ADEM 2019 - lectures

ADEM

about Dynamixel se lektion 3

Ikke alle forelæsninger er her. Så der er også fejl 403

01	Intro and hello world in embedded System IO primer	9 sep	Jens	.
02	Realtime applied on direct IO (NTC) …	16 sep	Jens	.
03	RS485 fieldbus, realtime	23 sep	Jens	.
04	XBEE EMB Unit	23 sep	Jens	.
05	C crash course	1 oct	Jens	.
06	Signals og Systems	7 oct	Jan
07	Impulse response	14 oct	Jan
08	Fourier series and bandwidth analysis	21. oct	Jan
09	DC motors and hands on in lab	22.oct	Karl
11	I2C fieldbus	28. oct	Jens	.
11	Fourier series and bandwidth analysis II	31. oct	Jan
12	State Space and sensors	1. nov	Jan
13	IMU and encoder incl I2C, digital representation of numbers(int and floats)	xx.nov	self study Jens/Jan
14	Sampling, Nyquist, quantification, and quant noise	8. nov	Jan

Individual assignment and examine

Dynamixel motor
- protocol 2
- arduino as master on rs485
- you code shall be easy to change motor ID ( we will announce ID of our motor present at examine)
- identify address for one of your motors
design, implement, test and explain
- reset command (for all motors ?!?)
- enable/disable torques on dyn motor (command addr 24)
- set P-gain once (meaning not every time in your loop)
- With a fixed samplingsfreq (10 Hz) you shall
  - get present temperature and reset or stop motor is temperature is to .high

Fourier et all

The System Loop

Draw the system loop and explain how it relates to chapter I
- hints: where is the System loop and how does it relate to your HW Setup
max 1 page

You must upload your assignment prior to examine int order to be allowed to attend examine