Introduction to Electric Vehicle Battery Systems

Electric vehicle design is a complex concept. Here's a look at the heart of every EV: the battery.

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The Demand of Electric Vehicles Presents New Challenges for Engineers

EVs are hitting the road more and more—what does that mean for engineers being asked to work in automotive applications?

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How to change entry point Transponder of Tatasky

Tatasky change his home transponder frequency
Due to this reason some Tatasky user unable to get signal in his set top box
Here I show you how to change the home transponder frequency and run it as well as.

Step 1

• First time installation settings
• Choose language then select ok

 

Step 2

• Lnb settings 
• Lnb type - Universal

 Step 3

• Choose a transponder to configure
• Change transponder downward which from this have permission for edit entry point select this 

          Press ok to Next Screen

 Step 4

• Signal setting
• Enter frequency 11050
• Select Polarization Horizontal
• Enter Symbol Rate 32720
• Select fec 2/3
• Ok to Next Screen

 Step 5

• Now signal locked
• Press Ok to Next screen

 Step 6

• If you cant able to get this first step 
• on your Tatasky Remote goto Organiser
• Select System settings Ok
• Press 0 and 1
• Then Ok
• Now goto Sattelite Settings
• Then Ok  

Now You can follow from Step 2

You can see this complete video for any doubt

Tech Helping In Improving Health And Saving Lives

Lab-on-a-chip detects cancer faster, cheaper and less invasively A new ultrasensitive diagnostic device invented by the researchers at University of Kansas, University of Kansas Cancer Center and KU Medical Center could allow doctors to detect cancer quickly from a droplet of blood or plasma, leading to timelier interventions and better outcomes for patients. The lab-on-a-chip […]

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Basics Of Inductor

In this video, the presenter will be sharing you a brief introduction on Inductors. The basics of how inductors work, a demo showing an inductor filtering out high-frequency signals, a quick low pass LC filter, and a demo showing the magnetic field created around inductors. Courtesy: Afrotechmods

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pH Monitoring and Control Systems

What are pH monitoring systems and how are they applied in control systems?

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Maxim Integrated’s Newest Clinical-Grade Sensors Claim High Accuracy and Low Power for Wearables

Maxim claims their newest temperature sensor and heart-rate monitor are "lowest-power" with clinical-grade accuracy.

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In a $1 Billion Deal, Apple and Intel Divide the 5G World

Apple has offered $1 billion to Intel for a majority share of its modem chip business.

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Distance Counter

Presented here is a simple pedometer (Distance Counter) circuit. It measures the distance covered by you while walking. It may not work very well for running! Circuit and working Fig. 1 shows a circuit diagram of the distance counter. The circuit is built around quad 2-input Schmitt trigger CD4093 (IC1), CMOS ripple carry binary counter/divider […]

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3D Printing Electronic Components? Nano Dimension Releases DragonFly LDM Manufacturing Platform

DragonFly LDM extends the scope of 3D printing to the unattended, low-volume manufacturing of electronic circuitry.

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Alibaba’s Semiconductor Subsidiary Will Utilize Open-Source RISC-V Core

Alibaba is set to produce the next generation of Chinese processors with the RISC-V instead of Arm architecture.

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Build Non-Contact Type Digital Tachometer

A tachometer measures the rotation speed of motors and other machinery. There are various types of tachometers. Described here is a digital non-contact type tachometer using a proximity sensor. Circuit and working The circuit diagram of the Arduino-based tachometer is shown in Fig. 1. It is built around Arduino Uno board (Board1), inductive pnp-type normally-open […]

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Mouser IOT Roadshow 2019 Concludes With a Housefull Bangalore Event

Engineers thronged the event resulting in a hall bursting at the seams with electronics engineers passionate about IoT in general, and Smart Cities, Factories & Energy in particular. Bangalore, 26 July 2019 — Mouser Electronics, Inc, today concluded its 6-city roadshow with a grand event at Taj, MG Road, Bangalore. The Mouser IoT Technical Roadshow […]

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Power Integrations Releases 95%-Efficient, GaN-Based InnoSwitch3 Range of ICs

This week, Power Integrations has released their latest family of flyback switcher ICs that integrate GaN technology for more efficient power applications.

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Real-Time Face Detection and Recognition for Security Purposes

This article demonstrates real-time training, detection and recognition of a human face with OpenCV using the Eigenface algorithm. There are various biometric security methodologies including iris detection, voice, gesture and face recognition, and others. Among these, face recognition plays a vital role and is one of the emerging technologies for security applications. To begin with, […]

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Vesper Releases New MEMS VM3000 Microphone

Vesper has announced their first piezoelectric digital MEMS microphone for audio applications in voice recognition.

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14 Helpful eBooks On MATLAB!

These 15 ebooks cater to everyone from students, freshman and engineers. Happy reading!! 1. Numerical Computing with Matlab Author: by Cleve B. Moler Publisher: SIAM, 2004 This textbook provides an introductory course in numerical methods, MATLAB, and technical computing. It emphasis on explaining the use of mathematical software. The book has used computer graphics, including […]

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PC-based Oscilloscope Using Arduino

Oscilloscopes are an essential tool for electronics hobbyists and professionals to verify that their designs would work as expected. PC based Oscilloscope score over standalone oscilloscopes due to their compact size, low cost and ability to do offline analysis. Here we describe how you can make your own oscilloscope at a very low cost using […]

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In Storage Industry, Highest Capacity Of Yesterday Is Already Today’s Lowest Capacity

We live in a world which is run on memory and storage, a day without it would be a nightmare. Kingston has been one such company that has been providing its memory products for the past 30 years. Kingston Solutions Inc (KSI), a subsidiary of Kingston Technology Corporation is an established global provider of embedded […]

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SiTime Introduces Rugged Endura MEMS Oscillators for Military and Aerospace Applications

Learn about SiTime's newest MEMS oscillators.

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InnoPhase Wants to Move RF Circuitry Away from Analog

InnoPhase wants to change digital radio architecture. Here's a look at the why and how.

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Raspberry Pi Based Vehicle Starter on Face Detection

Download Project Document/Synopsis A vehicle key is the only way to start the car or to provide ignition to the engine. The face recognition-based car starter system literally replaces the car ignition by replacing the key with specific user face. This smart vehicle system is powered by raspberry pi circuit. Here, the face detection system […]

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How To Calculate The Maximum Power Output From A Solar Panel?

This video demonstrates calculating the maximum power output from a solar panel and discusses determining the optimum resistive load for a solar panel. Courtesy: ScienceOnline

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What Does It Mean for an SoC to Be Secure? A Closer Look at the Wireless Gecko Series 2

What makes a secure SoC actually... secure? Check out this overview of hardware-based security features in a real-world example IC.

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RFID-Based Automatic Desktop/Mobile Phone Login Device

We have so many login passwords to remember in order to access our laptops, emails or online banking. And forgetting password is something that we often face, and when we are in an urgent situation, it is quite annoying. With cameras all around today, it is also not safe to type our password in public […]

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Secure Microcontrollers Address IoT Security

Security is increasingly something EEs need to be cognizant of in their component choices. Here's an overview of three secure microcontrollers.

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Speed Control Of DC Motor Using Pulse-Width Modulation

Pulse-width modulation (PWM) or duty-cycle variation methods are commonly used in speed control of DC motors. The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ plus digital ‘high’ pulse-width during a PWM period. Fig. 1 shows the 5V pulses with 0% through 50% duty cycle. The average DC voltage value […]

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Communication And Internet Technology: How It All Began (Part 1 of 6)

According to Wikipedia, the Internet (or, interconnected network) is the global system of interconnected computer networks that use the Internet protocol suite (TCP/IP) to link devices worldwide. It is a network of networks that consists of private, public, academic, business and government networks of local to global scope, linked by a broad array of electronic, […]

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Waste and Garbage Recycling Vending Machine Project

Download Project Document/Synopsis Nowadays with the increasing quantity of waste generated and restricted lowland house for waste disposal, utilization is one in all the necessary approaches to manage the waste effectively. Concern over the atmosphere is being seen as a massive increase in recycling globally that has full-grown to be a vital a part of […]

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Air Powered Mini Wall Climbing Robot Project

Download Project Document/Synopsis The climbing robot comprises of two limbs. Each limb has 4 suction cups. The suction cups are used to stick on to the surfaces. The air removal from suction cups is completed using a vacuum pump, controlled by solenoid valves. A microcontroller is used to control the relays that in turn switch […]

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Understanding Schematics

If you're looking to get a better handle on how to read schematics, this helpful guide will give you a head start.

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Health Monitoring System using 7-Segment Display & Atmega Microcontroller

Download Project Document/Synopsis This health monitoring system is a very useful system, which can be used to monitor the health parameters of the patient. This system continuously monitors the heart rate and the temperature reading of the patient. In this health monitoring system project, we use two 7 segment modules to display the parameters, as […]

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New App Tool for Augmented Reality PCB Design Enters Beta

Ever wish you could see your design file layers overtop your spun board? Augmented reality may make that possible in real time.

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Advancing AIoT, Innovating The Tech Future

TAITRONICS and AIoT Taiwan, the “must-visit” professional trade shows for unlimited opportunities in Electronics! The global electronics industry is moving from simple mass production, technology-oriented development mode to multi-integrations of innovative applications and customized manufacturing and services. According to the latest forecast by Gartner, worldwide IT spending is projected to total $3.8 trillion in 2019, […]

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Make This Simple Graphical LCD Scope

This scope reads input signal and displays the output waveform on a graphical liquid crystal display (GLCD) having 128×64-pixel resolution. The signal is fed to ADC pin of ATmega16 microcontroller (MCU) through an operational amplifier (LM358). The ADC continuously reads the input voltage with preset delay and displays the same on GLCD scope. This circuit […]

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Why Raspberry Pi Isn’t a Good Choice for Commercial Products

RPi has done some amazing good in the world, especially for aspiring young engineers, but here's the breakdown on why it's probably not what you need for a professional project.

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Bio-Inspired Wearable Fabric Sensor Takes Notes from Octopus Suckers

Researchers from a Korean university have studied octopus to learn how to make better stick-on wearable sensors.

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Force-Operated Toy Organ

This toy organ for children uses a readily-available force-sensitive resistor (FSR) and an NE555 timer IC. Resistance of the FSR varies with the amount of force or pressure being applied on its surface to play the toy organ. Circuit and working The circuit diagram of the force-operated toy organ is shown in Fig. 1. It […]

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Marvels Of The Emerging Healthcare Technologies

From small innovations like fitness bands to larger, more complex technologies like artificial organs and robotic prosthetic limbs, technology is laying the path for accurate health treatments. Technology helps doctors make sure the right patient receives the right treatment at the right time. Technologies like augmented reality (AR), virtual reality (VR), artificial intelligence (AI), blockchain, […]

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AI Hardware Roundup: Neuromorphic Chips and Neural Network SoCs

AI algorithms take a lot of resources to function. What hardware can handle running them on the edge?

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Analyzing the Moog Filter

Learn about one of the only audio filter topologies out there, the Moog filter!

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The University of Michigan has Developed a Computer Based on the Memristor

AI on a smartphone? U of M researchers open the door to localized AI processing, even on portable devices.

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Wireless LCD Display Via Bluetooth

This wireless LCD display shows information sent from a smartphone. The user can send text messages with up to 32 alphanumeric characters to the LCD within Bluetooth range of about 10 metres. This project can be extended and implemented in many ways for: 1. Educational organisations (schools and colleges). To inform any changes in the […]

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Mobile Apps For Fitness And Other Uses

Scan the QR codes to download the apps based on the operating system of your device. Samsung Health Updated: March 2019 Platforms: Android and iOS Download: Full version (free) Samsung Health is a fitness app that can record and analyse daily activities, diet and habits to help maintain a healthy lifestyle. The app can track […]

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Software For Healthcare And Design Applications

FieldTrip Visit: Website Full version: Free In medical electronics, FieldTrip can be used for advanced brain analysis methods like electro-encephalography (EEG) or magneto-encephalography (MEG). It is a MATLAB software toolbox developed by the reasearch team at Donders Institute for Brain, Cognition and Behaviour in the Netherlands. The toolbox can monitor invasive electrophysiological data like time-frequency analysis, […]

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Microchip Announces Smart Embedded Vision Initiative for Machine Vision System Design

Using Microsemi PolarFire FPGAs, the new program aims to enable compact, high-bandwidth, low-power system design.

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Design and Fabrication of Pedal Powered Washing Machine

Download Project Document/Synopsis Garments and clothes are washed by hands or by using powered laundry washing machines. Washing machines are one of the most useful devices in households as well as some commercial industries and hospitals. Over the years, this has been either a very strenuous and time-consuming or an expensive method. A washing machine […]

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Mini Hydraulic Hand Operated JIB Crane

Download Project Document/Synopsis Jib Crane is a small lifting, and material handling equipment used in engineering workshops as well as in Godowns & Warehouses. Jib Cranes is used for lifting various style of materials within the segments wherever frequent lifting & handling of material activity is needed. This material handling Jib Cranes is manually operated. […]

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The Benefits and Potential Drawbacks of the Switch to 5G Antennas

5G is the latest wireless technology for mobile devices and promises considerably higher data rates, lower latency, and increased number of instantaneous connections. But how will current infrastructure cope with the change and what will this mean to current 4G hardware?

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Intel Introduces Pohoiki Beach, a New 64-Chip Neuromorphic System

Based on the Loihi research chip, Intel's new system is capable of simulating 8-million neurons.

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ESP32 LoRa Gateway

In a boiler safety project, we completed, in which we are collecting 32 thermocouple readings from the deep of a 500 MW boiler 2nd pass area where the ambient temperature on a normal day runs 65 to 70 Degree Centigrade due to hot are leakages in the vicinity of the spot. However, the thermocouples need […]

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ESP32 (Non-Standard) GPS receiver

Introduction GNSS – GG-1802 ($5 a piece) Sometimes things do not fall in place and we curse ourselves for taking the wrong turn or making the wrong choices. But in P B Shelly’s word the real perspective later for those situations could be like this… We look before and after / And pine for what […]

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Digital Frequency Meter Using Arduino

This article describes the implementation of a digital frequency meter using Arduino Uno to determine the sinusoidal frequency signal in the range of 20Hz to 5kHz. The logic involves counting the total number of pulses per second that appear at a digital pin of Arduino. The authors’ prototype is shown in Fig. 1. Block diagram […]

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Statistical Noise Analysis: An Introduction

This article is an intuitive introduction to the statistical nature of noise and the basic calculations required to combine noise sources in a circuit.

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Dr. Neal Koblitz: Independent Co-creator of Elliptic Curve Cryptography

Neal Koblitz and Victor Miller independently co-discovered elliptic-curve cryptography. In this interview with Dr. Koblitz, we learn about his life and passion for mathematics.

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Electronic Pill, The Holy Grail Of Healthcare Technology

Innovative digital devices making smart use of personalised data will bring about a revolution in healthcare technology. While there are many difficulties and barriers to their adoption, these excuses can no longer stop us from embracing technologies that could have a positive impact on our lives. With the ever-growing susceptibility of masses to diseases in […]

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Hardware Security Vulnerabilities that Engineers Should Know

Why should engineers care about hardware security? Because they can help prevent vulnerabilities through design!

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New Low-Power e-Paper Displays from Pervasive Displays Feature Yellow e-Ink

The new large-format, tri-color devices display images and text in yellow, as well as in black and white.

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Chennai Edition of Sold-out Mouser IOT Roadshow 2019 Concludes Today

Amazing sessions around Smart Factories & Smarter Buildings enthralled visitors featuring some of the best electronics and embedded engineers in Chennai. Chennai, 12 July 2019 — Mouser Electronics, Inc, today concluded the Chennai edition of its 6-city roadshow on IoT. Mouser IoT Technical Roadshow has been a popular annual event that travels through top cities […]

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Principles of Cache Design

This article will examine principles of CPU cache design including locality, logical organization, and management heuristics.

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ROHM’s Smart City Sensor Module Detects Earthquakes—But the Real Star Is the Algorithm

Built with inexpensive hardware components, ROHM's algorithm-based module has built-in false detection function.

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10-Watt Audio Amplifier Using LM1875

Here is a simple 10-watt audio amplifier using IC LM1875. The IC has five pins and can deliver a maximum of 18-watt output power depending upon the supply voltage and load. The author’s prototype is shown in Fig. 1. Circuit and working The circuit diagram of the audio amplifier is shown in Fig. 2. It […]

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Dual Audio Level Shifter and Buffer for ADCs, MCU Kits and Arduino

Many single-ended analogue signals do not have DC components or appropriate DC offsets. Due to that, these require very high input resistance for analogue-to-digital converter (ADC) inputs. This simple universal dual level shifter and buffer for AC and audio signals can be used for ADCs, MCU kits and Arduino. It does not need any special […]

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Control With Authentication For Up To Four Devices

This circuit can be used to control up to four electrical devices through a cellphone or computer. The main advantage is that you can login from anywhere to control the device(s). If you try to login using invalid credentials 10 times, the system gets locked for the next three minutes. Both NodeMCU v0.9 and NodeMCU […]

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LTspice for Nyquist Plot Analysis

This article explains how to generate and refine a Nyquist plot in LTspice and how to incorporate this plot into your AC analysis.

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How Ultrasonic Flow Meters and IoT Connectivity Combine for Smart Metering Systems

Smart cities are exploiting the power of the Internet of Things to prevent wasting water.

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Make Your Own Arduino based RFID Door Lock

In this tutorial, the presenter will be giving you a tutorial on radio-frequency identification (RFID), how it works and how to make an Arduino based RFID door lock. It’s a non-contact technology that’s broadly used in many industries for tasks such as personnel tracking, access control, supply chain management, books tracking in libraries, tollgate systems […]

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Researchers Combine Wearable Biosensors and Machine Learning to Combat the Opioid Crisis

Researchers have combined wearable biosensors with machine learning to aid in treatment for substance abuse.

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Meet Two of MIT’s Engineers Observing Black Holes with the Event Horizon Telescope

The first image of a black hole made global headlines. Here are two engineers that helped make it happen.

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Linux, But Hardware: CHIPS Alliance Brings Powerful Players into Open Source Hardware Collaboration

Will open source hardware become as ubiquitous as open-source software, such as Linux and Android?

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Design & Thermal Analysis of Multi Layer High-Pressure Vessel using FEA

The composite material like aluminium and fiber matrix to sustain different criteria. In the present work, the structure of the composite pressure vessel and different orientations of symmetric shells designed. For pressure were investigated and 3- D finite element analyses using APDL Programming. FEA software is used for failure analysis on the composite shell of […]

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Finite Element Analysis of Centrifugal Pump Impeller

A centrifugal pump is a rot dynamic pump that uses a rotating impeller to increase the pressure of a fluid. Centrifugal pumps are ordinarily used to move liquids through a piping system. The fluid enters the pump impeller on or almost the rotating axis and is accelerated by the impeller, flowing radially outward into a […]

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Design and Analysis of Compressor Fins Thermal Distribution

Most of the air compressors are either reciprocating piston type or rotary vane screw. Centrifugal Compressors are common in very large applications such as supply a high-pressure clean air to fill gas cylinders, supply a large amount of moderate pressure air to power pneumatic tool. In air compressor heat can be generated by two ways, […]

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Thermal Analysis of Heat Pipes in Ansys

The heat pipe is a novel heat transfer device to transfer a large amount of heat through a small cross-sectional area with very small temperature differences and it also possesses high thermal conductance and low thermal impedance. In this paper, the heat pipe working parameters are analyzed using the Taguchi methodology. The Taguchi methodology is […]

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Design and Analysis to Analyse the Heat Transfer of Space Heater for Boat

As fossil fuels are depleting gradually with the course of time there is a need in developing innovative products that can extract maximum potential that the system can deliver. One of the key areas that still make use of diesel fuels for experiencing thermal comfort is the boat heating system. Due to its user-friendly characteristics […]

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Structural and Thermal analysis of Steam Turbine in Ansys

The rotor blade of the Steam turbine has been analyzed for the static and thermal stresses resulting from the tangential, axial and centrifugal forces. The Steam forces namely tangential, axial was determined by constructing velocity triangles at the inlet and exit of rotor blades. The rotary-wing was then analyzed for the temperature distribution. For obtaining […]

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6 Awesome Free eBooks On Arduino

This interesting collection of Arduino ebooks which help everyone from newbies to pros. These free ebooks will not only help you get started but will also help you learn to program, make microcontroller DIYs, your own wearables and unbelievable Arduino projects. Enjoy! 1. Getting Started with Arduino A Beginners Guide Author: Brad Kendall Publisher: Make […]

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Latest Technologies To Enhance The Performance Of Memories

Several initiatives have been taken to improve the performance of memories. The aim is to achieve decreased memory power, terabyte per second memory speed, and hybrid DRAM, flash and CPU module architectures to speed up in-memory operations significantly. We often come across problems with the hardware of our phones, tablets and laptops. These problems could […]

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Push Door Visitor Counter Alarm Using Arduino And Apds9960

We have heard of events/parties going out of control due to gate crashing by uninvited guests. Now, as a solution, imagine your door counting the number of invitees and raising an alarm when the number exceeds the guest list. It could have sounded like a magic door some years back, but it is a reality […]

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Introduction to Bandgap Voltage References

This article presents some basic information about bandgap circuits, which are widely used to generate temperature independent reference voltages.

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HDI PCB Technology Enhancing the Performance of Equipment

High-density interconnection (HDI) PCB takes advantage of recent technologies to amplify the functionality of circuit boards, motivated by the tininess of parts and semiconductor packages that provide superior characteristics in innovative new products, including touchscreen phones The first printed circuit board (PCB) can be traced all the way back to the early 1940s. Back then, […]

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Microchip Adds Three New Members to Its TD Family of Touchscreen Controllers

New capacitive touchscreen controllers from Microchip continue the supply of components for automotive interface applications.

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How to Use Nyquist Plots for Stability Analysis

In this article, we’ll see that a Nyquist plot provides a straightforward means of determining if an amplifier will oscillate.

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Arduino-Controlled 12V Battery Charger

The Automatic Battery Charger circuit presented here can automatically charge a 12V, 7Ah battery, or above. Special features of the charger are as follows. It automatically controls the charging current as per the status of the battery. Battery voltage level as well as charging status are indicated on the LCD display. The charger maintains float […]

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Structural analysis of Angle Plate in Ansys

Angle plates are used for supporting long shafts so as to reduce the bending stresses made within the shafts due to its own weight. Structural analysis of Angle plate by FEA software package ANSYS is given during this report. Loads on the angle plate are because of the load of the portion of the shaft. […]

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FEA Analysis of Composite Leaf Spring for Automotive Vehicle

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FEA Analysis of Disc Brake Using Ansys

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Diodes Incorporated Introduces New LED Driver-Controller for Automotive Applications

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Understanding Nyquist Plots for Second-Order Filters

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Arduino Robot Arm and Mecanum Wheels Platform Automatic Operation

In this tutorial I will show you how I made my Mecanum Wheels Robot Platform from my previous video, to work together and operate automatically with my 3D printed Robotic Arm, also an Arduino project from one of my previous videos.

Overview

So, we can control the Mecanum wheels robot with the custom-build Android application the same way as explained in the previous video. In addition to that, now the app also has buttons for controlling the robot arm.

The original robot arm control app actually had sliders for controlling the robot joints, but that was causing some problems with the arm stability. In this way the arm works much better, so therefore I will provide this updated version of the robot arm control app and the Arduino code to the original robot arm project as well.

Nevertheless, the coolest feature of this robot is the ability to store the movements and then automatically repeat them.

Using the Save button, we can simply store the positions of the motors for each step. Then we just need to click the Run button and the robot will automatically repeat the stored movements over and over again.

Building the Arduino Robot

Ok, so here I have the Mecanum wheels platform already assembled and you can find all details about it in my previous video.

Also, here I have the 3D printed parts of the robot arm and the servo motors and now I will show you how to assembly them. Here’s the 3D model of this project.

You can download the 3D model and the STL files needed for 3D printing below.

STEP file:

Arduino Robotic Arm and Mecanum Wheels Platfrom 3D Model STEP File 3.93 MB

Download

STL files for 3D printing:

Arduino Robotic Arm and Mecanum Wheels Platfrom STL Files 943.42 KB

Download

The first servo of the robot arm will be directly mounted on the top cover of the mecanum wheels platform.

I marked the location, and using a 10mm drill I made several holes.

Then using a rasp, I cut through the holes and then fine-tuned the opening for the servo. I secured the servo to the top plate using four M3 bolts and nuts.

Then on this output shaft of this servo, using the round horn that comes as accessory with the servo, we need to attach the next part or the waist of the robot arm. However, we can notice that in this way the part stays around 8mm above the plate. So therefore, I attached two pieces of 8mm MDF boards, so the waist part can slide on them and so the joint will be more stable.

The round horn is secured to the waist part using the self-tapping screws that come as accessories with the servo, and then the round horn is secured to servo shaft using the appropriate bolts that also come with the servo.

Next we have the shoulder servo. We simply put it in place and secure it to the 3D printed part using self-tapping screws.

The round horn goes on the next part, and then the two parts are secured to each other using a bolt on the output shaft of the servo.

We should note that before securing the parts, we need to make sure that the part has the full range of motion. Here I also added a rubber band to the shoulder joint so that it gives a little bit help to the servo, because this servo carries the weight of the rest of the arm as well as the payload.

In similar way, I assembled the rest of the robot arm.

Next, we need to assemble to gripper mechanism. The gripper is controlled with an SG90 servo motor, on which, first we attach a custom designed geared link. We pair this link with another geared link on the other side, which is secured using M4 bolt and nuts. Actually, all other links are connected using M4 bolts and nuts.

The 3D model of the gripper originally has 3mm holes but I didn’t have enough M3 bolts, so therefore I expanded the holes using 4mm drill and used the M4 bolts instead.

Once I assembled the gripper mechanism, I secured it to the last servo and so the robot arm was completed.

Next I did some cable management. I passed the servo wires through the specifically designed holes of the robot arm. Using a 10mm drill I made a hole on the top plate so that the wires can pass through.

Using a zip-tie I secured all the wires together, and now what’s left is to connect them to the Arduino board.

Arduino Robot Circuit Diagram

Here’s the circuit diagram of this project and how everything needs to be connected.

You can get the components needed for this project from the links below:

• Stepper Motor – NEMA 17 …………..… Amazon / Banggood
• DRV8825 Stepper Driver ……….…….… Amazon / Banggood
• MG996R Servo Motor………………….…. Amazon / Banggood
• SG90 Micro Servo Motor …………….…. Amazon / Banggood
• HC-05 Bluetooth Module …………….… Amazon / Banggood
• Li-Po battery …………………………….…… Amazon / Banggood
• Arduino Mega Board ………….……….… Amazon / Banggood

*Please note: These are affiliate links. I may make a commission if you buy the components through these links. I would appreciate your support in this way!

In the previous tutorial I explained how the Mecanum wheels robot part works and also showed you how I made a custom PCB for it.

I included a 5V voltage regulator on this PCB so that we can make this project, or connect the servo motors because they work at 5V. The voltage regulator is the LM350, which can handle up to 3 amps of current. All six servos of the robot arm can draw from around 2 amps to 3 amps of current, which means that it can handle them but that will cause the regulator to get very hot.

Therefore, I attached a heat sink to it, as well as a small 12V DC fan to blow some air, because the heat sink itself wasn’t enough the cool the regulator.

I connected the servos signal wires to the Arduino digital pins from number 5 to 10, and for powering I used the 5V pin header on the PCB. Finally, I pushed all the wires inside the platform, and secured the top plate to it using the two nuts.

And that’s it, now we are done with this project.

Arduino Code

What’s left is to take a look how the Arduino code and the Android application work. As the code is a bit longer, for better understanding, I will post the source code of the program in sections with description for each section. And at the end of this article I will post the complete source code.

So first we need to define the 6 servo, the 4 stepper motors and the Bluetooth communication, as well as define some variables need for the program below. In the setup section we set the maximum speed of the steppers, define the pins to which the servos are connected, begin the Bluetooth communication and set the robot arm to initial position.

#include <SoftwareSerial.h>
#include <AccelStepper.h>
#include <Servo.h>

Servo servo01;
Servo servo02;
Servo servo03;
Servo servo04;
Servo servo05;
Servo servo06;

SoftwareSerial Bluetooth(A8, 38); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)

// Define the stepper motors and the pins the will use
AccelStepper LeftBackWheel(1, 42, 43);   // (Type:driver, STEP, DIR) - Stepper1
AccelStepper LeftFrontWheel(1, 40, 41);  // Stepper2
AccelStepper RightBackWheel(1, 44, 45);  // Stepper3
AccelStepper RightFrontWheel(1, 46, 47); // Stepper4

#define led 14

int wheelSpeed = 1500;

int lbw[50], lfw[50], rbw[50], rfw[50]; // arrays for storing positions/steps

int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos; // current position
int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos; // previous position
int servo01SP[50], servo02SP[50], servo03SP[50], servo04SP[50], servo05SP[50], servo06SP[50]; // for storing positions/steps
int speedDelay = 20;
int index = 0;
int dataIn;
int m = 0;

void setup() {
  // Set initial seed values for the steppers
  LeftFrontWheel.setMaxSpeed(3000);
  LeftBackWheel.setMaxSpeed(3000);
  RightFrontWheel.setMaxSpeed(3000);
  RightBackWheel.setMaxSpeed(3000);
  pinMode(led, OUTPUT);
  servo01.attach(5);
  servo02.attach(6);
  servo03.attach(7);
  servo04.attach(8);
  servo05.attach(9);
  servo06.attach(10);
  Bluetooth.begin(38400); // Default baud rate of the Bluetooth module
  Bluetooth.setTimeout(5);
  delay(20);
  Serial.begin(38400);
  // Move robot arm to initial position
  servo1PPos = 90;
  servo01.write(servo1PPos);
  servo2PPos = 100;
  servo02.write(servo2PPos);
  servo3PPos = 120;
  servo03.write(servo3PPos);
  servo4PPos = 95;
  servo04.write(servo4PPos);
  servo5PPos = 60;
  servo05.write(servo5PPos);
  servo6PPos = 110;
  servo06.write(servo6PPos);
}

Then in the loop section we start by checking whether there is any incoming data.

// Check for incoming data
  if (Bluetooth.available() > 0) {
    dataIn = Bluetooth.read();  // Read the data

This data comes from the smartphone or the Android app, so let’s take a look what kind of data it is actually sending. The Android app is made using the MIT App Inventor online application. It consists of simple buttons which have appropriate images as background.

If we take a look at the blocks of the app, we can see that all it does is it sends one-byte numbers when the buttons are clicked.

So, depending on clicked button, we tell the Arduino what to do. For example, if we receive the number ‘2’ the mecanum wheels platform will move forward, using the moveForward custom function.

if (dataIn == 2) {
      m = 2;
    }
//
if (m == 2) {
      moveForward();
    }

This custom function sets all four stepper motors to rotate forward.

void moveForward() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}

For moving in any other direction, we just need rotate the wheels in the appropriate directions.

For controlling the robot arm, we use the same method. Again, we have buttons in the app and when holding the buttons, the robot arm joints move in the particular direction.

As I mentioned earlier, in the original Robot Arm control app we were using sliders for controlling the positions of the servos but that was causing some problems because in that way we had to send Text to the Arduino, instead of 1-byte number. The problem is the Arduino sometimes misses the Text coming from the App and makes error or the Robot arm shakes and behaves abnormal.

In this way we simple send a single 1-byte number when a particular button is touched down.

The Arduino code enters the while loop of that number, and stays there until we touch up the button, because at that moment we send the number 0 which means the robot should do nothing.

// Move servo 1 in positive direction
    while (m == 16) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo01.write(servo1PPos);
      servo1PPos++;
      delay(speedDelay);
    }
    // Move servo 1 in negative direction
    while (m == 17) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo01.write(servo1PPos);
      servo1PPos--;
      delay(speedDelay);
    }

So, depending on the touched buttons the servos move either in positive or negative direction. The same working principle applies for all servo motors. For changing the speed of movement, we use the values coming from the slider which range from 100 to 250.

// If arm speed slider is changed
    if (dataIn > 101 & dataIn < 250) {
      speedDelay = dataIn / 10; // Change servo speed (delay time)
    }

By dividing them by 10 we get values from 10 to 25, which are used as delay in microseconds in the whiles loops for driving the servos.

For storing the robot movements, we simply save the current positions of the servos and the steppers into arrays, each time the Save button is clicked.

// If button "SAVE" is pressed
    if (m == 12) {
      //if it's initial save, set the steppers position to 0
      if (index == 0) {
        LeftBackWheel.setCurrentPosition(0);
        LeftFrontWheel.setCurrentPosition(0);
        RightBackWheel.setCurrentPosition(0);
        RightFrontWheel.setCurrentPosition(0);
      }
      lbw[index] = LeftBackWheel.currentPosition();  // save position into the array
      lfw[index] = LeftFrontWheel.currentPosition();
      rbw[index] = RightBackWheel.currentPosition();
      rfw[index] = RightFrontWheel.currentPosition();

      servo01SP[index] = servo1PPos;  // save position into the array
      servo02SP[index] = servo2PPos;
      servo03SP[index] = servo3PPos;
      servo04SP[index] = servo4PPos;
      servo05SP[index] = servo5PPos;
      servo06SP[index] = servo6PPos;
      index++;                        // Increase the array index
      m = 0;
    }

Then when we press the Run button we call the runSteps() custom function. This custom function runs through all stored steps using some for and while loops.

if (m == 14) {
      runSteps();

      // If button "RESET" is pressed
      if (dataIn != 14) {
        stopMoving();
        memset(lbw, 0, sizeof(lbw)); // Clear the array data to 0
        memset(lfw, 0, sizeof(lfw));
        memset(rbw, 0, sizeof(rbw));
        memset(rfw, 0, sizeof(rfw));
        memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
        memset(servo02SP, 0, sizeof(servo02SP));
        memset(servo03SP, 0, sizeof(servo03SP));
        memset(servo04SP, 0, sizeof(servo04SP));
        memset(servo05SP, 0, sizeof(servo05SP));
        memset(servo06SP, 0, sizeof(servo06SP));
        index = 0;  // Index to 0
      }
    }

We should note that it starts from the first position and goes the last position, and repeats that over and over again. Therefore, when saving the steps, we actually need to position the robot in a way that the first step has the same position as the last step. While running through the steps we can also change the speed of both the platform and the robot arm, as well as pause and reset all the steps.

Here’s the complete Arduino code for this Arduino robot project:

/*
       Arduino Robot Arm and Mecanum Wheels Robot
          Smartphone Control via Bluetooth
       by Dejan, www.HowToMechatronics.com
*/

#include <SoftwareSerial.h>
#include <AccelStepper.h>
#include <Servo.h>

Servo servo01;
Servo servo02;
Servo servo03;
Servo servo04;
Servo servo05;
Servo servo06;

SoftwareSerial Bluetooth(A8, 38); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)

// Define the stepper motors and the pins the will use
AccelStepper LeftBackWheel(1, 42, 43);   // (Type:driver, STEP, DIR) - Stepper1
AccelStepper LeftFrontWheel(1, 40, 41);  // Stepper2
AccelStepper RightBackWheel(1, 44, 45);  // Stepper3
AccelStepper RightFrontWheel(1, 46, 47); // Stepper4

#define led 14

int wheelSpeed = 1500;

int lbw[50], lfw[50], rbw[50], rfw[50]; // arrays for storing positions/steps

int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos; // current position
int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos; // previous position
int servo01SP[50], servo02SP[50], servo03SP[50], servo04SP[50], servo05SP[50], servo06SP[50]; // for storing positions/steps
int speedDelay = 20;
int index = 0;
int dataIn;
int m = 0;

void setup() {
  // Set initial seed values for the steppers
  LeftFrontWheel.setMaxSpeed(3000);
  LeftBackWheel.setMaxSpeed(3000);
  RightFrontWheel.setMaxSpeed(3000);
  RightBackWheel.setMaxSpeed(3000);
  pinMode(led, OUTPUT);
  servo01.attach(5);
  servo02.attach(6);
  servo03.attach(7);
  servo04.attach(8);
  servo05.attach(9);
  servo06.attach(10);
  Bluetooth.begin(38400); // Default baud rate of the Bluetooth module
  Bluetooth.setTimeout(5);
  delay(20);
  Serial.begin(38400);
  // Move robot arm to initial position
  servo1PPos = 90;
  servo01.write(servo1PPos);
  servo2PPos = 100;
  servo02.write(servo2PPos);
  servo3PPos = 120;
  servo03.write(servo3PPos);
  servo4PPos = 95;
  servo04.write(servo4PPos);
  servo5PPos = 60;
  servo05.write(servo5PPos);
  servo6PPos = 110;
  servo06.write(servo6PPos);
}

void loop() {
  // Check for incoming data
  if (Bluetooth.available() > 0) {
    dataIn = Bluetooth.read();  // Read the data

    if (dataIn == 0) {
      m = 0;
    }
    if (dataIn == 1) {
      m = 1;
    }
    if (dataIn == 2) {
      m = 2;
    }
    if (dataIn == 3) {
      m = 3;
    }
    if (dataIn == 4) {
      m = 4;
    }
    if (dataIn == 5) {
      m = 5;
    }
    if (dataIn == 6) {
      m = 6;
    }
    if (dataIn == 7) {
      m = 7;
    }
    if (dataIn == 8) {
      m = 8;
    }
    if (dataIn == 9) {
      m = 9;
    }
    if (dataIn == 10) {
      m = 10;
    }
    if (dataIn == 11) {
      m = 11;
    }
    if (dataIn == 12) {
      m = 12;
    }
    if (dataIn == 14) {
      m = 14;
    }
    if (dataIn == 16) {
      m = 16;
    }
    if (dataIn == 17) {
      m = 17;
    }
    if (dataIn == 18) {
      m = 18;
    }
    if (dataIn == 19) {
      m = 19;
    }
    if (dataIn == 20) {
      m = 20;
    }
    if (dataIn == 21) {
      m = 21;
    }
    if (dataIn == 22) {
      m = 22;
    }
    if (dataIn == 23) {
      m = 23;
    }
    if (dataIn == 24) {
      m = 24;
    }
    if (dataIn == 25) {
      m = 25;
    }
    if (dataIn == 26) {
      m = 26;
    }
    if (dataIn == 27) {
      m = 27;
    }

    // Move the Mecanum wheels platform
    if (m == 4) {
      moveSidewaysLeft();
    }
    if (m == 5) {
      moveSidewaysRight();
    }
    if (m == 2) {
      moveForward();
    }
    if (m == 7) {
      moveBackward();
    }
    if (m == 3) {
      moveRightForward();
    }
    if (m == 1) {
      moveLeftForward();
    }
    if (m == 8) {
      moveRightBackward();
    }
    if (m == 6) {
      moveLeftBackward();
    }
    if (m == 9) {
      rotateLeft();
    }
    if (m == 10) {
      rotateRight();
    }

    if (m == 0) {
      stopMoving();
    }

    // Mecanum wheels speed
    if (dataIn > 30 & dataIn < 100) {
      wheelSpeed = dataIn * 20;
    }

    // Move robot arm
    // Move servo 1 in positive direction
    while (m == 16) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo01.write(servo1PPos);
      servo1PPos++;
      delay(speedDelay);
    }
    // Move servo 1 in negative direction
    while (m == 17) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo01.write(servo1PPos);
      servo1PPos--;
      delay(speedDelay);
    }
    // Move servo 2
    while (m == 19) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo02.write(servo2PPos);
      servo2PPos++;
      delay(speedDelay);
    }
    while (m == 18) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo02.write(servo2PPos);
      servo2PPos--;
      delay(speedDelay);
    }
    // Move servo 3
    while (m == 20) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo03.write(servo3PPos);
      servo3PPos++;
      delay(speedDelay);
    }
    while (m == 21) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo03.write(servo3PPos);
      servo3PPos--;
      delay(speedDelay);
    }
    // Move servo 4
    while (m == 23) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo04.write(servo4PPos);
      servo4PPos++;
      delay(speedDelay);
    }
    while (m == 22) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo04.write(servo4PPos);
      servo4PPos--;
      delay(speedDelay);
    }
    // Move servo 5
    while (m == 25) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo05.write(servo5PPos);
      servo5PPos++;
      delay(speedDelay);
    }
    while (m == 24) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo05.write(servo5PPos);
      servo5PPos--;
      delay(speedDelay);
    }
    // Move servo 6
    while (m == 26) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo06.write(servo6PPos);
      servo6PPos++;
      delay(speedDelay);
    }
    while (m == 27) {
      if (Bluetooth.available() > 0) {
        m = Bluetooth.read();
      }
      servo06.write(servo6PPos);
      servo6PPos--;
      delay(speedDelay);
    }

    // If arm speed slider is changed
    if (dataIn > 101 & dataIn < 250) {
      speedDelay = dataIn / 10; // Change servo speed (delay time)
    }

    // If button "SAVE" is pressed
    if (m == 12) {
      //if it's initial save, set the steppers position to 0
      if (index == 0) {
        LeftBackWheel.setCurrentPosition(0);
        LeftFrontWheel.setCurrentPosition(0);
        RightBackWheel.setCurrentPosition(0);
        RightFrontWheel.setCurrentPosition(0);
      }
      lbw[index] = LeftBackWheel.currentPosition();  // save position into the array
      lfw[index] = LeftFrontWheel.currentPosition();
      rbw[index] = RightBackWheel.currentPosition();
      rfw[index] = RightFrontWheel.currentPosition();

      servo01SP[index] = servo1PPos;  // save position into the array
      servo02SP[index] = servo2PPos;
      servo03SP[index] = servo3PPos;
      servo04SP[index] = servo4PPos;
      servo05SP[index] = servo5PPos;
      servo06SP[index] = servo6PPos;
      index++;                        // Increase the array index
      m = 0;
    }

    // If button "RUN" is pressed
    if (m == 14) {
      runSteps();

      // If button "RESET" is pressed
      if (dataIn != 14) {
        stopMoving();
        memset(lbw, 0, sizeof(lbw)); // Clear the array data to 0
        memset(lfw, 0, sizeof(lfw));
        memset(rbw, 0, sizeof(rbw));
        memset(rfw, 0, sizeof(rfw));
        memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
        memset(servo02SP, 0, sizeof(servo02SP));
        memset(servo03SP, 0, sizeof(servo03SP));
        memset(servo04SP, 0, sizeof(servo04SP));
        memset(servo05SP, 0, sizeof(servo05SP));
        memset(servo06SP, 0, sizeof(servo06SP));
        index = 0;  // Index to 0
      }
    }
  }
  LeftFrontWheel.runSpeed();
  LeftBackWheel.runSpeed();
  RightFrontWheel.runSpeed();
  RightBackWheel.runSpeed();

  // Monitor the battery voltage
  int sensorValue = analogRead(A0);
  float voltage = sensorValue * (5.0 / 1023.00) * 3; // Convert the reading values from 5v to suitable 12V i
  //Serial.println(voltage);
  // If voltage is below 11V turn on the LED
  if (voltage < 11) {
    digitalWrite(led, HIGH);
  }
  else {
    digitalWrite(led, LOW);
  }
}
void moveForward() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void moveBackward() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void moveSidewaysRight() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void moveSidewaysLeft() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void rotateLeft() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void rotateRight() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void moveRightForward() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(0);
  RightFrontWheel.setSpeed(0);
  RightBackWheel.setSpeed(wheelSpeed);
}
void moveRightBackward() {
  LeftFrontWheel.setSpeed(0);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(0);
}
void moveLeftForward() {
  LeftFrontWheel.setSpeed(0);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(0);
}
void moveLeftBackward() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(0);
  RightFrontWheel.setSpeed(0);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void stopMoving() {
  LeftFrontWheel.setSpeed(0);
  LeftBackWheel.setSpeed(0);
  RightFrontWheel.setSpeed(0);
  RightBackWheel.setSpeed(0);
}

// Automatic mode custom function - run the saved steps
void runSteps() {
  while (dataIn != 13) {   // Run the steps over and over again until "RESET" button is pressed
    for (int i = 0; i <= index - 2; i++) {  // Run through all steps(index)
      if (Bluetooth.available() > 0) {      // Check for incomding data
        dataIn = Bluetooth.read();
        if ( dataIn == 15) {           // If button "PAUSE" is pressed
          while (dataIn != 14) {         // Wait until "RUN" is pressed again
            if (Bluetooth.available() > 0) {
              dataIn = Bluetooth.read();
              if ( dataIn == 13) {
                break;
              }
            }
          }
        }
        // If speed slider is changed
        if (dataIn > 100 & dataIn < 150) {
          speedDelay = dataIn / 10; // Change servo speed (delay time)
        }
        // Mecanum wheels speed
        if (dataIn > 30 & dataIn < 100) {
          wheelSpeed = dataIn * 10;
          dataIn = 14;
        }
      }
      LeftFrontWheel.moveTo(lfw[i]);
      LeftFrontWheel.setSpeed(wheelSpeed);
      LeftBackWheel.moveTo(lbw[i]);
      LeftBackWheel.setSpeed(wheelSpeed);
      RightFrontWheel.moveTo(rfw[i]);
      RightFrontWheel.setSpeed(wheelSpeed);
      RightBackWheel.moveTo(rbw[i]);
      RightBackWheel.setSpeed(wheelSpeed);

      while (LeftBackWheel.currentPosition() != lbw[i] & LeftFrontWheel.currentPosition() != lfw[i] & RightFrontWheel.currentPosition() != rfw[i] & RightBackWheel.currentPosition() != rbw[i]) {
        LeftFrontWheel.runSpeedToPosition();
        LeftBackWheel.runSpeedToPosition();
        RightFrontWheel.runSpeedToPosition();
        RightBackWheel.runSpeedToPosition();
      }
      // Servo 1
      if (servo01SP[i] == servo01SP[i + 1]) {
      }
      if (servo01SP[i] > servo01SP[i + 1]) {
        for ( int j = servo01SP[i]; j >= servo01SP[i + 1]; j--) {
          servo01.write(j);
          delay(speedDelay);
        }
      }
      if (servo01SP[i] < servo01SP[i + 1]) {
        for ( int j = servo01SP[i]; j <= servo01SP[i + 1]; j++) {
          servo01.write(j);
          delay(speedDelay);
        }
      }

      // Servo 2
      if (servo02SP[i] == servo02SP[i + 1]) {
      }
      if (servo02SP[i] > servo02SP[i + 1]) {
        for ( int j = servo02SP[i]; j >= servo02SP[i + 1]; j--) {
          servo02.write(j);
          delay(speedDelay);
        }
      }
      if (servo02SP[i] < servo02SP[i + 1]) {
        for ( int j = servo02SP[i]; j <= servo02SP[i + 1]; j++) {
          servo02.write(j);
          delay(speedDelay);
        }
      }

      // Servo 3
      if (servo03SP[i] == servo03SP[i + 1]) {
      }
      if (servo03SP[i] > servo03SP[i + 1]) {
        for ( int j = servo03SP[i]; j >= servo03SP[i + 1]; j--) {
          servo03.write(j);
          delay(speedDelay);
        }
      }
      if (servo03SP[i] < servo03SP[i + 1]) {
        for ( int j = servo03SP[i]; j <= servo03SP[i + 1]; j++) {
          servo03.write(j);
          delay(speedDelay);
        }
      }

      // Servo 4
      if (servo04SP[i] == servo04SP[i + 1]) {
      }
      if (servo04SP[i] > servo04SP[i + 1]) {
        for ( int j = servo04SP[i]; j >= servo04SP[i + 1]; j--) {
          servo04.write(j);
          delay(speedDelay);
        }
      }
      if (servo04SP[i] < servo04SP[i + 1]) {
        for ( int j = servo04SP[i]; j <= servo04SP[i + 1]; j++) {
          servo04.write(j);
          delay(speedDelay);
        }
      }

      // Servo 5
      if (servo05SP[i] == servo05SP[i + 1]) {
      }
      if (servo05SP[i] > servo05SP[i + 1]) {
        for ( int j = servo05SP[i]; j >= servo05SP[i + 1]; j--) {
          servo05.write(j);
          delay(speedDelay);
        }
      }
      if (servo05SP[i] < servo05SP[i + 1]) {
        for ( int j = servo05SP[i]; j <= servo05SP[i + 1]; j++) {
          servo05.write(j);
          delay(speedDelay);
        }
      }

      // Servo 6
      if (servo06SP[i] == servo06SP[i + 1]) {
      }
      if (servo06SP[i] > servo06SP[i + 1]) {
        for ( int j = servo06SP[i]; j >= servo06SP[i + 1]; j--) {
          servo06.write(j);
          delay(speedDelay);
        }
      }
      if (servo06SP[i] < servo06SP[i + 1]) {
        for ( int j = servo06SP[i]; j <= servo06SP[i + 1]; j++) {
          servo06.write(j);
          delay(speedDelay);
        }
      }
    }
  }
}

So that’s pretty much everything for this tutorial. The project works well, but please note that it’s far from perfect. The automatic movements might not be that precise because of the slipping of the mecanum wheels as well as the poor performance of the servo motors. These cheap servo motors can also shake or jitter even when not moving just because don’t have enough strength to hold the weight of the 3D printed parts.

I hope you enjoyed this tutorial and learned something new. Feel free to ask any question in the comments section below and check my Arduino Projects Collection.

The post Arduino Robot Arm and Mecanum Wheels Platform Automatic Operation appeared first on HowToMechatronics.

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