Category Archives: Uncategorized

State machine example from class – “Shoo Robot”

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State machine example – Golf ball collector

State table whiteboard snapshots: Code:

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SCARA kinematics – example M-file and whiteboard snapshot

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Kinematics and mini-project ideas – whiteboard snapshots

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HC-SR04 ultrasonic rangefinder example code for dsPIC30F4011

The following example program for a dsPIC30F40011 microcontroller takes a reading from a HC-SR04 ultrasonic rangefinder once every 200ms. The dsPIC 30F4011 is running at 30 MIPS (using the internal fast RC oscillator with 16x PLL multiplier). RC13 is a … Continue reading

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Slaughterbots video

This thought-provoking video explores some of the dangers of so-called autonomous weapons. I think it’s important for all of our futures that more people become aware of the debate about autonomous weapons. Videos like this seem like a very effective … Continue reading

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Two alternative state machine structures with Timer 1 millisecond counter

These are the two versions of the dsPIC30F state machine code we looked at in today’s class, both of which use a Timer 1 interrupt service routine to increment a millisecond counter that is used to trigger timeout state transitions. … Continue reading

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A handy “super example” for the dsPIC30F4011

This is a handy “super example” for the dsPIC30F4011, which uses several features of the microcontroller: Sets all Port D pins as outputs (I have LEDs connected to all four). Toggles an LED on RD0 every 200ms approx. Configures AN0-AN8 … Continue reading

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Millisecond timer for state machine using Timer 1 interrupt

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Two SCARA control examples from today’s class

This first example moves the SCARA’s end effector to the x,y point defined by the analog input voltages present on pins AN0 and AN1 respectively. This second example moves the SCARA’s end effector through a repeating sequence of four pre-defined … Continue reading

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