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--- lab3 [2010/03/19 12:48] – natalia
+++ lab3 [2014/02/09 13:25] (current) – allison
@@ Line 1: / Line 1: @@
-==== Prelab studies ====
+==== Background ====
-  * Please make sure to read and understand the license agreements:
+=== Servo Motor ===
-    * {{:legalnotice_os_only.pdf}}
+A Servo ((Based on http://www.seattlerobotics.org/guide/servos.html)) is a device that has an output shaft that can be positioned to a specific angular positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the servo will maintain the angular position of the shaft. As the coded signal changes, the angular position of the shaft changes. Servos are topically have 3 wires; one is for power (+5 volts), ground, and the yellow wire is the control wire.
-    * {{:micrium-sla-cpu.pdf}}
-    * {{:micrium-sla-p1.pdf}}
-    * {{:micrium-sla-pl.pdf}}
-  * Make sure you fully understand the previous labs ([[lab1|Lab 1]] and [[lab2|Lab 2]]).
-  * Also read the application note 1456 which provides a general information about Lab 3 stationary project:
-    * {{:an-1456_c_os-ii_dragon12_development_board_.pdf}}
-==== Evaluation ====
+The servo motor has a control circuit and a potentiometer (a variable resistor also known as pot) that is connected to the output shaft. The pot allows the control circuitry to monitor the current angle of the servo motor. If the shaft is at the correct angle, then the motor shuts off. If the circuit finds that the angle is not correct, it will turn the motor the correct direction until the angle is correct. The output shaft of the servo we use is capable of traveling somewhere around 180 degrees. The servo is mechanically not capable of turning any farther due to a mechanical stop built on to the main output gear.
-Demonstrate the uploaded program to your T.A. Provide brief answers to the following questions:
-  * What is the process of creating a new task in μC/OS-II? Provide a pseudo sample code by study “KeypadTask” code block used in the lab.
+=== Infrared Range Finder ===
-  * Explain how OSFlagPend function and how it prevents the “KeypadTask” from accessing the critical LCD resource?
+An Infrared Range Finder ((Based on http://www.societyofrobots.com/sensors_sharpirrange.shtml)) works by the process of triangulation. A pulse of infrared light is emitted and then reflected back (or not reflected at all). When the light returns it comes back at an angle that is dependent on the distance of the reflecting object. The infrared range finder receiver has a special precision lens that transmits the reflected light onto an enclosed linear CCD array based on the triangulation angle. The CCD array then determines the angle and causes the rangefinder to then give a corresponding analog value to be read by external microcontroller.
 ==== Procedure ====
+The goal is to have a task that every 300 ms checks the distance of the IR Rangefinder and change the servo's position accordingly.
   * Open the lab stationary using CodeWarrior located in:
-<code>LAB03/Micrium/Software/EvalBoards/Freescale/MC9S12DG256B/WytecDragon12/Metrowerks/Paged/
+<code>LABXX/Micrium/Software/EvalBoards/Freescale/MC9S12DG256B/WytecDragon12/Metrowerks/Paged/
-   OS-Probe-LCD/OS-Probe-LCD.mcp</code>
+   OS-Probe-LCD/OS-Probe-LCD.mcp</code> Note you can use the sample project from lab 2 as a baseline for integrating the code [[lab3#Resources|below]].
-  * Recompile the project and transfer the binaries to Dragon12 board as explained in [[lab1|Lab 1]]. {{:icon3.jpg}}
+  * Add a task that every 300 ms calls ir_range(ATD0DR0)  //Shouldn't this be get_ir_range_and_change_servo_motor_accordingly(ATD0DR0)?//
+  * Connect the VCC and ground wires of Servo and IR Range Finder. Make sure you have +5 volts and have a common ground between the microprocessor and your power supply.
+  * Connect PP7 pin to servo's input signal and PAD04 pin to IR Range Finder output signal.
+  * Double check your circuitry with your TA before powering up anything.
+  * Recompile the project and transfer the binaries to Dragon12 board. {{:icon3.jpg}}
+==== Submission ====
+Submit the source code and a report brief outlining the design using the command: submit 4352 lab3 filename to submit your report and and code. (Use “man submit” for details on how to use the submit command. The “course” is “4352”, the “assignment” is “lab3”.)
-==== Reference Manuals =====
+==== Reference Manuals ====
+  * {{:hitec_hs422_servo_motor_manual.pdf}}
+  * {{:sharp_gp2d12_ir_range_finder_manual.pdf}}
+  * {{:an-1456_c_os-ii_dragon12_development_board_.pdf}}
   * {{:an1004_the_10-minute_guide_to_rtos_.pdf}}
   * {{:ucos-ii-refman.pdf}}
@@ Line 34: / Line 39: @@
   * {{:releasenotes.pdf}}
-==== Resources =====
+==== Resources ====
-  * {{:lab3.zip}}
+  *{{:lab4.c|lab4.c}}