Tài liệu Robotics Student Guide for Experiments docx

5RERWLFV
6WXGHQW*XLGHIRU([SHULPHQWVWKURXJK
9HUVLRQ
1RWHUHJDUGLQJDFFXUDF\RIWKLVWH[W
0DQ\ HIIRUWV ZHUH WDNHQ WR HQVXUH DFFXUDF\ RI WKLV WH[W DQG WKH
H[SHULPHQWVEXWWKHSRWHQWLDOIRUHUURUVVWLOOH[LVW,I\RXILQGHUURUV
RUDQ\VXEMHFWUHTXLULQJDGGLWLRQDOH[SODQDWLRQSOHDVHUHSRUWWKLVWR
VWDPSVLQFODVV#SDUDOOD[LQFFRP VR ZH FDQ FRQWLQXH WR LPSURYH WKH
TXDOLW\RIRXUGRFXPHQWDWLRQ
:DUUDQW\
3DUDOOD[ZDUUDQWVLWVSURGXFWVDJDLQVWGHIHFWVLQPDWHULDOVDQGZRUNPDQVKLSIRUDSHULRGRIGD\V,I\RXGLVFRYHUDGHIHFW3DUDOOD[
ZLOODWLWVRSWLRQUHSDLUUHSODFHRUUHIXQGWKHSXUFKDVHSULFH6LPSO\FDOOIRUD5HWXUQ0HUFKDQGLVH$XWKRUL]DWLRQ50$QXPEHU
ZULWH WKH QXPEHU RQ WKH RXWVLGH RI WKH ER[ DQG VHQG LW EDFN WR 3DUDOOD[ 3OHDVH LQFOXGH \RXU QDPH WHOHSKRQH QXPEHU VKLSSLQJ
DGGUHVVDQGDGHVFULSWLRQRIWKHSUREOHP:HZLOOUHWXUQ\RXUSURGXFWRULWVUHSODFHPHQWXVLQJWKHVDPHVKLSSLQJPHWKRGXVHGWR
VKLSWKHSURGXFWWR3DUDOOD[
'D\0RQH\%DFN*XDUDQWHH
,IZLWKLQGD\VRIKDYLQJUHFHLYHG\RXUSURGXFW\RXILQGWKDWLWGRHVQRWVXLW\RXUQHHGV\RXPD\UHWXUQLWIRUDIXOOUHIXQG3DUDOOD[
ZLOOUHIXQGWKHSXUFKDVHSULFHRIWKHSURGXFWH[FOXGLQJVKLSSLQJKDQGOLQJFRVWV7KLVGRHVQRWDSSO\LIWKHSURGXFWKDVEHHQDOWHUHG
RUGDPDJHG
&RS\ULJKWVDQG7UDGHPDUNV
7KLVGRFXPHQWDWLRQLVFRS\ULJKWE\3DUDOOD[,QF%$6,&6WDPSLVDUHJLVWHUHGWUDGHPDUNRI3DUDOOD[,QF,I\RXGHFLGHGWRXVHWKH
QDPH%$6,&6WDPSRQ\RXUZHESDJHRULQSULQWHGPDWHULDO\RXPXVWVWDWHWKDW%$6,&6WDPSLVDUHJLVWHUHGWUDGHPDUNRI3DUDOOD[
,QF2WKHUEUDQGDQGSURGXFWQDPHVDUHWUDGHPDUNVRUUHJLVWHUHGWUDGHPDUNVRIWKHLUUHVSHFWLYHKROGHUV
'LVFODLPHURI/LDELOLW\
3DUDOOD[,QFLVQRWUHVSRQVLEOHIRUVSHFLDOLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHVUHVXOWLQJIURPDQ\EUHDFKRIZDUUDQW\RUXQGHUDQ\
OHJDO WKHRU\ LQFOXGLQJ ORVW SURILWV GRZQWLPH JRRGZLOO GDPDJH WR RU UHSODFHPHQW RI HTXLSPHQW RU SURSHUW\ DQG DQ\ FRVWV RU
UHFRYHULQJUHSURJUDPPLQJRUUHSURGXFLQJDQ\GDWDVWRUHGLQRUXVHGZLWK3DUDOOD[SURGXFWV3DUDOOD[LVDOVRQRWUHVSRQVLEOHIRUDQ\
SHUVRQDOGDPDJHLQFOXGLQJWKDWWROLIHDQGKHDOWKUHVXOWLQJIURPXVHRIDQ\RIRXUSURGXFWV<RXWDNHIXOOUHVSRQVLELOLW\IRU\RXU%$6,&
6WDPSDSSOLFDWLRQ
,QWHUQHW$FFHVV
:H PDLQWDLQ LQWHUQHW V\VWHPV IRU \RXU XVH 7KHVH PD\ EH XVHG WR REWDLQ VRIWZDUH FRPPXQLFDWH ZLWK PHPEHUV RI 3DUDOOD[ DQG

FRPPXQLFDWHZLWKRWKHUFXVWRPHUV$FFHVVLQIRUPDWLRQLVVKRZQEHORZ
(PDLO VWDPSVLQFODVV#SDUDOOD[LQFFRP
)WS IWSSDUDOOD[LQFFRPDQGIWSVWDPSVLQFODVVFRP
:HE KWWSZZZSDUDOOD[LQFFRPDQGKWWSZZZVWDPSVLQFODVVFRP
,QWHUQHW%$6,&6WDPS'LV FXVVLRQ/LVW
:H PDLQWDLQ WZR HPDLO GLVFXVVLRQ OLVWV IRU SHRSOH LQWHUHVWHG LQ %$6,& 6WDPSV 7KH %$6,& 6WDPS OLVW VHUYHU LQFOXGHV HQJLQHHUV
KREE\LVWVDQGHQWKXVLDVWV7KHOLVWZRUNVOLNHWKLVORWVRISHRSOHVXEVFULEHWRWKHOLVWDQGWKHQDOOTXHVWLRQVDQGDQVZHUVWRWKHOLVWDUH
GLVWULEXWHGWRDOOVXEVFULEHUV,WnVDIXQIDVWDQGIUHHZD\WRGLVFXVV%$6,&6WDPSLVVXHVDQGJHWDQVZHUVWRWHFKQLFDOTXHVWLRQV7R
VXEVFULEH WR WKH %$6,& 6WDPS OLVW VHQG HPDLO WR PDMRUGRPR#SDUDOOD[LQFFRP DQG ZULWH VXEVFULEH VWDPSV LQ WKH ERG\ RI WKH
PHVVDJH7KLVOLVWJHQHUDWHVDERXWPHVVDJHVSHUGD\
7KH 6WDPSV LQ &ODVV OLVW LV IRU VWXGHQWV DQG HGXFDWRUV ZKR ZLVK WR VKDUH HGXFDWLRQDO LGHDV 7R VXEVFULEH WR WKLV OLVW JR WR
KWWSZZZVWDPSVLQFODVVFRPDQGORRNIRUWKH(JURXSVOLVW7KLVOLVWJHQHUDWHVDERXWPHVVDJHVSHUGD\

&RQWHQWV
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
7DEOHRI&RQWHQWV
3UHIDFH
$XGLHQFHDQG7HDFKHUnV*XLGHV  
&RS\ULJKWDQG5HSURGXFWLRQ 
6SHFLDO&RQWULEXWRUV 
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DUWV5HTXLUHG 
6WHS6HUYR0RGLILFDWLRQDQG7HVWLQJ  
6WHS0RXQWLQJ6HUYRVDQG:KHHOVRQ%RH%RW3ODWIRUP 
6WHS,QVWDOO7DLO:KHHODQG%DWWHU\+ROGHU  
6WHS0RXQWLQJWKH%RDUGRI(GXFDWLRQDQG&RQQHFWLQJWKH6HUYRV 
6WHS3URJUDPPLQJWKH%RH%RWIRU%DVLF0RYHPHQW3DWWHUQ 
&KDOOHQJH
([SHULPHQW%DVLF0RYHPHQW8VLQJ6XEURXWLQHVDQG0HPRU\
3XOVRXW&RPPDQGDQG6HUYR&RQWURO

3DUWV5HTXLUHG
%XLOG,W
3URJUDP,W
6RXQG)HHGEDFN 
/(')HHGEDFN
'LVWDQFH&DOLEUDWLRQ
0DNLQJ7XUQV
*RWR6WDWHPHQW 
*RVXE$&ORVH5HODWLYHRI*RWR
8VLQJWKH'DWD&RPPDQGDQG((3520WR6WRUH0RYHPHQWV
$OO7RJHWKHU1RZ
&KDOOHQJH
([SHULPHQW)ROORZLQJ/LJKW 
3DUWV5HTXLUHG
%XLOG,W
3URJUDP,W
8VLQJWKH3KRWRUHVLVWRU
&KDOOHQJH
&RQWHQWV
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
([SHULPHQW,QIUDUHG2EMHFW'HWHFWLRQ
,QIUDUHG7UDQVPLVVLRQ 
,QIUDUHG5HFHSWLRQ 
%XLOG,W 
3URJUDP,W
,QIUDUHG7UDQVPLWDQG5HFHLYH  
7URXEOHVKRRWLQJ 
&KDOOHQJH 
$SSHQGL[$3DUWV/LVWLQJDQG6RXUFHV
$SSHQGL[%5HVLVWRU&RORU&RGH  

$SSHQGL[&&KDQJLQJWKH%RDUGRI(GXFDWLRQ9ROWDJH5HJXODWRU 
$SSHQGL['%RH%RW&RPSHWLWLRQ5XOHV
3UHIDFH
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
3UHIDFH
7KHJRDORIWKH5RERWLFVFXUULFXOXP LV WRVKRZVWXGHQWVKRZ HDV\LWLV WREHFRPH LQWHUHVWHG DQG
H[FLWHGDERXWWKHILHOGVRIVFLHQFHLQIRUPDWLRQDQGHQJLQHHULQJDVWKH\GHVLJQFRQVWUXFWDQGSURJUDP DQ
DXWRQRPRXVURERW7KH%RDUGRI(GXFDWLRQ5RERW%RH%RWSURYLGHVVWXGHQWVZLWKDSURMHFWDUHDWREXLOG
DQGFXVWRPL]HWKHLURZQPHFKDQLFDOHOHFWULFDODQGSURJUDPPLQJSURMHFW7KHXVHRI DURERWWRLQWURGXFH
PLFURFRQWUROOHU FLUFXLWV DQG LQWHUIDFLQJ LV LGHDO VLQFH WKH RXWSXWV DUH DOPRVW HQWLUHO\ YLVLEOH DQG HDV\ WR
FXVWRPL]H
7KH%RDUGRI(GXFDWLRQPD\EHWDNHQRIIRIWKH%RH%RWEDVHDQGXVHGIRURWKHU6WDPSVLQ&ODVV
FXUULFXOXPH[SHULPHQWV7KLVSRUWDELOLW\VDYHVWKHFODVVIURPSXUFKDVLQJDQRWKHUVHWRIKDUGZDUHDQGUHGXFHV
WKHFRVWRIH[SORULQJURERWLFV7KH%RDUGRI(GXFDWLRQZDVQRWRULJLQDOO\GHVLJQHGIRUXVHRQDURERW%RH%RW
ZDVFUHDWHGLQ UHVSRQVH WR FXVWRPHU GHPDQG VR\RXZLOO QRWLFHRQHRU WZR ZRUNDURXQGV WKDWZRXOGQW
H[LVWLIDURERWKDGEHHQFRQVLGHUHGZKHQWKH%RDUGRI(GXFDWLRQZDVFRQFHLYHG6SHFLILFDOO\WKHVHUYRVXVH
WKHXQUHJXODWHG9SRZHUVXSSO\IURPWKH9LQLQVWHDGRIWKHUHJXODWHG9GG,QFRQMXQFWLRQZLWKDX)
FDSDFLWRUEHWZHHQ9VVDQG9GGWKLVSUHYHQWVUHVHWVRQWKH%$6,&6WDPS2OGHUERDUGVPD\DOVRQHHGWRKDYH
WKHLUYROWDJHUHJXODWRUVZDSSHGRXWIRUWKHQHZ/0ORZGURSRXWUHJXODWRU'HWDLOVIRUWKLVDUHVKRZQLQ
$SSHQGL[&DQGWKHUHSODFHPHQWSDUWVDUHIUHHIURP3DUDOOD[
7KH 5RERWLFV FXUULFXOXP ZLOO EH UHYLVHG DQG XSGDWHG EDVHG RQ IHHGEDFN IURP VWXGHQWV DQG
HGXFDWRUV,I\RXZRXOGOLNHWRDXWKRUDQDGGLWLRQWRWKLVFXUULFXOXPRUKDYHLGHDVIRULPSURYHPHQWVSOHDVH
VHQGWKHPWRVWDPSVLQFODVV#SDUDOOD[LQFFRP:HOOGRRXUEHVWWRLQWHJUDWH\RXULGHDVDQGDVVLVW\RXZLWK
ZKDWHYHUWHFKQLFDOVXSSRUWVDOHVVXSSRUWRURQVLWHWUDLQLQJ\RXQHHG,IZHDFFHSW\RXU%RH%RWSURMHFW
ZHOOVHQG\RXDIUHH%RH%RW
$XGLHQFHDQG7HDFKHUnV*XLGH
7KH 5RERWLFV FXUULFXOXP ZDV FUHDWHG IRU DJHV  DV D VXEVHTXHQW WH[W WR WKH o:KDWnV D
0LFURFRQWUROOHU"pJXLGH/LNH DOO6WDPSV LQ &ODVV FXUULFXOXPWKLVWHDFKHVQHZWHFKQLTXHV DQG FLUFXLWV ZLWK
PLQLPDO RYHUODS EHWZHHQ WKH RWKHU WH[WV 7RSLFV LQWURGXFHG LQ WKLV VHULHV DUH ((3520 GDWD VWRUDJH
PHFKDQLFVRIEDVLFURERWLFVVHUYRFRQWUROLQIUDUHGREVWDFOHGHWHFWLRQDQGFRPPXQLFDWLRQDQG WKHXVHRI

SKRWRUHVLVWRUV
7KH GHSWK DQG DYDLODELOLW\ RI D 7HDFKHUnV *XLGH YDULHV EHWZHHQ WKH 6WDPSV LQ &ODVV FXUULFXOXP
%HFDXVHH[SHUWVLQWKHLUILHOGLQGHSHQGHQWO\DXWKRUHDFKVHWRIH[SHULPHQWVDQGWKH\DUHSURYLGHGOHHZD\LQ
WHUPVRIIRUPDW3OHDVHFDOOLI\RXKDYHDQ\TXHVWLRQV
3UHIDFH
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
&RS\ULJKWDQG5HSURGXFWLRQ
6WDPSVLQ&ODVVFXUULFXOXPLVFRS\ULJKW3DUDOOD[3DUDOOD[JUDQWVHYHU\SHUVRQFRQGLWLRQDO
ULJKWVWRGRZQORDGGXSOLFDWHDQGGLVWULEXWHWKLVWH[WZLWKRXWRXUSHUPLVVLRQ7KHFRQGLWLRQLVWKDWWKLVWH[W
RUDQ\SRUWLRQWKHUHRIVKRXOGQRWEHGXSOLFDWHGIRUFRPPHUFLDOXVHUHVXOWLQJLQH[SHQVHVWRWKHXVHUEH\RQG
WKHPDUJLQDOFRVWRISULQWLQJ7KDWLVQRERG\ZRXOGSURILWIURPGXSOLFDWLRQRIWKLVWH[W3UHIHUDEO\GXSOLFDWLRQ
ZRXOGKDYHQRH[SHQVHWRWKHVWXGHQW $Q\HGXFDWLRQDOLQVWLWXWLRQZLVKLQJWR SURGXFHGXSOLFDWHV IRU WKHLU
VWXGHQWV PD\ GR VR ZLWKRXW RXU SHUPLVVLRQ 7KLV WH[W LV DOVR DYDLODEOH LQ SULQWHG IRUPDW IURP 3DUDOOD[
%HFDXVHZHSULQWWKHWH[WLQYROXPHWKHFRQVXPHUSULFHLV RIWHQOHVV WKDQW\SLFDO[HURJUDSKLFGXSOLFDWLRQ
FKDUJHV7KLVWH[WPD\EHWUDQVODWHGWRDQ\RWKHUODQJXDJHZLWKWKHSHUPLVVLRQRI3DUDOOD[,QF
6SHFLDO&RQWULEXWRUV
&KXFN6FKRHIIOHU3K'DWWKH8QLYHUVLW\RI,GDKRDXWKRUHGSRUWLRQVRIWKLVFXUULFXOXPLQFRQMXQFWLRQ
ZLWK3DUDOOD[,QF&KXFNLVDSURIHVVRULQ8,V,QGXVWULDO7HFKQRORJ\(GXFDWLRQGHSDUWPHQW+HVSHFLDOL]HVZLWK
PHFKDQLFDODQGHOHFWULFDOGHVLJQVDQGZLWKRXWTXHVWLRQRQHRIKLVKREELHVLVURERWLFVDQGWKH%$6,&6WDPS
&KXFN GHVLJQHG WKH RULJLQDO %RDUG RI (GXFDWLRQ 5RERW %RH%RW VKRZQ EHORZ DQG PDQ\ VLPLODU URERW
GHULYDWLYHVZLWKXQLTXHIXQFWLRQV$IWHUVHYHUDOYHUVLRQV&KXFNVGHVLJQZDVDGRSWHGDVWKHEDVLVRIWKH
3DUDOOD[%RH%RWWKDWLVXVHGLQWKLV5RERWLFVFXUULFXOXP&KXFNWHDFKHVURERWLFVWRDOOOHYHOVUDQJLQJIURP
KLJK VFKRRO VWXGHQWV WR KLV VXPPHU ZRUNVKRSV ZLWK
WHDFKHUV2QIUHHWLPHKHLVNQRZQWREHIL[LQJ
DXWRPRELOHV IRU KLVIDPLO\ DQG ULGLQJKLVPRWRUF\FOHLQ
WKHKLOOVDURXQG0RVFRZ,GDKR<RXFDQUHDFK&KXFNE\
HPDLO DQ\WLPH DW FKXFNV#XLGDKRHGX 3DUDOOD[ LV YHU\
DSSUHFLDWLYHRIKLVLQYROYHPHQWZLWKWKH6WDPSVLQ&ODVV
SURJUDP
6SHFLDO WKDQNV DOVR WR WKH 3DUDOOD[ WHDP ZKR

SURYLGHGLGHDVDQGFRQWHQWIRUWKHSURJUDPSDUWLFXODUO\
5XVV 0LOOHU 5XVV GHVLJQHG WKH 3DUDOOD[ %RH%RW EDVHG
RQ'U6FKRHIIOHUVLQSXW7KHHQWLUH3DUDOOD[VWDII WKDW
GHVLJQV PDQXIDFWXUHUV DQG DFFHSWV RUGHUV DQG
SDFNDJHVWKH6WDPSVLQ&ODVVSURGXFWVLV DNH\SDUWRI
WKH6WDPSVLQ&ODVVSURJUDP
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
([SHULPHQW
%RH%RW
&RQVWUXFWLRQ
5RERWVDUHXVHGLQWKHDXWRLQGXVWU\PHGLFDO
PDQXIDFWXULQJ SODQWV DQG RI FRXUVH VFLHQFH ILFWLRQ ILOPV
%XLOGLQJ DQG SURJUDPPLQJ D URERW LV D FRPELQDWLRQ RI
PHFKDQLFV HOHFWURQLFV DQG SUREOHP VROYLQJ :KDW \RXUH
DERXWWRH[SHULHQFHZLWKWKH%RH%RWZLOOEHDSSOLFDEOHWR
UHDOLVWLF DSSOLFDWLRQV XVLQJ URERWLF FRQWURO WKH RQO\
GLIIHUHQFHEHLQJWKHVL]HDQGVRSKLVWLFDWLRQ7KHHOHFWURQLFFRQWUROSULQFLSOHVVRXUFHFRGHDQGFLUFXLWV\RX
ZLOOXVHDUHYHU\VLPLODUDQGVRPHWLPHVLGHQWLFDOWRLQGXVWULDODSSOLFDWLRQVGHYHORSHGE\HOHFWURQLFHQJLQHHUV
7KHZRUGURERWILUVWDSSHDUHGLQD&]HFKRVORYDNLDQVDWLULFDOSOD\5RVVXPV8QLYHUVDO5RERWVE\.DUHO&DSHN
LQ5RERWVLQWKLVSOD\WHQGHGWREHKXPDQOLNH)URPWKLVSRLQWLWVHHPHGWKDWDQ\JRRGVFLHQFHILFWLRQ
VWRU\ZRXOGLQYROYHWKHPUHYROWLQJDJDLQVWKXPDQDXWKRULW\ZKLFKUHTXLUHVLQWHOOLJHQFH7KLVFKDQJHGZKHQ
*HQHUDO0RWRUVLQVWDOOHGWKHILUVWURERWVLQWKHLUPDQXIDFWXULQJSODQWLQ)RUVFLHQFHILFWLRQRU
PDQXIDFWXULQJLQWHOOLJHQFHLVRQO\LQVWDOOHGLQDURERWWKURXJKSURJUDPPDELOLW\
7KLVVHULHVRI5RERWLFVH[SHULPHQWVZLOOLQWURGXFH\RXWREDVLFURERWLFFRQFHSWVDQGSURJUDPPLQJXVLQJWKH
%RDUGRI(GXFDWLRQ5RERWKHUHDIWHUWKH%RH%RW7KHH[SHULPHQWVZLOOEHJLQZLWKFRQVWUXFWLRQRIWKH%RH
%RW$IWHUWKDWZHOOEHSURJUDPPLQJWKH%RH%RWIRUEDVLFPDQHXYHUVDQGSURFHHGWRLQWHUIDFHVHQVRUVWKDW
ZLOODOORZWKHURERWUHDFWWRLWnVVXUURXQGLQJV
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ

3DUWV
5HTXLUHG
$ %RH%RW FDQ WDNH PDQ\ GLIIHUHQW IRUPV RI FRQVWUXFWLRQ DQG LW
GRHVQW KDYH WR XVH WKH 3DUDOOD[ %RH%RW FKDVVLV ZLWK D %RDUG RI
(GXFDWLRQDQG%$6,&6WDPS2QHDSSURDFKPLJKWEHWREXLOGDUROOLQJ
EUHDGERDUG ZLWK VHUYRV DWWDFKHG XVLQJ GRXEOHVLGHG WDSH DQG
DQRWKHU PLJKW EH WR FDUYH D URERW EDVH IURP D SLHFH RI SODVWLF
LUULJDWLRQSLSH,I\RXDUHXVLQJD%$6,&6WDPS,,DQGWKHVFKHPDWLFV
DQGVRXUFHFRGHLQFOXGHGLQWKLVVHULHVRIH[SHULPHQWV\RXUURERWZRXOGZRUNILQHDQGEHMXVWDVXQLTXH,W
PLJKWORRNGLIIHUHQWWKDQWKH%RH%RWEXWWKDWVDSSURSULDWHVLQFHWKHGHVLJQKDVDORWGRWRZLWKFUHDWLYLW\
,I\RXUHXVLQJWKH%RH%RWIURP3DUDOOD[\RXOOQHHGWKHIROORZLQJSDUWVIRUWKLVH[SHULPHQWDOODUHLQWKH
5RERWLFV3DUWV.LW
 %RH%RWFKDVVLV
 7ZRVWDQGDUGVHUYRV)XWDED6VRUWKRVHVXSSOLHGZLWKWKH5RERWLFV3DUWVNLW
 SODVWLFZKHHOV
 2ULQJWLUHV
 SRO\HWK\OHQHEDOOZKHHO
 FRWWHUSLQWRKROGZKHHORQFKDVVLV
 PDFKLQHVFUHZV
 PDFKLQHVFUHZV
 IODWKHDGVFUHZV
 Q\ORQLQVHUWORFNLQJQXWV
 VWDQGRIIV
 JURPPHWLQQHUGLDPHWHUILWVpKROH
 JURPPHWLQQHUGLDPHWHUILWVpKROH
 $$EDWWHU\SDFNKROGHUZLWKRIZLUHDQGPPSOXJ
 .RKPUHVLVWRUV
 SLQKHDGHUVWRSOXJWKHVHUYRVLQWRWKH%RDUGRI(GXFDWLRQ
 X)FDSDFLWRU
 %RDUGRI(GXFDWLRQDQG%$6,&6WDPS,,

3LFWXUHVRIWKHVHSDUWVDUHVKRZQRQWKHEDFNFRYHURIWKLVWH[WLQFRORUDORQJZLWKTXDQWLWLHVDQG3DUDOOD[
VWRFNFRGHLQFDVH\RXQHHGVSHFLILFUHSODFHPHQWV
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
%XLOG,W
%RH%RW FRQVWUXFWLRQ UHTXLUHV D VPDOO 3KLOOLSV VFUHZGULYHU 
ER[HQG ZUHQFK RU VPDOO SOLHUV DQG VPDOO GLDJRQDO FXWWHUV
&RQVWUXFWLQJWKH%RH%RWFRQVLVWVRIILYHSDUWV
6WHS 0HFKDQLFDOPRGLILFDWLRQRIWKHVHUYRVWRSURYLGHFRQWLQXRXVURWDWLRQDQGWHVWLQJWKHPIRUXVHDV
DURERWFKDVVLVGULYHWUDLQ
6WHS 0RXQWLQJWKHVHUYRVRQWKHURERWLFVSODWIRUPDQGDWWDFKLQJWKHZKHHOV
6WHS $WWDFKLQJWKHWDLOZKHHODQGEDWWHU\KROGHU
6WHS 0RXQWLQJWKH%RDUGRI (GXFDWLRQDQG %$6,&6WDPS RQWKHFRPSOHWHGSODWIRUPDQG FRQQHFWLQJ
WKHVHUYRVWRWKH%$6,&6WDPSDQG
6WHS 3URJUDPPLQJWKH%RH%RWZLWKVRPHVDPSOHVRXUFHFRGHWRYHULI\WKDWLWZRUNV
6WHS6HUYR0RGLILFDWLRQDQG7HVWLQJ
6HUYR0RGLILFDWLRQ
7KH%RH%RWXVHVWZRPRGLILHGVHUYRVRULJLQDOO\GHYHORSHGIRUXVHLQUDGLRFRQWUROOHG5&PRGHODLUSODQHV
7KH3DUDOOD[VHUYRVRUWKH)XWDED6SURYLGHORZFRVWHDV\WRPRGLI\JHDUPRWRUVWKDWOHWWKHSODWIRUP
PRYH FRQWLQXRXVO\ 0RVW KREE\ VHUYRV DUH XVXDOO\ GHVLJQHG WR PRYH DERXW  WR  WRWDO 7KH VHUYRV
UHVSRQGWRDSXOVHZLGWKPRGXODWLRQVLJQDO3:0WKDW\RXVHQGWRLWXVLQJWKH%$6,&6WDPS7KLVLV
DFFRPSOLVKHGXVLQJWKH
pulsoutFRPPDQG
0RGLI\LQJWKHVHUYRVWDNHVRQO\DIHZPLQXWHVDQGUHTXLUHVD3KLOOLSVVFUHZGULYHUGLDJRQDOFXWWHUVDQGDOLWWOH
FDUHIXOGLVDVVHPEO\7KLVPRGLILFDWLRQFDQEHUHYHUVHGDWDODWHUGDWHWRUHWXUQWRWKHWRDQJOHLI\RX
VDYHWKHVPDOOSODVWLFGULYHSODWHZHUHJRLQJWRUHPRYHLWEXW\RXnOOQHHGWREHFDUHIXOQRWWRGDPDJHWKH
LQWHUQDOSDUWVE\WXUQLQJWKHRXWSXWVKDIWWRRIDU
7KHVHUYRV KDYHD FRQWURO KRUQ DWWDFKHGWR WKH PDLQ RXWSXWVKDIWWKDWLV VHFXUHG LQ SODFH ZLWK D 3KLOOLSV
VFUHZ7XUQWKHVHUYRKRUQZLWK\RXUILQJHUVXQWLOLWVWRSVVR\RXKDYHDQLGHDRIWKHSK\VLFDOOLPLWDWLRQ:H
QHHGWRPRGLI\LWVRWKDWWKHFRQWUROKRUQZLOOURWDWHFRQWLQXRXVO\

5HPRYHWKHVPDOO3KLOOLSVVFUHZKROGLQJWKHFRQWUROKRUQRQWKHVHUYR7KHVKDIWKDVVSOLQHVRQLWVR\RXZLOO
KDYHWRDSSO\XSZDUGSUHVVXUHDQGWKHQZLJJOHWKHFRQWUROKRUQRII/RRNDWWKHERWWRPRIWKHVHUYRDQGILQG
WKHIRXU3KLOOLSVKHDGVFUHZVRQWKHERWWRPRIWKHFDVHEHFDXVH\RXZLOOQHHGWRUHPRYHWKRVHLQDGGLWLRQWR
WKHRQH3KLOOLSVVFUHZWKDWZDVKROGLQJWKHFRQWUROKRUQRQWKHPDLQRXWSXWJHDU
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
7KHERWWRPSODWHRIWKHVHUYRZLOOFRPHRIIDWWKLVSRLQWVRORRNDWWKHFRQWUROFLUFXLWU\<RXZRQWQHHGWRGR
DQ\VROGHULQJXQOHVV\RXEUHDNDZLUHRII+ROG\RXUILQJHURQWKHRXWSXWJHDUVKDIWDQGSUHVVGRZQWKHRQH
WKDWWKHFRQWUROKRUQZDVRQDQGFDUHIXOO\SU\DQGZLJJOHWKHWRSRIWKHVHUYRFDVHXSDQGUHPRYHLW:RUN
VORZO\VRWKHJHDUVDOOVWD\LQSODFHRQWKHLUVKDIWVDQGWU\WRNHHSWKHERWWRPSODWHFRQQHFWHGWRWKHFDVH
2QFHUHPRYHG\RXUVHUYRVKRXOGORRNOLNH)LJXUH
7KHILQDOJHDULVWKHRQH\RXDUHJRLQJWRPRGLI\,WnVDOVRWKHRQH\RXKHOGGRZQZLWK\RXUILQJHU<RXOOQHHG
WRUHPRYHWKHUGJHDULQRUGHUWRDFFHVVWKHILQDOJHDU/RRNLQJDWWKHWRSRIWKHILQDOJHDU\RXnOOVHHDSODVWLF
VWRSWDEWKDWZHQHHGWRFXWRIIWRPDNHWKHVHUYRWXUQFRPSOHWHO\DURXQGZKHQZHLVVXHFRPPDQGVIURP
WKH%$6,&6WDPS)LOHVDQGRUFXWWKHVWRS WDE RQWKHILQDOJHDU XQWLOLW LV JRQHGRQWVDQGLQWR WKHJHDU
WHHWKPDNLQJVXUHWKHDUHDLVIOXVKRQFHWKHWDELVJRQH7KHWDELVVKRZQLQ)LJXUH
)LJXUH6WRS7DE5HPRYDO
2QFHWKHILQDOJHDUKDVEHHQUHPRYHGIURPWKHVHUYR
FXWRUVDQGWKHVWRSWDERIIWKHSDUWVRWKDWLWPD\
URWDWHIUHHO\7KHDUHDDURXQGWKHVWRSWDEQHHGVWREH
YHU\VPRRWKDQGIUHHRISODVWLFGHEULV
final gear
stop tab
3rd
gear
2nd
gear
1st
gear
)LJXUH6HUYR&DVH5HPRYDO

5HPRYHWKHWRSFDVHE\XQVFUHZLQJWKHVFUHZRQWKH
FRQWUROKRUQDQGWKHIRXUVPDOOVFUHZVKROGLQJWKHWRS
FDVHRQWRWKHERWWRP
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
7XUQWKHILQDOJHDURYHUDQGORRNDWWKHERWWRP<RXZLOOVHHDPHWDOULQJSUHVVHGLQWRWKHSODVWLFDQG\RX
QHHGWRSU\WKDWRXWZLWKDVPDOOVFUHZGULYHU\RXUILQJHUQDLORUDSDSHUFOLS5HPRYHWKHSRWHQWLRPHWHUGULYH
SODWH<RXPLJKWZDQWWRVDYHWKLVSODVWLFSDUWLI\RXHYHUZDQWWRFRQYHUWWKHVHUYREDFNWRLWVQRUPDOPRGH
RIRSHUDWLRQUHWXUQLQJWKHVHUYRWRLWVRULJLQDOVWDWHLVQWFRYHUHGLQWKLVWH[W,QVHUWWKHPHWDOULQJEDFNLQWR
WKH PDLQ JHDU )LJXUH  VKRZV WKH ERWWRP RI WKH PDLQ JHDU 'RQW UHDVVHPEOH \RXU VHUYR RQFH \RXYH
ILQLVKHGWKLVWDVN
6HUYR7HVWLQJDQG&DOLEUDWLRQ
$WWKLVSRLQW\RXUVHUYRLVGLVDVVHPEOHGDQGWKHILQDOJHDULVUHPRYHGWRH[SRVHDPHWDOSRVWZKLFKLVWKHHQG
RIDSRWHQWLRPHWHU:HZLOOEHURWDWLQJWKHSRVLWLRQRIWKHSRWHQWLRPHWHUWRFRPSOHWHWKHPRGLILFDWLRQIRU
FRQWLQXRXVURWDWLRQ7KLVVWHSLVPRUHXQGHUVWDQGDEOHLI\RXKDYHDEULHIXQGHUVWDQGLQJRIKRZWKHVHUYRV
LQWHUQDOHOHFWURQLFVRSHUDWH
$VHUYRLVDFODVVLFH[DPSOHRIDFORVHGORRSIHHGEDFNV\VWHP7KHVHUYRKDVDQLQWHUQDOSRWHQWLRPHWHUWKH
VPDOOPHWDOVKDIWXQGHUQHDWKWKHILQDOJHDUWKDWLVFRXSOHGWRWKHRXWSXWJHDU,WVUHVLVWDQFHLVSURSRUWLRQDO
WRWKHSRVLWLRQRIWKHVHUYRVRXWSXWVKDIWWREHIRUHPRGLILFDWLRQ7KLVUHVLVWDQFHLVFRPSDUHGWRWKH
%$6,&6WDPSnVFRPPDQGWRJHQHUDWHDQHUURUVLJQDOZKHQWKHGHVLUHGSRVLWLRQLVQWWKHVDPHDVWKHFXUUHQW
SRVLWLRQ,I\RXVHQGDVHUYRDFRPPDQGWRSODFHLWVHOIDWDQGWKHRXWSXWVKDIWLVDFWXDOO\DWDQHUURU
VLJQDOZLOOFDXVHWKHPRWRUWRPRYHWKHRXWSXWVKDIWYLDWKHJHDUVXQWLOWKHHUURUVLJQDOLVZKHQWKHRXWSXW
KDVUHDFKHG,IWKHRXWSXWVKDIWKDGEHHQDWDQHUURUVLJQDORIRSSRVLWHSRODULW\ZRXOGKDYHEHHQ
JHQHUDWHGDQG WKHPRWRUZRXOG KDYHWXUQHGLQWKHRULJLQDOGLUHFWLRQWREULQJLW EDFNWR 7KHFXUUHQW
SRVLWLRQLVIHGEDFNWRWKHVHUYRVFRQWUROV\VWHPLQDORRSWRPDLQWDLQD]HURHUURUVLJQDO7KHIDUWKHUWKH
SRWHQWLRPHWHULVIURPWKHGHVLUHGSRVLWLRQWKHODUJHUWKHHUURUVLJQDODQGZLWKLQWKHOLPLWVRIWKHPRWRUDQG
HOHFWURQLFVWKHIDVWHUWKHPRWRUWXUQVWREULQJWKHHUURUEDFNWR]HUR
gear teeth
drive plate
metal ring

)LJXUH5HPRYH'ULYH3ODWHIURP%RWWRPRI)LQDO*HDU
7KLVLVWKHERWWRPRIWKHILQDOJHDU3U\RXWWKHPHWDOULQJDQG
UHPRYHWKHSRWHQWLRPHWHUGULYHSODWH5HLQVHUWWKHPHWDOULQJ
ZLWKRXWWKHGULYHSODWH
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
%\UHPRYLQJWKHSRWHQWLRPHWHUGULYHSODWHZHDUHRSHQLQJWKHFRQWUROORRS1RZZKHQZHVHQGDFRPPDQG
WR WKH VHUYR DQ HUURU VLJQDO ZLOO VWLOO EH JHQHUDWHG DFFRUGLQJ WKH GLIIHUHQFH EHWZHHQ WKH FRPPDQG DQG
SRWHQWLRPHWHUSRVLWLRQVEXWVLQFHWKHSRWHQWLRPHWHULVQnWWXUQHGE\WKHRXWSXWVKDIWDQ\PRUHWKHPRWRUZLOO
FRQWLQXHWRUXQDWWKHVDPHVSHHGDVORQJDVFRPPDQGVDUHVHQW,QVXPPDU\WKHPRGLILHGVHUYRZLOOEH
IXQFWLRQLQJDVDYDULDEOHVSHHGJHDUHGPRWRUZLWKDFRQWUROVLJQDOWKDWLVYHU\HDV\IRUWKH%$6,&6WDPSWR
JHQHUDWH
7KH VHUYRV LQWHUQDO SRWHQWLRPHWHU PXVW EH URWDWHG WR EH FHQWHUHG DFFRUGLQJ WR D VLJQDO LW H[SHFWV WR
UHFHLYH IURPWKH%$6,& 6WDPS 7KLV LV GRQHE\ FRQQHFWLQJ WKH VHUYRV WR \RXU %$6,& 6WDPS DQG %RDUGRI
(GXFDWLRQDVVKRZQLQ)LJXUHZKLFKSUHVHQWVWKHVHUYRFDVHLQVWDOOHGIRUFRQYHQLHQFHWKRXJKLWVKRXOG
VWLOOEHUHPRYHGDWWKLVSRLQW6HUYRVKDYHWKUHHZLUHVOHDGLQJIURPWKHEDVHSRZHUJURXQGDQGFRQWURO7KH
FRQWUROOHDGLVXVHGWRVHQGWKHSRVLWLRQLQJVLJQDOWKHRQHFRQQHFWHGWRWKH%$6,&6WDPS,2SLQ
:KHQSUHSDULQJWKLVFLUFXLWQRWHWKDWWKHVHUYRVDUHFRQQHFWHGWRWKH9LQXQUHJXODWHGYROWVWKDWLV
MXPSHUHGIURPWKH$SS0RG&RQQHFWRUWRWKHEUHDGERDUGVHHWKHFRYHUSKRWR7KHUHVDOVRDODUJHX)
FDSDFLWRUSODFHGEHWZHHQ9VVDQG9GGRQWKHWRSRIWKHEUHDGERDUG7KLVLVDSRODUL]HGFDSDFLWRUVREHVXUH
LWVSODFHGFRUUHFWO\ZLWKWKHORQJOHDGWRZDUGV9GG6HHILJXUHIRUVXJJHVWHGSDUWVSODFHPHQW
8VHWKHWKUHHSLQKHDGHUVWRSOXJWKHVHUYRVLQWRWKH%RDUGRI(GXFDWLRQ%HIRUH\RXSOXJWKHKHDGHULQWRWKH
ERDUGPDNHVXUHWKHEODFNSODVWLFLVFHQWHUHG7KLVZLOOHQVXUHWKDWLWPDNHVFRQWDFWZLWKWKHEUHDGERDUG
QRGHV DQG WKH VHUYR OHDGV 1RWH WKDW WKHUH LV DQ RSWLRQDO UHVLVWRU EHWZHHQ WKH SRZHU DQG JURXQG 7KLV
UHVLVWRUSUHYHQWVVKRUWVHUYRPRYHPHQWVGXULQJWLPHRXWVZKHQWKH%RH%RWLVLQDVLWWLQJVWDJHDQGWKH
VHUYRVDUHQRWEHLQJSXOVHG
)LJXUH6HUYR&DOLEUDWLRQ6FKHPDWLF
7RWHVWWKHVHUYRFRQQHFWVWKHVLJQDOZLUHVWR
WKH%$6,&6WDPSV3DQG3,2SLQVRQWKH
%RDUGRI(GXFDWLRQ3ODFHWKHX)FDSDFLWRU

EHWZHHQ9GGDQG9VVDERYHWKHEUHDGERDUG
DQGMXPSHU9LQIURPWKH$SS0RGFRQQHFWRUWR
WKHEUHDGERDUGIRUWKHVHUYRVSRZHUVXSSO\
6HUYRZLUHFRORUFRGH
9
LQ UHG
6LJQDO ZKLWHVRPHWLPHV\HOORZ
9
VV EODFN
8VHWKHSLQFRQQHFWRUWRSOXJWKHVHUYRVLQWR
WKH%RDUGRI(GXFDWLRQ6OLGHWKHSLQVWRFHQWHU
WKHPLQWKHSODVWLFSDUWOLNHWKLV
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
%HIRUHZHORDGVRPHVRXUFHFRGHLQWRWKH%$6,&6WDPSWDNHDORRNDWWKHYROWDJHUHJXODWRURQ\RXU%RDUGRI
(GXFDWLRQ,IWKHYROWDJHUHJXODWRULVODEHOHGWKHQ\RXnOOQHHGWRUHSODFHLWGHWDLOVDUHLQ$SSHQGL[&,I
WKHYROWDJHUHJXODWRULVODEHOHGWKHQFRQWLQXHZLWKWKLVVHFWLRQ3DUDOOD[XVHGWKHUHJXODWRUVEHIRUH
WKHLGHDIRU%RH%RWZDVFUHDWHGEXWVZLWFKHGWRWKHLQRUGHUWRSURYLGHHQRXJKFXUUHQWWRGULYHWKH
VHUYRV7KHKDVDORZHUYROWDJHGURSDQGLVDEOHWRVXSSO\SOHQW\RIFXUUHQWWRGULYHWKHVHUYRPRWRUV
,I\RXKDYHDUHJXODWRU3DUDOOD[ZLOOSURYLGHDIUHHXSJUDGHNLW
7RDGMXVWWKHSRWHQWLRPHWHUORDGWKHIROORZLQJFRGHLQWR\RXU%$6,&6WDPS
’Program Listing 1.1 v1.2
’Program for calibrating servo to its center using BS-2
center: ’establishes a name for this calibration routine
pulsout 15, 750 ’sends a pulse of 1.5 milliseconds to the servo
pause 20 ’delay between pulses is 10 ms to 20 ms
goto center
:KHQWKHFRGHLVUXQQLQJWXUQWKHSRWHQWLRPHWHUVKDIWXQWLOWKHPRWRUVWRSV&KDQJHWKHpulsout 15,750
WRUHDGpulsout 3, 750DQGDGMXVWSRWHQWLRPHWHURQWKHVHFRQGVHUYR
6RZKDWKDYH\RXGRQH"

6HUYRVDUHFRQWUROOHGE\VHQGLQJSXOVHVRIVSHFLILFZLGWKVZKLFKWKHVHUYRHOHFWURQLFVLQWHUSUHWDVSRVLWLRQV
XVLQJDV\VWHPFDOOHG3XOVH:LGWK0RGXODWLRQ3:0,QRUGHUWRXQGHUVWDQGWKLV\RXQHHGWRXQGHUVWDQGWKH
WHUPVPLOOLVHFRQGVPVDQGPLFURVHFRQGVØVPVLVWKRIDVHFRQGRUSXWDQRWKHUZD\WKHUH
DUHPVLQHYHU\VHFRQGØVLVWKRIDVHFRQGRUWKHUHDUHPLOOLRQØVLQHDFKVHFRQG
6HUYRPDQXIDFWXUHUVXVXDOO\VSHFLI\SXOVHZLGWKVLQØVVRLWVKDQG\WREHDEOHWRFRQYHUWEHWZHHQØVDQGPV
7KH VHUYRHOHFWURQLFV DUH GHVLJQHG WR LQWHUSUHW D SRVLWLYHJRLQJ SXOVH ZLWK SHULRG ZLGWK LQ PV EHWZHHQ
DERXWDQGPVDVDSRVLWLRQEHWZHHQDQGGHJUHHVIRUWKHRXWSXWVKDIW:KHQ\RXURWDWHGWKHVKDIW
EDFNDQGIRUWKWKHVHUYRVSRWHQWLRPHWHUZDVFRPSDULQJWKHSXOVHZLGWKYDOXHRIWKLVLVPLOOLVHFRQGV
EHFDXVHWKH
pulsoutFRPPDQGZRUNVLQXQLWVRIXVWRZKDWLWH[SHFWHGWRUHFHLYHIRUWKHSRWHQWLRPHWHUnV
FHQWHUSRVLWLRQDIWHUPRGLILFDWLRQ<RXURWDWHGWKHVKDIWXQWLOWKHWZRYDOXHVZHUHHTXDO$WWKLVSRLQWWKH
PRWRUVWRSSHGWXUQLQJHYHQWKRXJKLWZDVVWLOOUHFHLYLQJSXOVHV
7KHSXOVHVDUHUHSHDWHGDERXWHYHU\PVVRWKDWDQHZFRPSDULVRQFDQEHPDGH7KHPVUHSHWLWLRQ
UDWHLVQRWFULWLFDOEHFDXVHDOORIWKHSRVLWLRQLQIRUPDWLRQLVFDUULHGE\WKHSXOVHOHQJWKLWVHOIEXWWKHVHUYR
ZDVGHVLJQHGWRZRUNZHOOZLWKDQHZSXOVHHYHU\WRPVWRWLPHVVHFRQGRU+]
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
&KHFNWKHVHUYRDJDLQEHIRUHSXWWLQJDOOWKHVFUHZVEDFNLQWRVHHLIWKHVHUYRLVLQGHHGVWRSSHGZKHQ\RX
VHQWLWWKHWHVWSURJUDP7KHVHUYRFDVHSDUWVVKRXOGJREDFNWRJHWKHUVPRRWKO\DQGZKHQSXWWRJHWKHU\RX
VKRXOGMXVWEDUHO\EHDEOHWRVHHZKHUHWKHFDVHSDUWMRLQVWRJHWKHU
6WHS0RXQWLQJ6HUYRVDQG:KHHOVRQ%RH%RW3ODWIRUP
:KHQ\RXnUHGRQHPRGLI\LQJDQGWHVWLQJWKHVHUYRV\RXFDQLQVWDOOWKHPLQWKH%RH%RWEDVH7KLVLVGRQHE\
SODFLQJWKHVHUYRVSOLQHFORVHVWWRWKHFHQWHURIWKHFKDVVLV7KLVZLOOOHWLWWXUQFRUQHUVLQVKRUWHUVSDFHVDQG
FDXVHOHVVIULFWLRQRQWKHWDLOZKHHO)RUPD[LPXPVWDELOLW\\RXFRXOGFRQVLGHUPRXQWLQJWKHZKHHOVZLWKWKH
VHUYRVSOLQHFORVHVWWRWKHIURQWRIWKH%RH%RW(DFKVHUYRUHTXLUHVIRXUVFUHZVDQGQXWVIRUPRXQWLQJ
)LJXUH%RH%RW&KDVVLV7RS9LHZ
7KHWRSRIWKH%RH%RWKDVPRXQWLQJKROHVIRUWKH%RDUGRI
(GXFDWLRQDQGSODFHVWRDWWDFKRWKHUPHFKDQLFDOURERWQHHGV
)LJXUH%RH%RW&KDVVLV)URQW9LHZ
7KHIURQWRIWKH%RH%RWFKDVVLVKDVDGGLWLRQDOPRXQWLQJKROHVIRU

VHQVRUVVFUDSSULQWHGFLUFXLWERDUGVRUZKDWHYHU\RXZDQWWREXLOG
LQWR\RXU%RH%RW
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
)LJXUH%RH%RW%DFN9LHZ
7KHWDLOZKHHOLVKHOGEHWZHHQWKHUHDUJDS
ZLWKDFRWWHUSLQ
)LJXUH%RH%RW
&KDVVLV6LGH9LHZ
0RXQWWKHVHUYRVRQHDFKVLGHRIWKH%RH%RW
FKDVVLVZLWKWKHVSOLQHFORVHVWWRZDUGVWKH
PLGGOHRIWKHFKDVVLV
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
7KHSLFWXUHVLQ)LJXUHVWKURXJKDUHLQFOXGHGZLWKPLOOLPHWHUGLPHQVLRQVLQFDVH\RXZRXOGOLNHWREXLOG
\RXURZQ%RH%RWEDVHRU\RXFDQDOVRGRZQORDGGLPHQVLRQHGGUDZLQJVLQ$GREH3')$XWR&DG';)DQG
$XWR&DG':*ILOHVIURPKWWSZZZVWDPSVLQFODVVFRP
7KH%RH%RWZKHHOVKDYHEHHQPDFKLQHGZLWKDVSOLQHWKDWILWVVQXJO\RQ3DUDOOD[DQG)XWDEDVW\OHVHUYRV
$WWDFKERWKZKHHOVDQGUHSODFHWKHVPDOOEODFNVFUHZWRKROGWKHPRQWRWKHVHUYRV2QFHWKLVLVILQLVKHG\RX
FDQVOLGHWKHUXEEHUWLUHVRYHUWKHZKHHOV
6WHS,QVWDOO7DLO:KHHODQG%DWWHU\+ROGHU
0RXQWWKHWDLOZKHHOXVLQJWKHVXSSOLHGFRWWHUSLQ7KHEDWWHU\KROGHULVDWWDFKHGXVLQJWZRIODWKHDGVFUHZV
DQGQXW,QVWDOOWKHWKUHHJURPPHWVWZRILWLQWKHUHDUKROHVDQGVHUYHDVDEDWWHU\SOXJKROGHUZKHQLWVQRW
SOXJJHGLQWRWKH%RDUGRI(GXFDWLRQDQGRQHPRXQWVLQWKHPLGGOHWRSSDUWRIWKHFKDVVLVZKHUHZLUHVDUH
WKUHDGHGWKURXJKWKHERG\7KHPPFRD[LDO'&SRZHUSOXJVKRXOGEHWKUHDGHGWKURXJKWKHPLGGOHKROH
RIWKH%RH%RWVR\RXFDQFRQQHFWLWWRWKH%RDUGRI(GXFDWLRQ%ULQJDOOZLUHVWKURXJKWKHPLGGOHJURPPHW
KROH)LJXUHVKRZVWKHFRPSOHWHGXQGHUFDUULDJHWKLVSLFWXUHGRHVQRWVKRZWKHPLGGOHKROH
)LJXUH%RH%RW%RWWRP6LGH9LHZ
6HUYRVEDWWHU\SDFNDQGWDLOZKHHOVKRXOGEH
PRXQWHGDWWKLVSRLQW%ULQJWKHZLUHVWRZDUGVWKH

WRSRIWKH%RH%RW7KLV%RH%RWKDVWKHZKHHOV
FORVHVWWRWKHIURQWEXWWKHURERWWXUQVWLJKWHULI
WKH\DUHPRXQWHGLQWKHUHYHUVHIDVKLRQ
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
6WHS0RXQWLQJWKH%RDUGRI(GXFDWLRQDQG&RQQHFWLQJWKH6HUYRV
0RXQW WKH %RDUG RI(GXFDWLRQ %RHSDUWRI%RH%RWRQWKHURERW FKDVVLVEDVH ZLWK HLJKW  PDFKLQH
VFUHZV DQG VWDQGRIIV 7KH EUHDGERDUG VKRXOG EH FORVHVW WR WKH IURQW RI WKH FKDVVLV FHQWHUHG GLUHFWO\ LQ
EHWZHHQWKHWZRZKHHOV7KLVZLOODOORZVHQVRUVWREHPRXQWHGLQDSRVLWLRQZKHUHWKH\FDQUHVSRQGWRWKH
SK\VLFDOHQYLURQPHQWLQIURQWRIWKH%RH%RW
2QFHWKLVLVGRQHUHFRQQHFWWKHVHUYRVDVVKRZQLQ)LJXUH<RXOOQHHGWRXVHWKHWZRWKUHHSLQSRVWVWR
SOXJ WKH VHUYRV LQWR WKH EUHDGERDUG DQG MXPSHU WKHP RYHU WR 9VV DQG 9LQ 7KH ILQLVKHG %RH%RW VKRXOG
URXJKO\UHVHPEOHWKHRQHVKRZQLQ)LJXUHVWR
)LJXUH%RH%RW6XJJHVWHG:LULQJ3ODFHPHQW
2QFHWKLVFLUFXLWLVEXLOWRQ\RXU%RH%RWLWZLOOEH
UHDG\IRUVLPSOHUROOLQJSDWWHUQV
P15
P14
P13
P12
P11
P10
P9
P8
P7
P6
P5
P4
P3
P2

P1
P0
Vdd
Vss
servo
3300
uF
+-
Vin
(AppMod
Connector)
servo
< + Red
< White
< - Black
< + Red
< White
< - Black
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
)LJXUH%RH%RW&RPSOHWHO\$VVHPEOHG
7KHEDVLF%RH%RWLVDVVHPEOHGDQGVHUYRVDUH
FRQQHFWHGWRWKH%RDUGRI(GXFDWLRQGRHVQnWVKRZ
.UHVLVWRUVDQGVHUYRFRQQHFWLRQVWR,2SLQV
)LJXUH%RH%RW)URQW'UDZLQJ
7KHIURQWRI\RXU%RH%RWKDVDIHZKROHVDQGVORWV
ZKHUH\RXZLOOEHDEOHWRPRXQWVHQVRUVRURWKHU
PHFKDQLFDOGHYLFHV
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 

)LJXUH%RH%RW7RS'UDZLQJ
1RWHWKDWWKHVHUYRVDUHSODFHGZLWKWKHZKHHOV
FORVHVWWRWKHFHQWHURIWKHURERW7KLVPDNHVWXUQV
YHU\WLJKWDQGUHGXFHVIULFWLRQRQWKHUHDUZKHHO
)LJXUH%RH%RW6LGH'UDZLQJ
7KHEUHDGERDUGRQWKH%RDUGRI(GXFDWLRQLV
PRXQWHGWRZDUGVWKHIURQWRIWKH%RH%RW
:HOOEHEXLOGLQJRXUSURMHFWVRQWKLV
EUHDGERDUG
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
6WHS3URJUDPPLQJWKH%RH%RWIRU%DVLF0RYHPHQW3DWWHUQ
,IFRQVWUXFWLRQZHQWRND\WKH%RH%RWLVQRZUHDG\WREHSURJUDPPHGIRUDEDVLFPRYHPHQWSDWWHUQ/RDG
WKH3URJUDP/LVWLQJFRGHLQ\RXU%$6,&6WDPS
’Program Listing 1.2 v1.2
x var word
right_servo con 3
left_servo con 15
backwards:
for x=1 to 100
pulsout left_servo,850
pulsout right_servo,650
pause 20
next
pause 250
forward:
for x=1 to 100
pulsout left_servo,650
pulsout right_servo,850
pause 20

next
,IHYHU\WKLQJZRUNHGSURSHUO\WKH%RH%RWVKRXOGKDYHPRYHGIRUZDUGDQGEDFNZDUGILQLVKLQJLQWKHVDPH
ORFDWLRQZKHUHLWVWDUWHG,ILWTXLYHUHGDQGGLGQnWPRYHWKHQ\RXnOOQHHGWRYHULI\WKDWLWnVZRUNLQJIURPDIXOO
YROWVDQGWKDWWKHVHUYRVZHUHSURSHUO\PRGLILHG,IWKHUHnVQRUHVSRQVHWKHQFKHFNWKHVFKHPDWLFWRVHH
WKDWWKHFRUUHFW%$6,&6WDPS,2SLQVDQGDUHFRQQHFWHGWRWKHVHUYRVDQGWKDWWKH9LQDQG9VVZLUHV
DUHFRUUHFW
,IWKH%RH%RWPRYHVEDFNZDUGILUVWDQGWKHQIRUZDUGWKHVHUYRZLUHVKDYHSUREDEO\EHHQVZDSSHGULJKWIRU
OHIW
,QORRNLQJRYHUWKHSURJUDPQRWHWKH
pulsoutYDOXHVRIDQG6LQFHZHVHWWKHVHUYRWRVWRSPRYLQJ
ZLWKD FRPPDQGRIDQ\VKRUWHUSXOVH  WKDQWKLVZLOOFDXVHWKHVHUYRWRURWDWHFORFNZLVHDQGORQJHU
YDOXHVZLOOURWDWHFRXQWHUFORFNZLVH%HFDXVHRQHVHUYRLVUHYHUVHGZKHQWKH\DUHXVHGDVDGULYHWUDLQRQHLV
SXOVHGWKHRSSRVLWHGLUHFWLRQWRPDNHWKHURERWPRYHIRUZDUGRUEDFNZDUGV7KHYDOXHRIWKH
for. . next
ORRSLVSURSRUWLRQDOWRWKHGLVWDQFHWKH%RH%RWWUDYHOVWKHVSHFLILHGGLUHFWLRQ
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
([SHULPHQW%RH%RW&RQVWUXFWLRQ
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
&KDOOHQJH
3URJUDPWKH%RH%RWWRPRYHLQVHYHUDOGLIIHUHQWSDWWHUQV7U\WKHIROORZLQJ
D 7RPRYHVWUDLJKWIRUZDUGRUEDFNZDUGZHXVHGGLIIHUHQWSXOVHOHQJWKVIRUHDFKVHUYR:KDWKDSSHQVLI
ERWKVHUYRVDUHVHQWWKHVDPHSXOVHOHQJWK"
E ,GHQWLI\
pulsoutYDOXHVWKDWPDNHWKH%RH%RWPRYHIRUZDUGYHU\VORZO\WKHQEDFNZDUGVYHU\VORZO\LQ
DVWUDLJKWOLQH
F 0DNHDJUDSKRIZKHHOVSHHGDVDIXQFWLRQRISXOVHOHQJWKIRUHDFKVHUYR
+LQWV
• 8VHVHYHUDOSXOVHOHQJWKVEHWZHHQDQGPVSXOVRXWYDOXHVEHWZHHQDQG
• (LWKHUFRXQWKRZPDQ\UHYROXWLRQVWKHZKHHOFRPSOHWHVLQDVSHFLILHGWLPHVHFRUDPLQXWHRU

VHHKRZPXFKWLPHLWWDNHVWRFRPSOHWHUHYROXWLRQV
<RXUJUDSKPLJKWORRNVRPHWKLQJOLNHWKLV
-50.0
-40.0
-30.0
-20.0
-10.0
0.0
10.0
20.0
30.0
40.0
50.0
400 500 600 700 800 900 1000 1100 1200
Pulsout value
Rotational Speed (RPM)
Servo #1
Servo #2
([SHULPHQW%RH%RW&RQVWUXFWLRQ
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
([SHULPHQW%DVLF0RYHPHQWV8VLQJ6XEURXWLQHVDQG0HPRU\
3DJH• 5RERWLFV6WXGHQW*XLGH9HUVLRQ
([SHULPHQW
%DVLF0RYHPHQW8VLQJ
6XEURXWLQHVDQG0HPRU\
0RYHPHQWLV RQH RI WKH PRVW GLVWLQFWLYH IHDWXUHV
RI URERWV  0RYLQJ DURXQG LV QHFHVVDU\ WR ILQG D
ZD\WKURXJKDPD]HWRIROORZOLJKWWRORFDWHDILUH
WR RSHQ DQG GHWRQDWH D ERPE RU WR UHWULHYH D
SDUFHORIKD]DUGRXVZDVWH,WFDQDOVREHXVHGWR

H[SUHVVHPRWLRQDQGLQWHQWLRQ 5RERW PRYHPHQW
LVQWOLPLWHGWRIRUZDUGEDFNZDUGOHIWDQGULJKWHLWKHU'HSHQGLQJRQWKHVW\OHRIDURERWLWFRXOGPRYHXSRU
GRZQDQGHYHQVLGHZD\VXQGHUZDWHU
$XWRQRPRXVPRELOHURERWVGHFLGHWRPRYHEDVHGRQWKHGDWDWKH\UHFHLYHIURPWKHLULQSXWGHYLFHVLQWKH
FDVHRIWKH%RH%RWWKLVLQFOXGHVLQIUDUHGVHQVRUVSKRWRUHVLVWRUVDQGDQ\RWKHUVHQVRUVWKDW\RXGHFLGHWR
DGG
7KLVH[SHULPHQWLV DOO DERXW %$6,& SURJUDPPLQJ DV LW SHUWDLQV WR VLPSOH PRYHPHQW ZLWKRXW VHQVRU LQSXW
6WUXFWXULQJ\RXUSURJUDPVR WKH%RH%RWPRYHV DV \RX LQWHQGUHTXLUHVDQ XQGHUVWDQGLQJRIKRZ WR MXPS
EHWZHHQVXEURXWLQHODEHOVUHDGPRYHPHQWSDWWHUQVIURPDQ((3520GHWHUPLQHKRZIDUWRWUDYHODQGKRZ
WRJHWEDFNWR\RXUVWDUWLQJSRLQWSK\VLFDOO\DQGZLWKLQ\RXUVRXUFHFRGH([SHULPHQWLQJDQGPDNLQJDOORI
WKHVHGHFLVLRQVZLOOEHPDGHZLWKRXWWKHKHOSRIDQLQSXWVHQVRU
,QPDQ\H[SHULPHQWVZHXVHGWKH
debugVWDWHPHQWWRYLHZWKHYDOXHRIYDULDEOHVFDOFXODWHGE\WKH%$6,&
6WDPS7KH
debugVWDWHPHQWVHQGVWKHGDWDWR\RXU3&VFUHHQSULPDULO\WRGHWHUPLQHLIZHUHJHWWLQJWKH
UHVXOWVZHH[SHFWHG:LWKWKH%RH%RWXVLQJ
debugEHFRPHVDELWPRUHFRPSOH[VLQFH\RXUURERWLVXVXDOO\
UHDG\WRUROORQFHDSURJUDPLVGRZQORDGHG7KHUHDUHWZRWULFNVZHOOXVHWRRYHUFRPHWKLVSUREOHPDQG
YHULI\WKDWRXUFRGHLVZRUNLQJSURSHUO\
 6WDQGWKH%RH%RWRQLWV)URQW&KDVVLVVRWKDWLWGRHVQnWPRYH7KHIURQWRIWKH%RH%RWLVIODW
DOORZLQJ\RXWRVWDQGLWRQLWVXSYHUWLFDOO\WRSUHYHQWWKHZKHHOVIURPWRXFKLQJWKHVXUIDFHRI\RXU
GHVN7KHVHULDOFDEOHFDQUHPDLQFRQQHFWHGWRWKH%RDUGRI(GXFDWLRQV'%FRQQHFWRUVRWKDW
\RXFDQXVHWKHGHEXJFRPPDQG
 /('VDQG3LH]RVSHDNHU/('VFDQSURYLGHYLVXDOIHHGEDFNWRKHOSHYDOXDWHWKHIXQFWLRQDOLW\RI\RXU
VRXUFHFRGH$3LH]RVSHDNHUZLOOEHXVHGWRJHQHUDWHXQLTXHVRXQGVWKDWFRUUHVSRQGWRSDUWLFXODU
PRYHPHQWV 
7KH/('V DQG SLH]RVSHDNHU ZLOO DGG VRPH LQWHUHVWLQJ RXWSXW GHYLFHV WR \RXU %RH%RW8VH WKHVH IHHGEDFN
PHFKDQLVPVWRJLYHLQIRUPDWLRQDERXWZKDW\RXUURERWLVGRLQJ.HHSLQPLQGWKDWDURERWGRHVQWQHHGWR
PLPLF KXPDQ EHKDYLRU 'HHS VSDFH SUREHV DXWRPRELOH DVVHPEO\ OLQH URERWV WKDW SDLQW DQG ZHOG DQG
DXWRPDWHG RIILFH PDLO GHOLYHU\ V\VWHPV DUH JRRG H[DPSOHV RI UHDO ZRUOG URERW DSSOLFDWLRQV 7KH\ DFFHSW

FRPPDQGVDQGUHDFWWRWKHLUVXUURXQGLQJVEXWQHLWKHUORRNQRUDFWDQ\WKLQJOLNHSHRSOH
([SHULPHQW%DVLF0RYHPHQW8VLQJ6XEURXWLQHVDQG0HPRU\
5RERWLFV6WXGHQW*XLGH9HUVLRQ•3DJH 
3XOVRXW&RPPDQGDQG6HUYR&RQWURO
/HWVKDYHDTXLFNUHIUHVKHUFRXUVHRQVHUYRFRQWURO6HUYRVDUHFORVHGORRSGHYLFHVDQGWKH\DUHFRQVWDQWO\
FRPSDULQJWKHLUFRPPDQGHGSRVLWLRQIURPWKH%$6,&6WDPSV
pulsoutFRPPDQGWRWKHLUDFWXDOSRVLWLRQ
SURSRUWLRQDOWRWKHUHVLVWDQFHRIDSRWHQWLRPHWHUPHFKDQLFDOO\OLQNHGWRWKHVKDIW,IWKHUHLVPRUHWKDQD
VPDOOGLIIHUHQFHEHWZHHQWKHWZRWKHVHUYRVHOHFWURQLFVZLOOWXUQWKHPRWRUWRHOLPLQDWHWKHHUURU
7KHVHUYRVZHDUHXVLQJZLWKWKH%RH%RWZHUHPRGLILHGWRURWDWHFRQWLQXRXVO\7KHSRWHQWLRPHWHUVKDIWZDV
URWDWHGXQWLOWKHJHDUVVWRSSHGPRYLQJZKHQVHQWXVSXOVHZLWKWKLVSURJUDP
’Robotics Program Listing 2.1 v1.2
left_servo con 15
right_servo con 3
start: ’begin of routine
pulsout left_servo,750 ’pulse width of 1500 us
pulsout right_servo,750 ’pulse width of 1500 us
pause 20 ’pause for 20 ms
goto start ’do it again
7KHSXOVRXWYDOXHRILVHTXDOWRØVVLQFHWKHFRPPDQGRSHUDWHVLQXQLWVRIWZRPLFURVHFRQGV,I\RX
VHQGDYDOXH ODUJHUWKDQ WKH VHUYRZLOO WXUQ FORFNZLVH DQG D YDOXH OHVV WKDQ  ZLOO FDXVHLW WR WXUQ
FRXQWHUFORFNZLVH$YDOXHYHU\FORVHWROLNHZLOOFDXVHWKHVHUYRWRWXUQYHU\VORZO\WKLVLVDZD\WR
DGGYDULDEOHVSHHGFRQWUROWR\RXU%RH%RWEXWDYDOXHVLPLODUWRRUZLOOFRPPDQGLWWRWXUQIXOO
VSHHG([SHULPHQWZLWKGLIIHUHQWYDOXHVZKLOHWKH%RH%RWLVVWDQGLQJRQLWVIURQW7U\WRVHQGYDOXHVWKDW
PDNHWKHVHUYRVWXUQYHU\VORZO\QRWDWDOORUYHU\TXLFNO\3URJUDP/LVWLQJGHPRQVWUDWHVKRZD
for . .
next
ORRSFRXOGEHXVHGWRYDU\VSHHG
’Robotics Program Listing 2.2 v1.2
left_servo con 15

right_servo con 3
x var word
pause 2000
for x = 850 to 650 ’begin of routine
pulsout left_servo,x ’pulse width of 1500 us
pulsout right_servo,1500-x ’pulse width of 1500 us
pause 20 ’pause for 20 ms
next