For many years now, people have been improving their tools, studying the forces of nature and bringing them under control, using the energy of the nature to operate their machines. Last century is noted for the creation of machines which can operate other machines. Nowadays the creation of devices that interact with the physical world is available to anyone. Our course consists of a series of practical problems on making things that work independently: they make their own decisions, act, move, communicate with each other and people around, and control other devices. We will demonstrate how to assemble such devices and programme them using the Arduino platform as a basis. After this course, you will be able to create devices that read the data about the external world with a variety of sensors, receive and forward this data to a PC, the Internet and mobile devices, and control indexing and the movement. The creation of such devices will involve design, the study of their components, the assemblage of circuit boards, coding and diagnostics. Along with the creation of the devices themselves, you will perform visualization on a PC, create a web page that will demonstrate one of your devices, and figure out how an FDM 3D-printer is configured and how it functions. Besides those keen on robotics or looking to broaden their horizons and develop their skills, the course will also be useful to anyone facing the task of home and industrial automation, as well as to anyone engaged in industrial design, advertising and art. The course does not require any special knowledge from the participants and is open even to students of upper secondary school. Programming skills and the level of English allowing to read technical documentation would be an advantage, but this is not obligatory. The entire course is dedicated to practice, so the best way for you would be to get hold of some electronics, follow the illustrated examples and experiment on your own. The kits can be purchased here: kits.cyberphysica.ru. Taught by: Alexey Perepelkin, head of Robotics department in the Laboratory of innovative educational technologies at MIPT Taught by: Dmitry Savitsky, researcher in the Laboratory of innovative educational technologies at MIPT
3.8. Servo and the library
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來自 Moscow Institute of Physics and Technology 的課程
Building Arduino robots and devices
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從本節課中
Week 3
During Week 3, you will learn to explore the world around you with the help of a distance sensor, and visualize data on a computer. You are also going improve your programming skills by creating a device with moving components.
與講師見面
Алексей ПерепелкинРуководитель направления развития цифрового творчества
Центр инновационных образовательных технологий МФТИ
Дмитрий СавицкийНаучный сотрудник
Лаборатория инновационных образовательных технологий МФТИ
Now it’s finally time to act more decisively in the physical world,
I mean, to move objects.
Earlier we’ve used only the LED
and piezo buzzer as executing devices.
Today we’ll introduce a servomotor that will help us
to construct different manipulators, “spiders” and so on.
Our example will be a radar, we will build it to scan the space around it,
which means we’ll have a distance sensor installed on a servomotor.
Let’s take a closer look at this servomotor.
We use a small hobby servo like this.
As most servos do, it allows the angular position of the shaft
to be changed if needed or to be stable if not.
Of course, there are some limitations.
Most servos are limited in the rotation range.
We have 180 degrees, and it’s quite cool, because
it could be 60 or 120, and certainly it can hold the position
in the working range only.
This servo won’t hold not only my body weight
but also if I just push it with my hand.
But it’s enough to move a distance sensor
as well as for many other purposes.
Let’s look inside the servomotor.
First of all, we see here the motor itself,
that rotates a small metal gear wheel. On above there’s a plastic
reduction gearbox that shifts rotational speed and power.
By the way it limits our servo even more,
because it normally wears out sooner
than the metal one.
Next, there’s a potentiometer,
the pot we’ve met earlier inside the servo.
It helps the servo to understand
the current shaft angle.
Also there’s an electronic control board
that allows us simply to send a command
from the Arduino board, like “hold the angle”,
and later the servo control board will do the rest.
Let’s connect it.
Concerning the servo’s connection,
there’s a triple cable almost familiar to us.
It has slightly different wire colouring: the brown one is for ground,
the red, as always, is for power, and the signal wire,
through which the servo receives commands, is the orange one.
Note that the signal wire transmits data only one way,
I mean, motor can only receive commands but not to notify
the controller of the actual state.
The motor is self-controlled and doesn’t report to Arduino.
The triple cable like this looks likely to be connected via the Troyka shield,
and we’ll do that now. But I’d recommend not to connect
more than one servomotor to the Arduino, because
the latter would not be able to deliver sufficient power.
Ideally, you should give the motor a separate power supply.
Experience, however, have shown that in most cases
Arduino can supply one small servo. A servomotor like this,
much more powerful one, I can’t recommend to connect it here.
It needs a separate power supply, otherwise
even if you don’t damage the Arduino,
the moment the motor starts rotating under heavy load,
it would consume too high current, the Arduino power supply would drop,
and the controller would restart. Thus instead of working properly,
your program would restart again and again trying to rotate the servomotor.
So I’ll turn the power off and reattach the small servo,
for instance, to the 9th pin.
[PAUSE] The brown wire is for ground,
the red one is for power, the orange is for signal.
How are we going to control the servo?
The small board we’ve seen inside the servo
receives pulses.
It uses pulse duration modulation,
in other words, pulses can have different width but same frequency.
The servo controller board expects one pulse each 20
milliseconds, and depending on the pulse width,
the controller will change the angle.
Sure we could write all the code by ourselves,
turn the voltage on, wait for some milliseconds,
turn it off, wait the time left up to 20 ms
with the pin off and so on.
But we have an instrument ready to use, and it’s much easier.
Let’s switch back to the Examples
where we should find the Sweep in the Servo submenu.
I’ve just opened it, let’s look inside.
Here, let me introduce the new stuff -
Dynamic Libraries, that’s very common and useful.
The example begins with
include <Servo.h>.
What is <Servo.h>?
It is so called header file of the Servo library.
All the functions the library creator designed
to work with devices are described there.
For example, this particular library is designed to control servos.
Apart from the header file, we normally have the implementation file
with CPP extension here, but it’s out of the topic now.
We want to add the library to our sketch.
We can do it with the #include statement,
and so the compiler will know that
we can use functions declared in the library even if
we haven’t declared them in the sketch.
What’s going on further?
We introduce the new line: Servo myservo;
here we create the new object that is myservo.
We won’t examine objects precisely,
for now we will treat them like special data type.
Actually, it’s a combination of variables, data structures and functions
we can implement to them. Now we have there a servo type object.
It’s been declared in the library.
In most cases we don’t even need to look inside the library, because
they are often well defined
and so due to the descriptions we can easily understand,
what we are going to have at functions inputs or outputs and what data they use.
In the Reference section on the Arduino website
you can always find the Servo library description.
It’s standard library, it’s always included in distribution.
Here you can study in detail the methods, that is the functions
we can use with Servo-type objects.
But now we are going to see how we implement them.
First of all, in the Setup, we see the line myservo.attach(9);.
Attach method is used
to attach a servo device.
As you see, there is no pinMode(9) line,
because it’s been already included in the attach method,
and the pin 9 is the pin we have attached the servo named myservo to.
If we need more than just one servo, we should create a new object,
for example, myservo1, and we will have to write myservo1.attach
and to specify another pin.
What’s next?
In the main cycle, in the Loop section,
we see two count-controlled for loops.
One counter increments from 0 to 180 by 1,
another one in reverse
goes from 180 to 0.
Inside the loops we call one more Servo library method -
myservo.write(pos);. What is that write?
It helps us to tell the servo the shaft position.
The position is stored in the pos counter variable.
So at each iteration we tell the servo
to go to the position 0, next as the counter value incremented by 1,
to go to the position 1 and so on up to 180 degrees.
Each shaft movement is followed by 15 milliseconds waiting.
It’s not useless at all, because one thing is to send a command to servo,
another one is to physically rotate the shaft
especially if it’s loaded with something. It’s not instant.
That’s why if you are going to pull the servo very often,
especially in different directions, especially loaded,
you will most probably get nothing but the gearbox worn out.
Keep it in mind!
The same way works the second loop,
but the counter variable pos goes in opposite direction, from 180 to 0.
Let’s load the sketch and see
what’s going to be with the servo.
I’ve already put on the servo this white part -
so-called mount, they can look different, they are used
to physically connect the servo shaft with different devices we want to move.
We will move a distance sensor, we will mount it a little bit later,
though it could be any other device or, for example, a manipulator joint.
So you see the sketch has loaded
and the servo has started to rotate either opposite directions
in the 180 degrees range.
Actually, I see it’s a little bit less,
but you can always check
what actual range your servo has.
Great! We can now move the radar and scan the space around.
Note that when you include the Servo library
in the sketch, and start using it,
PWM on pin 9 and 10 terminates.
You already know what is a pulse-width modulation,
so never forget that the tone turns it off on 3 and 11, and servo on 9 and 10.
