.
while we're talking about esp32 controllers the actuall boards might have different pinouts, as you've noticed between the example and the xiao already

you might want to consider something like a raspberry pi pico https://www.raspberrypi.com/products/raspberry-pi-pico/ it has a lot more pins and you'll need a lot of compute horse power if you want to manipulate the audio in real time
it doesn't seem like you'd take advantage of the wireless capabilities of the esp32 anyway

if you want a micro-phone and stuff the XIAO might not be enough though. it might come short in pins if you want to add some buttons and stuff

I2S and ESP32 (via https://dronebotworkshop.com/esp32-i2s/)

The ESP32 has two I2S peripherals, I2S0, and I2S1. Each one can be configured as a Controller or Target, and each one can be an audio Transmitter or Receiver.

Each I2S controller can operate in half-duplex communication mode. Thus, the two controllers can be combined to establish full-duplex communication.

The devices also have a DMA (Direct Memory Access) mode, this mode allows for streaming sample data without requiring the CPU to copy each data sample, and can be useful when streaming high-quality audio.

There is also a mode that allows the output of I2S0 to be internally routed to the input of the ESP32 DAC to produce direct analog output without involving any external I2S codecs.

The I2S peripherals also support an advanced mode called “LCD mode” for communicating data over a parallel bus. This is used by some LCDs and camera modules. LCD mode can be operated in the following modes:

    LCD master transmitting mode
    Camera slave receiving mode
    ADC/DAC mode

This research continues in week 11.

Group assignment

When measuring amperage, the multimeter has to be in series with the circuit! Otherwise you can short your circuit because you’re literally creating a shortcut for the current. When measuring voltage, you’re measuring parallel to the part of the circuit that you’re measuring.

Power station

On Thursday we started with a lecture by Henk on output devices. Then he showed us how to use a power station and how to determine the power consumption of a device.

When you turn on the TENMA power station, it’s not delivering power immediately. You first have to set the voltage and current with the buttons and knob on the right, in the menu called ADJUST. Make sure you know what your device can handle voltage-wise! You can fry components with too much voltage. However you cannot fry components with too much amperage because the circuit will only use what it needs up until the amperage that you set on the power station.

Good practice is:

  1. Turn on the power station before connecting it to the circuit
  2. Set the values that you need
  3. Connect the circuit
  4. Finally turn on the power with the rectangular Off/On button

Power & energy

Henk used this Arduino with nothing attached as an example. When the Arduino is on but not doing anything, it’s consuming about 12mA on average. When determining power consumption, remember that power is voltage times current. This means that the power is 5 * 0.012A = 0.06 Watt.

Power is the actual delivered power. Energy is the power over a unit of time. To then calculate power consumption in kWh, you need to multiply power by time. For one hour that means that it’s just multiplied by 1, so 0.00006 kWh. You can also calculate amperage per hour like this; so this circuit needs 12mAh. This is useful for when you’re using batteries and you want to figure out how long you can power your circuit. To quote Erwin:

The Ikea Ladda rechargeable battery I’m looking at right now can deliver 2450 mAh. Your circuit draws 12mA, so in an ideal world this battery could power your circuit for 200 hours.

MG995

For our group assignment, we first tested the power consumption of a servo motor (the MG995). The Arduino Uno is powered separately from the servo. We used the following code:

#include <Servo.h>

int servoPin = 6;
int servoPos = 0;
Servo myServo;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  myServo.attach(servoPin);
}
void loop() {
  // put your main code here, to run repeatedly:
  for (servoPos = 0; servoPos <= 120; servoPos++) {
    myServo.write(servoPos);
    delay(10);
  }
  for (servoPos = 120; servoPos >= 0; servoPos--) {
    myServo.write(servoPos);
    delay(10);
  }
}

It’s also possible to control a servo by writing microseconds as described here.

  • Orange: PWM
  • Red: + power
  • Brown: - ground

You can see that if you try to hold the servo back it needs to work way harder to keep moving, thus increasing the current the circuit is pulling from the power bench.

We also double checked the voltage that the power station delivered with a multimeter by adding probes to the beginning and end of the circuit.

The multimeter is in series with the motor to verify the pulled current:

We also tried with the power bench that we made ourselves in the lab; this one shows wattage as well.

We also checked power consumption of a stepper motor (Samson has the code for this one):

Some notes:

Logic analyzer

Henk also showed us how to visualize voltages with the Saleae Logic. You can connect the analyzer to your computer and visualize the voltages in their software (can be downloaded here). You have to connect the ground probe and one or more channels parallel to the component(s) you want to see. This is a board by Henk with a couple of LEDs that says hello world if you shake it:

Here you can see the voltage drops of the servo that we measured with the Saleae Logic Analyzer. The voltage varies between 7,16V and 7,2V. The data is visualized in the DPS5005_pyGUI software on Henk’s computer.

Reflection

When the power consumed by the circuit is way more volatile as visible in the videos above, it’s harder to determine the power consumption in kWh. You could write down the amperage at a set interval and work from there.

Files

Notes

The XIAO doesn’t use all of the available pins on the ESP32C3 or RP2040, if you want to use more you need to make your own board

ADC/DAC:

  • 0>255 (2^8) ADC > analog to digital converter (you can simulate a wave form)
  • DAC > digital to analog converter > these are the real analog pins that can shape a real analog wave. RP2040 doesn’t have DAC pins, ESP32 does.
  • With ADC you can use all kinds of sensors like LDRs because the voltage variations can easily be converted to digital signals
  • PWM is always on a digital pin
  • PWM is only output

I2C and SPI network protocols to communicate between ICs

Quote from a reddit comment

PWM is a type of output - pulse width modulation. It’s a square wave with 2 basic parameters - the proportion of high to low (duty cycle) and the time between a full high and low cycle. It’s useful for a lot of things - driving motors, for example. If you pulse a DC motor very quickly, it doesn’t stop turning during the “low” part of the cycle, so you end up with an average signal roughly corresponding to your duty cycle (kinda), so you can drive a motor at less than full. Similarly LEDs and the human eye - if you flash an LED between “full” and “off” very rapidly, it looks constant-but-dim to humans.

Technically, if you wanted to manage it yourself, you could create pwm of a sort on any output pin. But the atmega chip in the arduino has a couple of built in hardware timers that are very good at handling pwm. They are connected to specific pins, so you can tell the chip “give me 50% duty cycle on pin blah”, and it is all managed in hardware.

Lecture notes

Input > System > Output ~1 mA: OK ~10 mA: shock, contraction ~100 mA: fibrillation

  • Capacitors can stay charged even after turning off the circuit
  • Coils stay magnetized

USB

  • Computer USB 3.0 ports can give 0.9Amps at 5V > can power a laser cutter or small CNC
  • Hubs lets you power multiple devices

Power

  • Linear power supplies: lower electrical noise but more expensive
  • Switching power supplies: more freedom in picking voltage & current
  • Super capacitors
  • LiPo have to be stored carefully > fire hazard
  • Power things wirelessly with coils

Power consumption

  • workbench
  • Magnetic sensors > measure power consumption of a coil

Output devices

Power = current X voltage

Light

  • Lamp: glowing filament in near-vacuum glass case
    • very inefficient in power use (+/- 5%)
    • don’t use them
  • RGB LEDs: color and brightness
    • Common anode or common cathode
    • Check datasheet which one it is

  • LEDs: cathode is negative, anode is positive. Note that for batteries, cathode is positive and anode is negative.

  • PWM: ‘fat’ pulses: bright, ‘skinny’ pulses: dim
  • If you shake an LED very fast you can see the pulses
  • PWM ‘simulates’ an analog port by varying pulse width (duty cycle) on digital pins
  • Color depends on used materials (Gallium…. )
  • Various forward voltages & voltage drops, determines the resistor needed (but if you use a slightly larger or smaller resistor it will just shine brighter or dimmer)
  • Focused beam
  • Clear or diffused casing

From Erwin’s slides:

Driving one LED from one µC pin?

  • Connected directly through a resistor (I < 50mA) Driving more LEDs from one pin?
  • Connected through a MOSFET or BJT (MOSFET is easier, BJT barely used anymore)

  • Neopixels: programmable LEDs

  • EL-wires

Power transistors

Pins can provide 50mA typically > transistor/mosfets needed for higher current N-mosfet: resistance is a function of the voltage

  • RDS: gate (processor), drain (load), source (ground) > sink of current P-mosfet: load (ground), source (current), gate … > source of current

Pulldown resistor between pin and transistor to keep it low when it’s not in use

Arrays of LEDs

  • Charlieplexing: with N pins N*N^-1 LEDs can be controlled (N-1 because the diagonal doesn’t work)

Displays

  • LCD (liquid crystal display): for example simple 3D printer screens; borderline obsolete. Change the polarization of the display to reflect light
  • O-LED (organic LED): bitmap display that lets you talk to pixels directly, just a few dollars each
    • We have two kinds, a simple one that you can use with the two pins dedicated for SCL & SDA
  • TFT (Thin-Film-Transistor): modulate rather than emit
  • E-ink
  • VFD (vacuum fluorescent display): popular in consumer electronics of the 90s, works by applying high voltage to ionize phosphor atoms
  • Dot matrix
    • Needs many pins > Dedicated dot-matrix driver IC’s (ie. MAX7219 :-)
    • Often integrated in display
    • Controlled via parallel or serial communication
    • Lots of Arduino libraries
    • LCD.print(“Hello World!”);
  • 7 segment:
    • Dedicated 7-segment driver IC’s (ie MAX7219)
    • Select the correct digit
    • Translate binary to a-to-h
    • Translate serial communication to a-to-h

Video

  • Generating color graphics with analog video waves but screens barely exist anymore that support it

Audio

Motion

  • Solenoids: up and down motion (can play music with them like a robotic xylophone or use it for looms or electronically opening doors)
    • Coil of copper wires creates electromagnetic field
    • Fly-back (not fly-by) diode to make sure the magnetic field doesn’t make current flow back into the IC
    • Solenoids can draw a lot of current so use a MOSFET
  • DC motors
    • Coils
    • H-bridge: four MOSFETS (you can switch directions because of this). Motor bridge is basically an H-bridge and you can set resistor
      • A = forward; B = backward; A + B = short circuit!
    • Dedicated driver ICs
    • Control motors with PWM
    • Mosfets can get really hot
    • Thicker traces when you need more current, otherwise dissipation in the traces will become apparent. You can use heat sinks to help with heat
    • Vibrating motors
  • Servo motors: DC motor + gearbox + sensor = position control
    • Location controlled via analog voltage or PWM
    • H-bridge to switch direction of the motor
    • ESC (electronic speed controllers) have the half bridge integrated
    • A servo motor knows where it is
    • Max angle is 270 degrees
  • Brushless DC motor
    • 10 amp small drone, 1000 amp car
    • Quiet and efficient, are quickly replacing regular DC motors
  • Stepper motors
    • Can vary direction and speed pretty precisely
    • They don’t know where they are, that’s why you always need to home machines using them
    • driven with two sets of coils: rotor that rotates with permanent magnets, and coils around it that point inward and are connected skipping one each, and teeth. Magnetic fields want to align constantly.
    • Steps are a known angle, don’t use it when you just want to spin constantly
    • Useful if you want to move axes
    • Chips to drive steppers: dedicated control circuits (step sticks boards you can stick in, convenient for easy replacement/upgrading)
    • Controlled via serial
    • Arduino library
    • Microstepping can make steps smaller than the coil windings; smoother but less accurate

      Microstepping is achieved by using pulse-width modulated (PWM) voltage to control current to the motor windings. The driver sends two voltage sine waves, 90 degrees out of phase, to the motor windings. While current increases in one winding, it decreases in the other winding. This gradual transfer of current results in smoother motion and more consistent torque production than full- or half-step control. (via)

SSR

  • AC to DC
  • You want to switch the hot side
  • Opto-isolators prevent high voltages from affecting the system receiving the signal

Other

  • Piezo
  • Artificial muscles with conductive yarns: coiling and then doubling it, heat makes it retract and expand
  • Pneumatics
  • Soft robotics