Week 9 Output devices

✅ group assignment: measure the power consumption of an output device

Marcello showed how to measure power consumption using the DC power supply. At 6V and 0.258A, the robot used about 1.5W when both legs moved. With one leg moving, the current was 0.15A (0.9W), and with no legs moving, it was 0.047A. This confirms that each leg requires roughly 0.1A.

✅ individual assignment: add an output device to a microcontroller board you've designed, and program it to do something

For this week I made my own LED

The Heidelberg instrument MLA maskless laser aligner

Samco Plasma Enhanced CVD System PD-220NL

Temescal FC2000 / BJD-2000 Physical Vapor Deposition System

The LED in probe station

The Lab Manual incase you want to replicate

Another Cool output device project

For week 9 I programed a brushless DC motor ESC, I used the Xiao rp2040 to generate a PWM signal which controls the ESC to give the motor to move, could be used for the machine linear axis in the future

	// Define the pin by name
	const int d1 = D1;    // Using D1 as the ESC signal pin
	
	// Timing constants
	const int MIN_THROTTLE_US = 1000;    // 1 ms pulse for minimum throttle
	const int NEUTRAL_PULSE_US = 1500;   // 1.5 ms pulse for neutral/idle
	const int FULL_THROTTLE_US = 2000;   // 2 ms pulse for full throttle
	const int FRAME_PERIOD_US = 20000;   // 20 ms frame period (typical servo signal)
	
	void setup() {
	  pinMode(d1, OUTPUT);
	
	  // Arm the ESC by sending minimum throttle for a few seconds
	  for (int i = 0; i < 100; i++) {
		sendESCPulse(MIN_THROTTLE_US);
		delayMicroseconds(FRAME_PERIOD_US - MIN_THROTTLE_US);
	  }
	
	  // Send neutral throttle for a short time
	  for (int i = 0; i < 50; i++) {
		sendESCPulse(NEUTRAL_PULSE_US);
		delayMicroseconds(FRAME_PERIOD_US - NEUTRAL_PULSE_US);
	  }
	}
	
	void loop() {
	  // Increase throttle from neutral to full
	  for (int pulse = NEUTRAL_PULSE_US; pulse <= FULL_THROTTLE_US; pulse += 10) {
		sendESCPulse(pulse);
		delayMicroseconds(FRAME_PERIOD_US - pulse);
	  }
	
	  // Decrease throttle from full back down to neutral
	  for (int pulse = FULL_THROTTLE_US; pulse >= NEUTRAL_PULSE_US; pulse -= 10) {
		sendESCPulse(pulse);
		delayMicroseconds(FRAME_PERIOD_US - pulse);
	  }
	}
	
	void sendESCPulse(int pulseWidthUs) {
	  digitalWrite(d1, HIGH);
	  delayMicroseconds(pulseWidthUs);
	  digitalWrite(d1, LOW);
	}