COSC 625- Real Time Processes
Fall2019
ID 15982
PH 313 5:30-7:10pm
Instructor: Dr. William Sverdlik
Office: 512 Something_or_other
Pray-Harrold
Office Hours:
(tentative)
MW 9:00-9:50,
MW 12:00-2:00,
W 4:30-5:30
Phone: 734-487-7081
e-mail:
wsverdlik@emich.edu
Textbook: No book to buy!! All material will be available from the Internet.
Hardware: There is hardware to purchase. Please buy the following immediately electrical items from Amazon.
Additionally, you will need to purchase a robotics kit from Tinkertech. This is a Maker's Space on MIchigan Ave. in Yp[silanti. We will be spending some time there.
Several of you will be working with Arduinos in class or on a seperate
project with me. A good cheap knock-off kit with lots of experiment
parts is here ($30!!)
The TinkerTech robot will cost you about $90. The $90 plus your lab fee
will also get you a one month membership at the Maker's Space and will
also include training and
check-out on the laser cutter.
Format:
There
will be a major programming
project (broken up into smaller parts), and some "extra" work.
- Quizzes/Examination: are open book, open notes.
- Quizzes (announced) Sept 30 and Oct 21 . Open book and worth 50 points each
- Programming Assignments:
Remote Controlled Robot
You will need to
demonstrate your
programs to me as well as provide a listing of the source code. Total points = 100
Extra Stuff : (probably working alone) from
time to time, I may approach you and give you some unknown piece
of electronics. You will be given approximately 1 week to explain and
demo this to class.(50 points)
Final Exam : Date??? Comprehensive . 100 points
Total points=300
Approximate Grading Scale:
270-300 A
240-270 B
195-240 C
150-195 D
<150 E
Cheating: It violates University policy, you know....so
don't do it. Cheating is defined as representing all or part of
someones elses work as your own. While you are certainly encouraged
to seek the advice of others in this class on assignments, the work
you hand in should represent your own efforts. Violation of this rule
will be dealt with according to University policy. If you are really
stuck on a problem, come see the instructor!
What will happen in this class:
You will build and program a remote controlled robot. You will
need to build both the robot and the remote control. Both require
programming.
REFERENCES (I keep these open whenever I'm programming)
Skeleton Program (please note: all programs need to follow this format. In fact, you should **copy** this to start all programs)
Skeleton Program to read membrane keypad
Powerpoint about interrupts and timers
Instruction Set References and defined constants
Full Instruction Set Reference
Data Sheet for PIC 16F62X
SOFTWARE
Burner Software
MPLAB IDE - GUI for programming chip (new version)
Older versions of MPLAB (scroll down to MPLAB IDE archives. I like versions in the 8's)
Parallax Propscope download
Parallax Oscilliscope download
Helpful (???) Videos
A Simple Introduction to Breadboards
MPLAB X IDE (the newer version of MPLAB) - how to generate a hex file from source
Video on Timing Loops (uploaded January 19,2017 length: 26:54)
Source code to go with video
How do we get to remote controlled robot:
Assignment #1
Assignment #2
Assignment #3 due Monday November 11
Assignment #4 due Monday November 11
Assignment #5 due Wednesday November 20
1) Blink38- blink an infrared LED 38,000 times per second. You may wish to save this on a chip
2) OnOff - flash an infrared LED On and Off every 870
microseconds. When LED is on, it should oscillate at 38,000/second.
This will need to be
modified on the receiving end: that is, we wish to read bits at the
receiver end at 870 microseconds per bit
3) Membrane keypad. Read the keypad and light up corresponding LEDS.
4) Pulse width modulation (robot). Get the robot to move
5) Interrupt driven receiver of oscillating IR.
6) Timer interrupts for pulse width modulation
7) Remote controlled robot!!
----------------------------
Everything down from here is from an old class
Programming Assignment #1 (Due: Monday January 30)- Flash an LED: on for 1 second, off for 1 second
Programming Assignment #2 (Due Monday February 6)- Demo your robot. Robot should go forward.
Forward robot:
pulse for 1.7 milliseconds, off for 20 milliseconds, repeat
Programming Assignment #3 (Due Monday February 13) - Bit Banging
Programming Assignment #4 (Due Wednesday February 15) - Remote control robot !! Work in pairs. Robot
normally moves forward. When it detects 38kHz infrared
LED, it stops. Remoce the LED and it
moves again
Wednesday March 1 and Monday March 6 - Presentations of interrupts and timers
Programming Assignment #5 (Due: March 22,2017) Robot programming :
a) Motor Control (Pulse
Width Modulation) is controlled via timer interrupts. Timer is set to
"low"
time (20 milliseconds) and
interrupt handler pulses motors high
b) An external sensor, for
now we use the robot antennaes, is hardwired to an interrupt line (line
B0) and handled when
triggered. Normally, the robot moves forward (see part a). When the
antennaes are "triggered", the robot should move in reverse for 2
seconds and turn either left or right 30%. Then the normal program
should take over (move forward).
Exam! Yes, we need to have one. Do you know the basic commands ? Can
you poll a line, Can you write a timer loop ? We will have an
examination on Wednesday March 29. You may bring nay printed material
you like for reference; no computer access permitted.
Programming Assignment #6 (Wednesday April 10, 2017) - mystery sensor ?????
Links:
Powerpoint
USART Transmitter
USART Receiver
USART doc
Sample timer code
Harvard Architecture (wikipedia)
PICs!!!!
Microchip - home of the PIC
Data Sheet for the PIC 16F627/8
PIC Training Videos!! Homework - watch them now!!
My Notes on Video 1
Tutorials:
Some quick and dirty assembler issues
Nigel's Page
Sample Code
Skeleton Program
Language Tutorial
IO Example 1
IO Example with interrupts
Motors, LED and Interrupts
Using FSR and INDF
Watch Dog Timer (WDT)
Timed Delays
Seven Segment Display Documentation
Seven Segment Display Code
Code (c code) for reading an ADC0831 A/D converter
Using Timer 0
Pulse Width Modulation (PWM) and Servo Motors
Analog/Digital (A/D) Conversion and Serial Peripheral Interface (SPI)
Other Topics:
SPI - Serial Peripheral Interface (wikipedia)
II-C Protocol (I squared C)
The following is from an old class. Just use it as a reference; we'll update as the class progresses
What to do (this is informal at this point)
Week 1 - watch all the PIC Training Videos
To Do; some elementary electronics
Week 2 - start reading the tutorials. You should
read thru the first 7 lessons of "You should work thru this one"
To Do: how to use programmer, oscilliscope,
Week 3 - finish up the rest of the tutorials and start reading Nigel's Page tutorials
To Do: analyze timing loops
Week 4 - serial communication, bit bashing
Week 5 - A/D conversion, Serial Peripheral Interface(SPI)
Week 6 - Pulse Width Modulation (PWM)
Week 7 - Interrupts
Week 8 - putting it all together - PWM, SPI, A/D
Tentative Dates (Winter 2014 - dates good up to 4/14/2014) :
Wednesday Januray 29, 2014 - Homework 1 due
Wednesday February 5, 2014 - Program 1 due (flash and LED)
Wednesday February 17, 2014 - Program 2 due (7 segment LED and bit bashing)
Wednesday March 5, 2014 - Midterm Exam . Study Guide here and here .
Monday March 10, 2014 - Program 3 (the dancing robot)
Final Project - Initial Ideas (nothing to do yet, but start thinking)
Wednesday March 13, 2014 - One page write up and presentation of your final project idea
Graduate Student Presentations
March 31 - Grad Student Presentation 1
April 2 - Grad Student Presentation 2
April 7 - Grad Student Presentation 3
April 14 - Exam 2
-----------------------------------------------------------------------------------