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Mechatronics_9_16_08

Mechatronics_9_16_08 - RC Filters and System Response...

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RC Filters and System Response Fundamentals of Mechatronics Engineering 9/16/08
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(Pre lecture Comments) Last call for homework #1 Leniency because of issues with book and website All future assignments due on date given Phone/Email Exchange Do not email me asking about a homework assignment or other things because you missed class. Check the website, because it is always posted there. Should you need further clarification, ask your buddy. If the above two have failed, you may then contact me. Please make an effort to check all the lecture notes/course website. I am frequently answering questions that I have not only said in class, but also put in writing. If a homework assignment, or anything else is not clear when I first assign it, ask right then. Or come up write after class, I will be more than happy to clarify. Everybody, right now, turn to at least 2 of your immediate neighbors or other people you know, and exchange your email (or phone if you wish).
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(Pre lecture comments) Supplementary Notes for 9/02 available on course website More fixed point math examples, explanation of 16x8 multiply Also, just FYI, matlab scripts for examples in class available on course website. Mini-Project You will find that I provided a piece of the solution in the 9/02 lecture notes--the timer initialization code. Will require minor modification to get correct timing. But please make sure you understand this. I have not provided any info on setting up A/D. You will need to figure this out from the A/D section in the Atmega128 manual. It’s not hard, probably 2-4 lines depending on how you do it. On course website, I have posted Multiply.asm which has multiply subroutines available for use. Explained in the 9/02 supplementary notes. Many great code examples and subroutines available on assembler website. I highly encourage you to read the first 26 pages (or so) of the Atmega128 manual ( I always mean full version ). Do not wait on this assignment, there will be small homework on RC filters assigned this Thursday. Questions on anything?
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Control System Picture Read Inputs (A/D or digital) Process: Apply conversions and/or filtering Control Law Decide what to do, such as calculate outputs with PI control Actuate Devices Set pin high/low, PWM, Control SPI, serial output Initialization Interrupt (an internal or external event) Ex: pin goes high/low or timer reaches a certain count Reset is a type of interrupt anywhere Reset Run special event code, then return to same spot Regular program flow Jump to interrupt code Reset Program code in Flash RAM
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