Programming the Arduino

Transcription

1 Summer University 2015: Programming the Arduino Alexander Neidhardt (FESG) SU-Arduino-Prog-Page1 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page2 1

2 The hardware SU-Arduino-Prog-Page3 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page4 2

3 Programming environment Download from: SU-Arduino-Prog-Page5 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page6 3

4 Binary world, programming from Assembler to C Programmable, mechanical calculation machines (19th/early 20th cent. AD) Falcon (1728) Joseph-Marie Jacquard (1805) -> punchcard looms for work steps (program) Origins at China and also developed by the mathematician Leibniz (17th century AD) Positional numeral system which represents each number just with 2 symbols, 0 and 1 These values can be represented by voltage levels in electronic circuits For human use very inefficient but with electronic circuits it is possible to create very efficient arithmetic and logic units (ALUs) for the basic operations addition, subtraction, multiplication and division See: Rembold, Ulrich et. al.: Einführung in die Informatik für Naturwissenschaftler und Ingenieure. Hanser München Wien 1991 See: Download See: See: Rembold, Ulrich et. al.: Einführung in die Informatik für Naturwissenschaftler und Ingenieure. Hanser München Wien V SU-Arduino-Prog-Page7 Binary world, programming from Assembler to C The machine instructions Assembler mnemonic: add ax, 1000 (short Assembler ) Assembler conversion Machine code (80x86): Operation code for add to accumulator high byte low byte Binary representation of number 1000 See: Download SU-Arduino-Prog-Page8 4

5 Binary world, programming from Assembler to C Programming paradigm of the problem oriented computer language C Procedural programming with structured programming as subset Code is splitted into several, reusable sections called procedures or functions with own scopes, which can be called at given code positions Logical procedure units are combined to modules Jumps (like goto) are not allowed E.g. C Case sensitive See: Download SU-Arduino-Prog-Page9 Binary world, programming from Assembler to C From source code to machine instructions Source code in a specific computer language Assembler mnemonic (short Assembler ) Compiler translation and optimisation conversion Assembler/Disassembler Machine code (e.g. 80x86, ) The process of compilation is unidirectional. There are several representations of a solution for a specific task in problemoriented languages which results in the same representation in machine code. On the other hand the optimisation is not ideal, so that the knowledge about the results after comiplation can improve the runtime of a program. See: Download SU-Arduino-Prog-Page10 5

6 Binary world, programming from Assembler to C Phase Programming Creation Compiler Source codes Source codes Preprocessor/ Compilation Object codes Library codes Linking Executables Runtime Load Executables Executable libraries Upload via USB SU-Arduino-Prog-Page11 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page12 6

7 Our first program: Blink (LED) SU-Arduino-Prog-Page13 Memory Elements short, int, long, float, double, char, structures, Variables Arrays (e.g. int Ar[5];) Indexes start with 0!!! Pointers SU-Arduino-Prog-Page14 7

8 = 1 Byte bin 0 * 2 0 = 0 * 1 = 0 dec 1 * 2 1 = 1 * 2 = 2 dec 0 * 2 2 = 0 * 4 = 0 dec 0 * 2 3 = 0 * 8 = 0 dec 1 * 2 4 = 0 * 16 = 16 dec 1 * 2 5 = 0 * 32 = 32 dec 0 * 2 6 = 0 * 64 = 0 dec 1 * 2 7 = 0 * 128 = 128 dec = 178 dec SU-Arduino-Prog-Page15 Function has no return value true or false 1 byte character Same as byte (see byte ) 1 byte integer with a value from 0 to byte integer with a value from to byte unsigned integer with a value from 0 to Same as unsigned int (see unsigned int ) 4 byte integer with a value from to byte integer with a value from 0 to byte floating point (6 decimal digits precision) 4 byte floating point (15 decimal digits precision) e.g. char carray[128]; similar to array of any type C++ string object Array of any type See: Download SU-Arduino-Prog-Page16 8

9 Pointer: Pointer: int *a = &a; <&a> Memory element: int a = 5; 5 Memory: Address of a Location of element in Memory (address) SU-Arduino-Prog-Page17 Functions Function definition int Add (int a, int b) { return a+b; } Function call X = Add (5, 6); => X=11 SU-Arduino-Prog-Page18 9

10 Operators Standard operator: Assign =, Plus +, Minus -, Multiplication *, Division /, Modulo-Div. %, AND && (Bit-AND &) OR (Bit-OR ) NOT! Additional operators: Add one, subtract one: ++,--, (e.g. i++; is i=i+1) and a lot of others: +=, -=,, [, ], ->, *, SU-Arduino-Prog-Page19 Comments // This is a comment /* This is also a comment */ SU-Arduino-Prog-Page20 10

11 Interaction with users Serial write void setup() { // initialize serial communication: Serial.begin(9600); } void loop() { Serial.print( On ); // Write without new line Serial.println( Off ); // Write with new line } AB AB AB SU-Arduino-Prog-Page21 Application workflow Conditions if (iindex < 10) { Serial.print( A ); } else { Serial.print( B ); } Conditions switch (iindex) { case 1: Serial.print( A ); break; case 2: Serial.print( B ); break;... } SU-Arduino-Prog-Page22 11

12 Application workflow Loops int i = 0; while (i < 10) { Serial.print(i); } Loops int i; for (i = 1; i < 10; i++) { Serial.print(i); } SU-Arduino-Prog-Page23 Digital Pins Output Input SU-Arduino-Prog-Page24 12

13 External modules (Libraries) Copy modules to here Use module with #include < > SU-Arduino-Prog-Page25 MAC OS X: If you are using Mac OS X, the libraries folder is hidden in the Arduino application: Right-click on Arduino.app, "Show package content", then put the library folder in "Contents/Resources/Java/hardware/libraries". Include the library using the menu in the IDE, or type #include <AFMotor.h> You are now ready to use the library. SU-Arduino-Prog-Page26 13

14 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page27 Motordriver for DC-motors: basic functionality Motor armature Commutator Carbon brush SU-Arduino-Prog-Page28 14

15 Motordriver for DC-motors: basic functionality Motor armature Commutator Carbon brush Rotation direction GND SU-Arduino-Prog-Page29 Motordriver for DC-motors: basic functionality (with driver IC L293 D) Motor armature Commutator Carbon brush SU-Arduino-Prog-Page30 15

16 Motordriver for DC-motors: basic functionality (with driver IC L293 D) Rotation direction and On/Off +/- rotate forward -/+ rotate backward +/+ or -/- stop Enable = speed (PWM) GND SU-Arduino-Prog-Page31 Motordriver for DC-motors: Adafruit Motor/Stepper/Servo Shield for Arduino kit - v1.0 #3 #1 #4 #2 SU-Arduino-Prog-Page32 16

17 Motordriver for DC-motors: Adafruit Motor/Stepper/Servo Shield for Arduino kit - v1.0 // Use Adafruit module #include <AFMotor.h> // create motor #2, 64KHz pwm AF_DCMotor MotorRight(2, MOTOR12_64KHZ); // set the speed MotorRight.setSpeed(50); MotorLeft.run(RELEASE); // Move forward for (int i=0;i<500;i++) { MotorRight.run(FORWARD); MotorRight.run(RELEASE); } // Move forward for (int i=0;i<500;i++) { MotorRight.run(BACKWARD); MotorRight.run(RELEASE); } setup() loop() SU-Arduino-Prog-Page33 Motordriver for step-motors (steppers): basic functionality Inductor 1 Inductor 2 2x resistance SU-Arduino-Prog-Page34 17

18 Motordriver for step-motors (steppers): RN-Stepp297 Power Clock pulse for steps 5V GND Rotation direction SU-Arduino-Prog-Page35 Motordriver for step-motors (steppers): RN-Stepp297 +5V or 0V Rotation direction Clock pulse for steps (PWM) 5V GND SU-Arduino-Prog-Page36 18

19 Motordriver for step-motors (steppers): RN-Stepp297 - programming // Use stepper module #include <Stepper.h> // Create stepper class variable Stepper StepperLeft (steps, pin_direction, pin_clockpulse); e.g. StepperLeft (200, 8, 9) StepperRight (200, 7, 10) // set the speed of the motor to 200 RPMs StepperLeft.setSpeed(200); setup() // Move one step forward StepperLeft.step(1); // Move one step backward StepperLeft.step(-1); loop() SU-Arduino-Prog-Page37 Motordriver for step-motors (steppers): Adafruit Motor/Stepper/Servo Shield for Arduino kit - v1.0 #2 #1 SU-Arduino-Prog-Page38 19

20 Motordriver for step-motors (steppers): Adafruit Motor/Stepper/Servo Shield for Arduino kit - v1.0 // Use Adafruit module #include <AFMotor.h> // create motor stepper #2 with 48 steps AF_Stepper StepperLeft(60, 2); // set the speed StepperLeft.setSpeed(100); StepperLeft.release(); setup() // Move forward StepperLeft.step(1, FORWARD, SINGLE); StepperLeft.release(); // Move backward StepperLeft.step(1, BACKWARD, SINGLE); StepperLeft.release(); loop() SU-Arduino-Prog-Page39 Low Cost Ultra Sonic Range Finder 5V GND Trigger pulse and signal SU-Arduino-Prog-Page40 20

21 Low Cost Ultra Sonic Range Finder Range = usec/58=cm or usec/148=inches. SU-Arduino-Prog-Page41 Low Cost Ultra Sonic Range Finder e.g. int ipingpin = 13; Range = usec/58=cm or usec/148=inches. SU-Arduino-Prog-Page42 21

22 Robot Compass Modul GND Signal (PWM) 5V PWM-signal 0.1 msec == 1 degree SU-Arduino-Prog-Page43 Programming the Arduino - The hardware - The programming environment - Binary world, from Assembler to C - - Programming the Arduino in C: more - Programming style SU-Arduino-Prog-Page44 22

23 Programming style See: Download SU-Arduino-Prog-Page45 Programming style Try to write readable and efficient code: - Add comments to explain the code - Use understandable (variable, function) names - Structure the code into logical units - Initialize variables - Search for existing code first - SU-Arduino-Prog-Page46 23

24 And for help look at: Programming style SU-Arduino-Prog-Page47 Data Analysis Course SU-Arduino-Prog-Page48 24

25 The competition... 30cm X 30cm Stop the robot: while (1==1) {} SU-Arduino-Prog-Page49 Thank you SU-Arduino-Prog-Page50 25