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Talk:Informatica Industriale / Informatics for Industrial Applications 2011/12

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Contents

Analog I/O board

Assigned to: XXX

The goal of this project is to read and generate analog signals. 8 analog inputs must be read, and 2 analog outputs have to be generated, exploting the STM32 on-board DAC or two PWM channels.

The read values have to be printed on the serial port, and the analog output value must be read from it.


Servo controller board

Assigned to: XXX

File:Servo.jpg

R/C servos are powerful and easy to use motors that receive a position setpoint through an input pin and try to keep it. The position setpoint is given by a 50Hz square wave, which high-time goes from about 1mS to about 2mS, which are the low and high limits.

The goal of this board is to control two servos, receiving their position setpoints through the serial port.

As a plus, the servos can be exploited for a joint work with the range finder groups, leading to 180 degrees ranging (e.g., scan at -90, -60, -30, 0, 30, 60, 90).


IR range finder

Assigned to: XXX

An ultrasonic ranging module can be used to measure a distance. The module outputs an analog voltage related to the measured distance, as shown in the datasheet. The output is not linear with the distance, so some calibration is needed. Also the "too near" condition (<10cm) has to be recognized and signaled.

The goal of this project is to write the firmware that interfaces with the sensor, reading its output exploiting the right STM32 peripherals.

The measured distances have to be printed on the serial port.

As a plus, a joint work with the group working on the servo controller can lead to 180 degrees ranging (e.g., scan at -90, -60, -30, 0, 30, 60, 90).


Ultrasonic range finder

Assigned to: XXX

An ultrasonic ranging module can be used to measure a distance. The module outputs a pulse wich length is proportional to the measured distance, as shown in the datasheet.

The goal of this project is to write the firmware that interfaces with the sensor, sending the "Init" pulse and reading back the "Echo" exploiting the right STM32 peripherals. Pay attention to use a 5V tolerant pin on the microcontroller, as the sensor works at 5V.

The measured distances have to be printed on the serial port.

As a plus, a joint work with the group working on the servo controller can lead to 180 degrees ranging (e.g., scan at -90, -60, -30, 0, 30, 60, 90).


Motor control board (two groups)

Assigned to: XXX

The goal of this project is to interface with the Pololu High-Power Motor Driver (36v20 CS). The power board implements an H-bridge to drive a DC-motor and an Hall-effect current sensor.

The microcontroller board must generate the PWM signals to drive the power board, read the value of the current drawn by the motor and interface with the optical encoder mounted on the motor shaft exploiting the STM32 peripherals. An on-board PID (P-I) controller should modify the PWM signals in order to follow a speed setpoint.

The setpoint have to be received through the serial port, while actual speed and current values must be printed on it.


IMU board

Assigned to: XXX

An Inertial Measurement Unit is a device that exploits some sensors to get its pose and attitude. In this project a MEMS accelerometer and a MEMS gyroscope are used to read the inclination with respect to the vertical and the angular rate. A simple filter (e.g., a complementary filter) can be used to fuse the data and calculate the IMU attitude.

The goal of this project is to interface the microcontroller with the two sensors, filter the readings and output the attitude on the serial port.

LCD output board

Assigned to: XXX

File:Board.jpg

The goal of this project is to exploit the LCD screen of the HY-STM32 demo board to print data, e.g., from the serial port or some sensors.

A LCD library comes with the board, as well as the datasheets.

As a plus, this board can be used with other projects (e.g., the range finders) to display their results without the need of a computer.

IRALab cart controller board

Assigned to: XXX

File:Cart.jpg

The goal of this project is to redesign the cart controller board using the STM32 micricontroller, exploiting its peripherals to interface with sensors and actuators mounted on the cart in order to drive it.

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