tag:blogger.com,1999:blog-22502536978591866892024-03-05T18:05:30.442-08:00Malaysian STEM Club Unknownnoreply@blogger.comBlogger7125tag:blogger.com,1999:blog-2250253697859186689.post-65362786027065670672020-07-28T19:34:00.003-07:002021-07-14T06:14:50.224-07:00<div dir="ltr" style="text-align: left;" trbidi="on"><b>TINY BASIC WITH KEYBOARD</b></div><div dir="ltr" style="text-align: left;" trbidi="on"><b><br /></b></div><div dir="ltr" style="text-align: left;" trbidi="on">Its hard to explain how hard to teach programming without a proper computer. Base on Tiny Basic student should be able to learn basic skill of programming with minimal budget. here is the source code</div><div dir="ltr" style="text-align: left;" trbidi="on"><br /></div><div dir="ltr" style="text-align: left;" trbidi="on"><a href="https://github.com/Bodmer/TFT_eSPI">https://github.com/Bodmer/TFT_eSPI</a></div><div dir="ltr" style="text-align: left;" trbidi="on"><a href="https://github.com/BleuLlama/TinyBasicPlus">https://github.com/BleuLlama/TinyBasicPlus</a></div><div dir="ltr" style="text-align: left;" trbidi="on"><br /></div><div dir="ltr" style="text-align: left;" trbidi="on"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKAbvYU_eFagTKR9MUWNDB6H6rCYcPkMKHIGMAr20HH-I7KEmKivEowWLE7r8YzVjp3KzFotWC7-WmCS4P7RH1RD4Nss7HQFtFx_Bw07JHpVTZy94CnJiRTY-O-UJT7y292rGoVgVuSaB_/s2048/tinynasic+terminal+layout.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1304" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKAbvYU_eFagTKR9MUWNDB6H6rCYcPkMKHIGMAr20HH-I7KEmKivEowWLE7r8YzVjp3KzFotWC7-WmCS4P7RH1RD4Nss7HQFtFx_Bw07JHpVTZy94CnJiRTY-O-UJT7y292rGoVgVuSaB_/s640/tinynasic+terminal+layout.png" width="640" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbxMt8cd5y7cJpHSaC163qlcpT89F00ZJL8vsxzkVZveEOXkXabqyc4Cdo1_XqoLnTzyRT1wXgkmnNtBL31HB7pGqN3Bw9p-x6SfIMBjXGStphzSlx2Xp7JrFR2WdYDIeQBOk-bE5lmMoN/s2048/5CDF5266-B6B8-45FB-AFA2-59CF7B5245E1.jpeg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbxMt8cd5y7cJpHSaC163qlcpT89F00ZJL8vsxzkVZveEOXkXabqyc4Cdo1_XqoLnTzyRT1wXgkmnNtBL31HB7pGqN3Bw9p-x6SfIMBjXGStphzSlx2Xp7JrFR2WdYDIeQBOk-bE5lmMoN/s640/5CDF5266-B6B8-45FB-AFA2-59CF7B5245E1.jpeg" width="640" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQuVF1QJd0-knjmkSQ80tYGLdI29PmOOPE7CJtwiU-bqDUflMK_E7m9lYWoakOhBkqq6H7k7mHr3ybwQPqGzEdv5bO8JGsRFJrNe5AtdJIXkF6EnG4aI6CF_cB8Y0morbzAUet-8F7e7Ea/s2048/900E0CBA-D23D-4A69-B948-3D74DFA6A10E.jpeg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQuVF1QJd0-knjmkSQ80tYGLdI29PmOOPE7CJtwiU-bqDUflMK_E7m9lYWoakOhBkqq6H7k7mHr3ybwQPqGzEdv5bO8JGsRFJrNe5AtdJIXkF6EnG4aI6CF_cB8Y0morbzAUet-8F7e7Ea/s640/900E0CBA-D23D-4A69-B948-3D74DFA6A10E.jpeg" /></a></div><br /><b><br /></b></div><div dir="ltr" style="text-align: left;" trbidi="on"><b><br /></b></div><div dir="ltr" style="text-align: left;" trbidi="on">
<b>DIY PC FAN CONTROLLER PART 1</b><br />
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This is first club's activity after Covid-19 lock-down. hope you are doing well. Will update part 2 soon</div>
Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2250253697859186689.post-49598851578891259522019-07-31T21:18:00.011-07:002021-06-04T04:16:28.902-07:00<div dir="ltr" style="text-align: left;" trbidi="on">
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<div class="separator" style="clear: both; text-align: center;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;"><br /></b></div><div class="separator" style="clear: both; text-align: center;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;">BRYMEN BM867s Data Logging</b></div><div class="separator" style="clear: both; text-align: center;"><br /><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;"><br /></b></div><div class="separator" style="clear: both; text-align: justify;"><span style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;">BRYMEN BM867 usb interface kit data logging and pc connection. basically they can display everything what you can see on multimeter screen on PC plus they can capture and record the data in pc storage. </span></div><div class="separator" style="clear: both; text-align: justify;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;"><br /></b><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXRjY9Rn6dHNPCZQ9ozvHyktSxfLvzqzqnVOueZ24__zvuWYkx4FfCtZxhZXZo0D8CN7THfcCnW2d-t82B7M3mdO4JRO_DEbblVYm5ri6WoUnG1v9d8cxdiDyVMsy0ZA3owgm6IjHu1PUE/s1000/WhatsApp+Image+2021-06-04+at+6.54.45+PM.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="750" data-original-width="1000" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXRjY9Rn6dHNPCZQ9ozvHyktSxfLvzqzqnVOueZ24__zvuWYkx4FfCtZxhZXZo0D8CN7THfcCnW2d-t82B7M3mdO4JRO_DEbblVYm5ri6WoUnG1v9d8cxdiDyVMsy0ZA3owgm6IjHu1PUE/w400-h300/WhatsApp+Image+2021-06-04+at+6.54.45+PM.jpeg" width="400" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiceM1kHiBpR-_CNKLQucmr_3pAjpv8upEzTMDviQ44BWYdmErpkhDbr-gkRx7ezFLEaygGf89Y5WRgfqi8SB1U1ATPimOY3A0vdFd51H7lF2SNDlfciMmVYid2CeLcRIno03vBlaMH8H8J/s1000/WhatsApp+Image+2021-06-04+at+6.54.45+PM+%25281%2529v.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="750" data-original-width="1000" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiceM1kHiBpR-_CNKLQucmr_3pAjpv8upEzTMDviQ44BWYdmErpkhDbr-gkRx7ezFLEaygGf89Y5WRgfqi8SB1U1ATPimOY3A0vdFd51H7lF2SNDlfciMmVYid2CeLcRIno03vBlaMH8H8J/w400-h300/WhatsApp+Image+2021-06-04+at+6.54.45+PM+%25281%2529v.jpg" width="400" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVUJ3yJ2-xMRRQjpCKpmPKb67ytD8WTxI8XVdMPOKLQnftoXjicaFaEJI4ULJLT62re2UdxfB0t11wZgRRyBtK778MFQY-as5olScBpycmP9gzDSf_uEcvsKvGE6qil-XByzXY1vr-mR3F/s1000/WhatsApp+Image+2021-06-04+at+6.54.44+PMvv.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="750" data-original-width="1000" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVUJ3yJ2-xMRRQjpCKpmPKb67ytD8WTxI8XVdMPOKLQnftoXjicaFaEJI4ULJLT62re2UdxfB0t11wZgRRyBtK778MFQY-as5olScBpycmP9gzDSf_uEcvsKvGE6qil-XByzXY1vr-mR3F/w400-h300/WhatsApp+Image+2021-06-04+at+6.54.44+PMvv.jpg" width="400" /></a></div><br /><div class="separator" style="clear: both; text-align: center;">the only used one usb microcontroller. put them in the case with $40 price tag.</div><div class="separator" style="clear: both; text-align: center;"><br /></div></div><div class="separator" style="clear: both; text-align: center;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;"><br /></b></div><div class="separator" style="clear: both; text-align: center;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;"><br /></b></div><div class="separator" style="clear: both; text-align: center;"><b style="color: #030303; font-size: 14px; text-align: left; white-space: pre-wrap;">ADALM2000 vs ANALOG DISCOVERY 2</b></div>
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<span style="color: #030303; font-family: inherit;"><span style="white-space: pre-wrap;">Have you ever think to have all lab equipment in you backpack? Now you can. Despite ADALM2000 way more cheaper than their sibling. Its has very good power supply too. Other functionality pretty much the same. </span></span><br />
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<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Two-channel USB digital oscilloscope </span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Two-channel arbitrary function generator </span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">16-channel digital logic analyzer (3.3V CMOS and 1.8V or 5V tolerant, 100MS/s)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">16-channel pattern generator (3.3V CMOS, 100MS/s)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">16-channel virtual digital I/O</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Two input/output digital trigger signals for linking multiple instruments (3.3V CMOS)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Single channel voltmeter (AC, DC, ±20V)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Network analyzer – Bode, Nyquist, Nichols transfer diagrams of a circuit. Range: 1Hz to 10MHz</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Spectrum Analyzer – power spectrum and spectral measurements (noise floor, SFDR, SNR, THD, etc.)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Digital Bus Analyzers (SPI, I²C, UART, Parallel)</span></span></li>
<li><span face=""roboto" , "arial" , sans-serif" style="color: #030303;"><span style="font-size: 14px; white-space: pre-wrap;">Two programmable power supplies (0…+5V , 0…-5V)</span></span></li>
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The only difference might be AD2 more pupular than other. some people (student) might never heard of ADALM2000. here is the video of my simple test on built-in psu in ADALM2000 compare to well know instrument meter. FLUKE8846A and Brymen 867S<br />
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DC load for our STEM lab</b><br />
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Other than oscilloscope P<span style="font-family: inherit;">rogrammable DC Load are the most important device in any STEM lab. It was used in many testing and troubleshooting of power related equipment for example power supply, solar panel and batteries. But it would cost you a lot of money to get a precision one. So we have decide to built one from scratch. Start with simple circuit only 2 component. we will built up our circuit from there. After spending hours in front of scope try to get what is the best setting not to burn our mosfet here is what we get.</span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiCL0yv_lIpOcUj3xm8-83WdElc2r6J1w7MunyXt921khLscSB1Rg5JV2JcIb2WmsDcFWZGG6XtO7CvrxhooWwhnGnk86nP6VZHOtzHPw79ep74L1jfbQEVPfXby6xsN3N5b63sYujPyrXs/s1600/dc+load.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="506" data-original-width="736" height="275" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiCL0yv_lIpOcUj3xm8-83WdElc2r6J1w7MunyXt921khLscSB1Rg5JV2JcIb2WmsDcFWZGG6XtO7CvrxhooWwhnGnk86nP6VZHOtzHPw79ep74L1jfbQEVPfXby6xsN3N5b63sYujPyrXs/s400/dc+load.png" width="400" /></a></div>
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At first attempt. We found that our stock mosfet IRL3302 are not design to handle linear (saturation) current very well continuously. It was design to be use in switching mode which (below 10ms pulse). Mosfet tend to heating up so fast even with significantly low current 2A at 9V. In the world of DC load 2A is consider low since the your target is 5A at 30V or 150W at least.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipiBtWHs3Y1xRt0nuIXlFfoNCyCLF5lD4AWE9ZOxbsa5wDtfHd0bfRYogYI1MHpQxNFoAgp08SQgOEPmbaWvrmU05xM6M9Y0kgacvisleGwiHLPie-t0xsA7rPRnoM_w_OWmu_Bz01aMlu/s1600/photo_2019-08-01_11-36-31.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="960" data-original-width="1280" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEipiBtWHs3Y1xRt0nuIXlFfoNCyCLF5lD4AWE9ZOxbsa5wDtfHd0bfRYogYI1MHpQxNFoAgp08SQgOEPmbaWvrmU05xM6M9Y0kgacvisleGwiHLPie-t0xsA7rPRnoM_w_OWmu_Bz01aMlu/s400/photo_2019-08-01_11-36-31.jpg" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjkRkIL-NhpXarbK0UzmjoW7NXnsEblHUZeDEB1baTM_PuSv92G559FkAZO8EXCMdAWSKmPIVgKeohHX0zFDuM8uaraks6B9d5QN9akYxjNocoUquayKIv-wlClpOhzt3HXLMbLgjDwWA8V/s1600/photo_2019-08-01_10-40-21+%25282%2529.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="960" data-original-width="1280" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjkRkIL-NhpXarbK0UzmjoW7NXnsEblHUZeDEB1baTM_PuSv92G559FkAZO8EXCMdAWSKmPIVgKeohHX0zFDuM8uaraks6B9d5QN9akYxjNocoUquayKIv-wlClpOhzt3HXLMbLgjDwWA8V/s400/photo_2019-08-01_10-40-21+%25282%2529.jpg" width="400" /></a></div>
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Next step we try to vary the input and capture the outcome from the scope. Probe A of oscilloscope are connected to pulse generator at 10kHz pwm with duty around 30% and connected directly to Gate pin of our mosfet. </div>
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here is the basic setting of our pulse gen.</div>
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Freq: 31Khz</div>
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Duty: 50% </div>
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Amplitude: 5V (from 0v )</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgi1xwCryZrwoeChuGodtmNaUlbtFjI0ccPqNi24ENtaMmTQklOWyeNQ1hFyxzuHB3IyWaqVxn1CqsJ5Ygpwwt9Tz3tJv8k2thBbDL_AnuOCIlzrRPdQCnME_iz5BVB6N1vfCRQthqXSiH/s1600/pico2.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="857" data-original-width="1600" height="342" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgi1xwCryZrwoeChuGodtmNaUlbtFjI0ccPqNi24ENtaMmTQklOWyeNQ1hFyxzuHB3IyWaqVxn1CqsJ5Ygpwwt9Tz3tJv8k2thBbDL_AnuOCIlzrRPdQCnME_iz5BVB6N1vfCRQthqXSiH/s640/pico2.png" width="640" /></a></div>
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From the picture above blue line shows the input of the pulse. The red line shows the current Ids (we tap the second channel of our scope to 1 ohm resistor. So theoretically we get 1.0V every 1.0A of Ids. By using the pulse we significantly reduce the amount of heat produce by mosfet. Around 37 deg C for 5 minute of running time. The load resistor temp increase up to 70 deg C.</div>
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Mosfet temperature reading</div>
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Load resistor temperature reading</div>
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The second problem of our circuit is the output of mosfet is ringing and avalanche energy from inductive load (wire-wound load resistor) could damage the mosfet. As you can see in the scope below there are spike around 50uS before settle at the targeted amperage on falling and rising edge. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMZMkIQ3Lo8o-kZEWqj0nZSwXvilETY5n6dkFruGiopSas7-JEZp0_hCLeMbHl6J2rLqj64Z-b0CiGWuhkSfOIRYMGfmoTqFSILXZPYiKgjWxH8SYVqcXNf6v9EBQeUIj9zsVWsQxKMdNU/s1600/9vringAmp.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="859" data-original-width="1600" height="340" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMZMkIQ3Lo8o-kZEWqj0nZSwXvilETY5n6dkFruGiopSas7-JEZp0_hCLeMbHl6J2rLqj64Z-b0CiGWuhkSfOIRYMGfmoTqFSILXZPYiKgjWxH8SYVqcXNf6v9EBQeUIj9zsVWsQxKMdNU/s640/9vringAmp.png" width="640" /></a></div>
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RC Snubber will be added in parallel to the output of mosfet between drain and source. in order to reduce the ringing effect. here is the formula we use to calculate the value of capacitance and resistance. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAQ6A9r2hhvwTiy9do1FL9Q1wHKXYgm2CowM7_5j69jBHd-Ttl22P5Xnhmokg6_MSgD449W9oF2pTI8wkgkYGiLt2DO0ciWEYyos2O8N9CQL6Y2fqBdi62gnWXC9Hs5q6un0mkevm1UyLO/s1600/lp.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="99" data-original-width="273" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAQ6A9r2hhvwTiy9do1FL9Q1wHKXYgm2CowM7_5j69jBHd-Ttl22P5Xnhmokg6_MSgD449W9oF2pTI8wkgkYGiLt2DO0ciWEYyos2O8N9CQL6Y2fqBdi62gnWXC9Hs5q6un0mkevm1UyLO/s1600/lp.png" /></a></div>
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where Fp is ringing frequency you get from scope, C<span style="font-size: x-small;">p</span> is parasitic capacitance can be refer as C<span style="font-size: xx-small;">oss </span>from data sheet as shown below.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifvjpGXO8X82cSD20CpkoGUALmAHc7J2Tnx-k9i1rN0x3GKp2sq7jgpO86LSzEswuHqGABwTZkA9S9ro6PBu5_9yX0gRXX6yFTeMZXE1-7fLDTga6EgUUCA9P_JZoU9AgQwzxfVZDa6uBG/s1600/coss.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="118" data-original-width="881" height="83" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifvjpGXO8X82cSD20CpkoGUALmAHc7J2Tnx-k9i1rN0x3GKp2sq7jgpO86LSzEswuHqGABwTZkA9S9ro6PBu5_9yX0gRXX6yFTeMZXE1-7fLDTga6EgUUCA9P_JZoU9AgQwzxfVZDa6uBG/s640/coss.png" width="640" /></a></div>
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<b><span style="color: red;">(problem with my scope - after updating to PicoScope6_r6_14_4.exe)</span></b></div>
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We change our long service Picoscope 3205 to all in one scope from Analog Device ADALM2000. With 12-bit ADCs and DACs running at 100 MSPS, the M2K brings the power of high performance lab equipment. Here is the picture of the device and some Lissajous plot from the device. If you ever tried Analog Discovery 2 then this is the alternative with half of the price.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7jFOAoTPWDtmWq9I2HHsWZkSHazU1qzajpbOe1DUL89YO48j7FNPtH1mzv_RBB_tfiui5oCexd23Z37mmEWnIc9nTchxtMYjuTAiCAa_B2RYdL97jJPJpzfpK9D5FeiK_zNnOrJtxZEKh/s1600/WhatsApp+Image+2019-08-27+at+1.58.48+PM.jpeg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="768" data-original-width="1024" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7jFOAoTPWDtmWq9I2HHsWZkSHazU1qzajpbOe1DUL89YO48j7FNPtH1mzv_RBB_tfiui5oCexd23Z37mmEWnIc9nTchxtMYjuTAiCAa_B2RYdL97jJPJpzfpK9D5FeiK_zNnOrJtxZEKh/s400/WhatsApp+Image+2019-08-27+at+1.58.48+PM.jpeg" width="400" /></a></div>
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Here is a little detail about ADALM2000.<br />
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<li>Two-channel USB digital oscilloscope </li>
<li>Two-channel arbitrary function generator </li>
<li>16-channel digital logic analyzer (3.3V CMOS and 1.8V or 5V tolerant, 100MS/s)</li>
<li>16-channel pattern generator (3.3V CMOS, 100MS/s)</li>
<li>16-channel virtual digital I/O</li>
<li>Two input/output digital trigger signals for linking multiple instruments (3.3V CMOS)</li>
<li>Single channel voltmeter (AC, DC, ±20V)</li>
<li>Network analyzer – Bode, Nyquist, Nichols transfer diagrams of a circuit. Range: 1Hz to 10MHz</li>
<li>Spectrum Analyzer – power spectrum and spectral measurements (noise floor, SFDR, SNR, THD, etc.)</li>
<li>Digital Bus Analyzers (SPI, I²C, UART, Parallel)</li>
<li>Two programmable power supplies (0…+5V , 0…-5V)</li>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjNvD82EzpCtrpEKtXtOOt0jdUFa2w8K1UeVTAwWwoEE7yGkY77Kk9-kBWRUzlWLz_jmjiN3wP1d5q4D3kofVFSN8SFC-NXhxssN579h3R1MUeo7IXZmW9Qcx1mReB86jQRS12TnF2hDTej/s1600/lissa.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="863" data-original-width="1600" height="344" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjNvD82EzpCtrpEKtXtOOt0jdUFa2w8K1UeVTAwWwoEE7yGkY77Kk9-kBWRUzlWLz_jmjiN3wP1d5q4D3kofVFSN8SFC-NXhxssN579h3R1MUeo7IXZmW9Qcx1mReB86jQRS12TnF2hDTej/s640/lissa.png" width="640" /></a></div>
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Ok back to our DC Load project. In order to maintain the current while battery voltage is dropping we need a feedback a mechanism to decrease the resistance of mosfet. so that it will maintains the constant current. We have to use an op amp to this job. we will need something like voltage follower or buffer to give us feedback. We also have to provide accurate and stable voltage input to op amp so that they will not change the output due to system ripple and any noise possible. here is what we do.<br />
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-DAC MCP4725<br />
-Vref LM4040- 4.096V<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9w2jg94uCSXWh69x0zDE2_hMZYaP2V8hX3GDOkHUpA3UZ9TxgH-WCdp5rIPhW977MnqPSGJchAzegiKYPVCEoc4z4idbApeWcWeYQIq7U1pR7-TFAOXsEiEJDWeUTSIvU1K2wndMudh8a/s1600/WhatsApp+Image+2019-09-08+at+9.18.21+AM%25281%2529.jpeg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="768" data-original-width="1024" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9w2jg94uCSXWh69x0zDE2_hMZYaP2V8hX3GDOkHUpA3UZ9TxgH-WCdp5rIPhW977MnqPSGJchAzegiKYPVCEoc4z4idbApeWcWeYQIq7U1pR7-TFAOXsEiEJDWeUTSIvU1K2wndMudh8a/s640/WhatsApp+Image+2019-09-08+at+9.18.21+AM%25281%2529.jpeg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNBeWsgjfWx_nDHOaSoOUmSL-YERg9mT5YhHcCVR_pv9yj-olvEuOujLh0ebhAyhyphenhyphenfWIC2MJt8XcuRwJE0pJrUSubCS83AHHsC0IbvACSMZxbiFZIIs_2Jposw63pmn9Fgfp4LRYKufyMW/s1600/WhatsApp+Image+2019-09-08+at+9.18.21+AM.jpeg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="768" data-original-width="1024" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNBeWsgjfWx_nDHOaSoOUmSL-YERg9mT5YhHcCVR_pv9yj-olvEuOujLh0ebhAyhyphenhyphenfWIC2MJt8XcuRwJE0pJrUSubCS83AHHsC0IbvACSMZxbiFZIIs_2Jposw63pmn9Fgfp4LRYKufyMW/s640/WhatsApp+Image+2019-09-08+at+9.18.21+AM.jpeg" width="640" /></a></div>
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As you can see ADALM2000 give pretty accurate DCV reading and comparable with Brymen BM87s. </div>
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Unknownnoreply@blogger.com1tag:blogger.com,1999:blog-2250253697859186689.post-76913700242436774762011-03-15T22:00:00.003-07:002018-10-31T07:31:56.404-07:00CAD Trainee<div dir="ltr" style="text-align: left;" trbidi="on">
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Prototype testing with new improved code for fast respond. Sorry for poor video quality. :) pretty hard to bring all tools in the field test. cannot find a suitable tool yet. we lost the Hex screwdriver and one plier already..(found 5 days later. rusted already.. )<br />
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<iframe allowfullscreen="" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/rBisQ-LBNZw/0.jpg" frameborder="0" height="266" src="https://www.youtube.com/embed/rBisQ-LBNZw?feature=player_embedded" width="320"></iframe></div>
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<span style="font-size: x-small;">Testing a small prototype of 4AZ-UGV. Good luck guys!!</span></div>
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We are successfully track our robot on the field. Try to understand NMEA code from this gps click module from <a href="http://www.microchipdirect.com/productsearch.aspx?keywords=TMIK028">mikroelektronika</a>. Very good signal reception when combined with active antenna. This board only use 3.3V. must be very careful. all pin are well labeled. We only need 4 pin out Rx, Tx, Gnd and 3.3v. Ship in well package with active antenna, header and colorful user manual. We plan to power up this UGV with Sabertooth motor driver from <a href="http://www.dimensionengineering.com/">DimensionEngineering</a><br />
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Twelve student involve in Innovation and Design competition on september 2014. The competition encourages students to use higher order thinking (Hots), creativity and various strategies to design and build a great robot to compete with opponents.One of the biggest co-curricular activities under the Ministry of Education that emphasizes creativity and innovation among students through experiential learning interesting and fun. This is our UGV (unmanned ground vehicle) named 4AZ-UGV<br />
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Thanks David Jones for this amazing piece of technology. Ucurrent Gold. precision op-amp circuit designed specifically for measuring ultra-low currents. Design by David Jones from EEVblog. Ucurrent Gold will be used to help us to measure current for our <b>Ultra Low Current Flasher project. </b> Here is pre-test result for Ucurrent with our circuit..Guest what dang!!!! 15.2uA on sleep mode..our goal is to get <10uA on sleep mode.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgt0CAm9kuyRXR7Tv2lnLZR64PbEiMiU37NjzLjfz1n_OFmrNwJ3MFdVnNfChNOsu0sKN1CVgdVElFg79fdBFd9CR-YaYXBDqenI8FxYCPgvFMbif14dUnSAjzCzuyw_HbMtLfHZ9UnpOzP/s1600/DSC_1503.jpg" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgt0CAm9kuyRXR7Tv2lnLZR64PbEiMiU37NjzLjfz1n_OFmrNwJ3MFdVnNfChNOsu0sKN1CVgdVElFg79fdBFd9CR-YaYXBDqenI8FxYCPgvFMbif14dUnSAjzCzuyw_HbMtLfHZ9UnpOzP/s1600/DSC_1503.jpg" style="clear: left; display: inline !important; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="176" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgt0CAm9kuyRXR7Tv2lnLZR64PbEiMiU37NjzLjfz1n_OFmrNwJ3MFdVnNfChNOsu0sKN1CVgdVElFg79fdBFd9CR-YaYXBDqenI8FxYCPgvFMbif14dUnSAjzCzuyw_HbMtLfHZ9UnpOzP/s1600/DSC_1503.jpg" width="320" /></a></div>
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Blinker is powered by two button cell. Here is the code in Mikrobasic</div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">program blink_12f1840</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">' Declarations section </span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">main:</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">TRISA = 0 ' set direction to be output</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">porta =0</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">WDTCON = 25</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> while TRUE</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 1</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> Delay_ms(1) ' 1 second delay</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 0</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> Delay_ms(45) ' 1 second delay</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 1</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> Delay_ms(10) ' 1 second delay</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 0</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> Delay_ms(45) ' 1 second delay</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 1</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> Delay_ms(15) ' 1 second delay</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> LATA.b4 = 0</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> asm</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> sleep</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;">end asm</span></div>
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<span style="background-color: black; color: lime; font-family: "courier new" , "courier" , monospace;"> wend ' Endless loop</span></div>
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<b>Mac 2 2014</b></div>
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<b>Ultra Low Current Flasher with PIC12F1840</b>. This is small scale project that only need 4 components. Its sound stupid maybe. But when it come to make LED blink for a few months or years. That is the great challenge. </div>
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Microchip Study area :</div>
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1. Sleep mode</div>
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2. Wake up from sleep</div>
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3. Deep sleep? </div>
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4. Watchdog timer<b></b></div>
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5. SMD for low weight and slim design<b></b></div>
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6. The best LED for this job?</div>
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7. 1.8V or 3V?</div>
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8. bellow 10uA average working current (how to measure that accurately)</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhA9MGchbMVBlAtrCfpv_DoTUYILHPpM9e-HG6_hG0h3XlYAtZF_MTCWQExuX8cH5ViLHKEaWoY3wZdVeBpTLPmghk_6zdbMvi2ptydH1s7lcHf7PZwjLqD8hXllcieh5y9Js1JG_RrhKEa/s1600/DSC_1610-1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhA9MGchbMVBlAtrCfpv_DoTUYILHPpM9e-HG6_hG0h3XlYAtZF_MTCWQExuX8cH5ViLHKEaWoY3wZdVeBpTLPmghk_6zdbMvi2ptydH1s7lcHf7PZwjLqD8hXllcieh5y9Js1JG_RrhKEa/s320/DSC_1610-1.jpg" width="284" /></a></div>
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hand sketch schematic</div>
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<span style="font-size: x-small;">Proteus Drafting</span></div>
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<b> Dec 4th 2012</b><br />
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Here is the test without opto-isolator. if anything goes wrong I will fry my computer. first test for motor..very silent and working great<b>. </b><br />
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<object class="BLOGGER-youtube-video" classid="clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" codebase="http://download.macromedia.com/pub/shockwave/cabs/flash/swflash.cab#version=6,0,40,0" data-thumbnail-src="http://i.ytimg.com/vi/ON2dxwADY_A/0.jpg" height="266" width="320"><param name="movie" value="https://www.youtube.com/v/ON2dxwADY_A?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata"><param name="bgcolor" value="#FFFFFF"><param name="allowFullScreen" value="true"><embed width="320" height="266" src="https://www.youtube.com/v/ON2dxwADY_A?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" type="application/x-shockwave-flash" allowfullscreen="true"></object></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfgiRjlGF03nFGpfmul3Cc1-CXSIYp9Bw2LFf11jz9ohFU1TkbB7oJDwTxgZomj1DwciCXh4XhL0zpeqgfzlYp2UyqkzRcxZlUozKK9sX3e6EeTgIaWISUX1N8cMOAM1OHDLNudcmdTV_O/s1600/DSC_0635.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"></a></div>
We start to plan the next new project for more professional quality simulator. Here is the 30% finish drawing.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh34aYOMOQoGh4db3BG3iBS92Udm3rq1j6yY1o7ahg91-GZEvPYTDGS2185v1btBzDBNdvxelbyxTpoytj296MeNvny0SpvTnY4Sk5QK84NUk72p24KQ0cojFy0iY8rTKGE8c-Z-2vAaadq/s1600/kubing.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh34aYOMOQoGh4db3BG3iBS92Udm3rq1j6yY1o7ahg91-GZEvPYTDGS2185v1btBzDBNdvxelbyxTpoytj296MeNvny0SpvTnY4Sk5QK84NUk72p24KQ0cojFy0iY8rTKGE8c-Z-2vAaadq/s400/kubing.png" width="400" /></a></div>
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May 28 2012</div>
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If you have a problem to download (as reported) you can e-mail me. thank you.</div>
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May 13th 2012</div>
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Budu 2dof v1.5 a.k.a Kubing 2dof v1.5 uploaded. Budu is the codename for this project when it first release 2 years ago. You can use same hardware schematic v1.4. For educational use only. read <a href="http://ourdisclaimer.com/?i=%22simf1.blogspot.com%22" target="_blank">Disclaimer </a>first. You can use Kubing 2dof v1.5.hex as inverted pendulum controller if you like (stand alone without PC). Good luck!!---kubing </div>
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Windows take about 2.09 milisecond to send 8 bit binary signal to controller at 19200 baudrate. even with pause = 1 ms on USO software. That is the Windows hardware restriction for uart communiaction. </div>
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April 15th 2012 </div>
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Fix a few bugs in Budu 2dof v1.4. So the next release of Budu 2dof v1.5 will be here soon. Download link not available until the next release of firmware. Thank you for support and email. We are planning to start a new project to make it usable with android phone and tablet very soon. </div>
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Dec 20th 2011</div>
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Here is my version of joystik/panel controller </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitfzLKsmlzt_NyvFFzG-bQc_bLvNFP6Ah2TkdFQNpF5BTfPVfRYYUPU3l0k8fIqFRsFiBcDEf8P6J8lAltRswLC4y8eLFU3hu8DYBeaJVsSGuavXi0sAdXgnD17BN6oSC4BCc2e3qxBhQ6/s1600/BuduFsx1643_bykubing.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="187" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitfzLKsmlzt_NyvFFzG-bQc_bLvNFP6Ah2TkdFQNpF5BTfPVfRYYUPU3l0k8fIqFRsFiBcDEf8P6J8lAltRswLC4y8eLFU3hu8DYBeaJVsSGuavXi0sAdXgnD17BN6oSC4BCc2e3qxBhQ6/s400/BuduFsx1643_bykubing.png" width="400" /></a></div>
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figure 1-1</div>
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<span id="result_box" lang="en"><span class="hps">PCB</span> <span class="hps">circuit</span> <span class="hps">figure 1-1 was </span><span class="hps">created</span> <span class="hps">using</span> <span class="hps">Eagle</span> <span class="hps">Layout</span> <span class="hps">Editor</span> <span class="hps">that can be</span> <span class="hps">downloaded</span> <span class="hps">for free</span> <span class="hps">from</span> CADSoft. <span class="hps">However,</span> <span class="hps">this</span> <span class="hps">project</span> <span class="hps">used two</span> <span class="hps">layer</span> <span class="hps">pcb</span> <span class="hps">automatically generated</span> <span class="hps">using this software</span>. <span class="hps">There is still room</span> <span class="hps">for improvement</span> <span class="hps">to make</span> <span class="hps">the best</span> <span class="hps">controller</span>. <span class="hps">by adding a few</span> <span class="hps">expander</span> <span class="hps">port</span> <span class="hps">in the near future</span>. <span class="hps">Expander</span> <span class="hps">port</span> <span class="hps">is a type of</span> <span class="hps">chips</span> <span class="hps">produced by the</span> <span class="hps">Microchip</span> <span class="hps">company</span> <span class="hps">that is able</span> <span class="hps">to add</span> <span class="hps">up to</span> <span class="hps">16bit</span> <span class="hps">switch.</span> <span class="hps">we</span> <span class="hps">can connect</span> <span class="hps">this</span> <span class="hps">chip</span> <span class="hps">using</span> <span class="hps">SPI</span> <span class="hps">or</span> <span class="hps">I2C</span>. <span class="hps">imagine if</span> <span class="hps">it</span> <span class="hps">is connected to</span> <span class="hps">8</span> <span class="hps">chip</span> <span class="hps">expander</span> <span class="hps">we get</span> <span class="hps">8</span> <span class="hps">x</span> <span class="hps">16</span> <span class="hps">=</span> <span class="hps">128</span> <span class="hps">switches</span> <span class="hps">can be</span> <span class="hps">controlled</span> <span class="hps">separately.</span> <span class="hps">Separate</span> <span class="hps">means</span> <span class="hps">we do not need</span> <span class="hps">a diode or a</span> <span class="hps">matrix</span> <span class="hps">column</span> <span class="hps">row</span> <span class="hps">system.</span> <span class="hps">each switch</span> <span class="hps">will be controlled</span> <span class="hps">by</span> <span class="hps">a</span> <span class="hps">separate</span> <span class="hps">bit</span>. <span class="hps">whether the</span> <span class="hps">toggle</span> <span class="hps">switch</span> <span class="hps">or</span> <span class="hps">push</span> <span class="hps">button</span> <span class="hps">switch</span><span class="hps">.</span></span></div>
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<span id="result_box" lang="en"><span class="hps">Rotary</span> <span class="hps">encoder</span>, <span class="hps">widely</span> <span class="hps">known as</span> <span class="hps">a shaft</span> <span class="hps">encoder</span>, <span class="hps">is an</span> <span class="hps atn">electro-</span>mechanical <span class="hps">device</span> <span class="hps">that converts</span> <span class="hps">the angular position</span> <span class="hps">or</span> <span class="hps">movement</span> <span class="hps">to digital.</span> <span class="hps">Incremental encoder</span> <span class="hps">output</span> <span class="hps">provides information</span> <span class="hps">about the motion</span> <span class="hps">of the shaft</span> <span class="hps">is</span> <span class="hps">usually</span> <span class="hps">processed</span> <span class="hps">elsewhere</span> <span class="hps">in the</span> <span class="hps">information such as</span> <span class="hps">speed, distance</span>, <span class="hps">RPM</span>, <span class="hps">and</span> <span class="hps">position</span>. <span class="hps">In</span> <span class="hps">flight</span> <span class="hps">the</span> <span class="hps">rotary</span> <span class="hps">encoder</span> <span class="hps">is used</span> <span class="hps">in the</span> <span class="hps">autopilot</span> <span class="hps">controller</span>, <span class="hps">radio communication</span> <span class="hps">and so on.</span> <span class="hps">For now</span> <span class="hps">BuduFsx1643</span> <span class="hps">has</span> <span class="hps">four</span> <span class="hps">rotary</span> <span class="hps">encoder</span> <span class="hps">input</span> <span class="hps">only.</span> <span class="hps">And</span> <span class="hps">will be added</span> <span class="hps">to the</span> <span class="hps">16 channel</span> <span class="hps">according to current needs</span>. <span class="hps">I use the</span> <span class="hps">rotary</span> <span class="hps">encoder</span> <span class="hps">EC16B2410408</span> <span class="hps">ALPS</span> <span class="hps">brand</span> <span class="hps">available at</span> <span class="hps">RScomponent</span> <span class="hps">or</span> <span class="hps">Element14</span> <span class="hps">store</span>. <span class="hps">In addition</span> <span class="hps">BuduFsx1643</span> <span class="hps">has 16</span> <span class="hps">digital</span> <span class="hps">inputs</span> <span class="hps">and</span> <span class="hps">3</span> <span class="hps">analog</span> <span class="hps">input</span>. <span class="hps">This</span> <span class="hps">chip</span> <span class="hps">has</span> <span class="hps">an analog</span> <span class="hps">input</span> <span class="hps">12bit</span> <span class="hps">resolution or 4095 step. </span></span></div>
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<span id="result_box" lang="en"><span class="hps">I have</span> <span class="hps">Logitech</span> <span class="hps">GT</span> <span class="hps">wheel</span> <span class="hps">which only has</span> <span class="hps">throttle</span> <span class="hps">and</span> <span class="hps">brake</span> <span class="hps">pedals</span>. <span class="hps">so</span> <span class="hps">with</span> <span class="hps">3</span> <span class="hps">analog</span> <span class="hps">inputs</span> <span class="hps">of</span> <span class="hps">this</span> <span class="hps">controller</span>. <span class="hps">I can</span> <span class="hps">take advantage</span> <span class="hps">of it</span> <span class="hps">to build</span> <span class="hps">a </span></span><span id="result_box" lang="en"><span class="hps">clutch</span> </span><span id="result_box" lang="en"><span class="hps">pedal</span> <span class="hps">with</span> <span class="hps">12bit</span> <span class="hps">resolution</span>.</span><span id="result_box" lang="en"><span class="hps"> </span></span></div>
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Here is Another great microchip project link </div>
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<b><a href="http://simf1.blogspot.com/p/10bit-joystick.html">Building a USB Joystick Controller Using the PIC18F2455 By Willy</a></b></div>
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NOV 13th 2011</div>
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Figure 1-2a</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkKG5bNNlCW-F1SWKmWmphPdcY3BHRFSUGc5gWfLx3W9nN0tGfCn68tDSm4bDueXMVDqGQ1hQZiEhzPzx5Sal0hEBvJktDfGeId-ohXLzN3HRW8fCYy5ksYEa5Bu7f5rxZO7UqZtERiVBq/s1600/DSC01752.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkKG5bNNlCW-F1SWKmWmphPdcY3BHRFSUGc5gWfLx3W9nN0tGfCn68tDSm4bDueXMVDqGQ1hQZiEhzPzx5Sal0hEBvJktDfGeId-ohXLzN3HRW8fCYy5ksYEa5Bu7f5rxZO7UqZtERiVBq/s400/DSC01752.JPG" width="400" /></a></div>
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Figure 1-2b</div>
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<span id="result_box" lang="en"><span class="hps">The </span></span>Figure 1-2a <span id="result_box" lang="en"><span class="hps">shows</span> a <span class="hps">2dof</span> <span class="hps">v1.4</span> <span class="hps">project</span>. <span class="hps">It</span> use <span class="hps">USB</span> <span class="hps">connection</span> <span class="hps">directly</span> <span class="hps">without any</span> <span class="hps">converter</span> <span class="hps">chip</span> <span class="hps">such</span> <span class="hps">as</span> <span class="hps">FTDI</span> <span class="hps">or</span> <span class="hps">MAX232</span>. <span class="hps">It</span> <span class="hps">is the result of</span> <span class="hps">very</span> <span class="hps">extensive</span> <span class="hps">code</span> <span class="hps">modifications</span> <span class="hps">from</span> <span class="hps">the original</span> <span class="hps">project</span>. <span class="hps">This</span> <span class="hps">project</span> <span class="hps">uses</span> <span class="hps">PIC18f2550</span> <span class="hps">and some</span> <span class="hps">other components.</span> <span class="hps">Very</span> <span class="hps">easy to</span> <span class="hps">build</span> <span class="hps">and requires only</span> <span class="hps">30</span> <span class="hps">minutes to</span> <span class="hps">solder</span>. <span class="hps">There are</span> <span class="hps">three</span> <span class="hps">variable</span> <span class="hps">resistor</span> <span class="hps">which is used</span> <span class="hps">to adjust</span> <span class="hps">Proportional</span>, <span class="hps">Intergral</span> <span class="hps">and</span> <span class="hps">Derivative</span>. <span class="hps">Included with </span><span class="hps">two</span> <span class="hps">LEDs</span> <span class="hps">on</span> <span class="hps">boa</span>rd. <span class="hps">red light</span> <span class="hps">indicates</span> <span class="hps">a connection</span> <span class="hps">established</span> <span class="hps">and the</span> <span class="hps">blue</span> <span class="hps">led</span> <span class="hps">to show</span> <span class="hps">incoming</span> <span class="hps">data.</span> <span class="hps">I think</span> <span class="hps">a simple</span> <span class="hps">circuit</span> <span class="hps">will reduce the</span> <span class="hps">risk of</span> <span class="hps">connection</span> <span class="hps">errors.</span></span></div>
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<span id="result_box" lang="en"><span class="hps">As I have</span> <span class="hps">stated</span> <span class="hps">all the</span> <span class="hps">MCU</span> <span class="hps">requires</span> <span class="hps">special</span> <span class="hps">programming</span> <span class="hps">tools</span> <span class="hps">to enable us to</span> burn the code <span class="hps">into</span> <span class="hps">its memory.</span> <span class="hps">I</span> <span class="hps">use</span> <span class="hps">pickit3</span> <span class="hps">or</span> <span class="hps">icd3</span>. <span class="hps">you can also make</span> your <span class="hps">own</span> <span class="hps">programmer</span> <span class="hps">if you have</span> <span class="hps">time</span>, but <span class="hps">are advised to</span> <span class="hps">buy</span> <span class="hps">at any</span> <span class="hps">electronics</span> <span class="hps">store</span> <span class="hps">like</span> <span class="hps">mouser</span> <span class="hps">or</span> <span class="hps">rscomponent</span>. <span class="hps">USB</span> <span class="hps">programmer</span> <span class="hps">for as low as</span> <span class="hps">USD20</span> <span class="hps">is</span> <span class="hps">10</span> <span class="hps">times better than the</span> <span class="hps">DIY</span> <span class="hps">programmer.</span> <span class="hps">Do not</span> <span class="hps">misunderstand</span>. <span class="hps">Because this</span> <span class="hps">is only</span> <span class="hps">based on my experience</span>. </span></div>
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<a href="http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en556208"><br /></a>
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<b><span style="font-size: large;">PID algorithm inside kubing controller</span></b><br />
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What is PID? Old day technology use On Off switching to control the system. The on-off controller is the easiest possible way of control. Many technical systems use it, not limited to controlling a motor. Refrigerator, heater, water pump usually use this system. But more complicated system its not going to work as we aspect by using this technique. The idea behind feedback control is very simple. We have a target speed, specified by the user or the computer program, and we have the current actual speed, measured by the sensor (hall, encoder, pot, etc). Measurements and actions according to the measurements can be taken very frequently(t).</div>
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The easiest way of control is not always the end of the story. A more sophisticated of controller and industry standard is the PID controller. It base on proportional, an integral, and a derivative control part. The controller parts are introduced in the following sections individually and in combined operation. </div>
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<b>Proportional </b>is the simplest term. The error is multiplied by the proportional gain,The amount of correction applied to the system is directly proportional<br />
to the error.</div>
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<i>'kP term....</i></div>
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<i> P1 = Kp * DIFF</i><br />
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<b><i>P math in C code (embedded)</i></b><br />
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<i><b>1 e_fungsi = v_target - v_drive; // error function //<br />2 z_motor = Kp*e_fungsi ; //motor output </b></i><br />
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<b>Integral </b>term is calculate the "historic" error in the system in fixed period of time. How long the motor need to move from point A to B? How to set the timer overflow in microcontroller is not as easy as in P and D term. If we set the timer overflow too fast from what they need to compensate the error and the system will not going to stable. The integral gain must be thoroughly tested before implementation to any PID systems. Its not as simple as I term = gain * sum.</div>
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output = (kp * error_value) + (ki * integral) + (kd * derivative); </div>
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The idea for the I controller is to reduce the steady-state error of the P controller. With an additional<br />
integral term, this steady-state error can be reduced to zero.<br />
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<b><i>I math in C code (embedded)</i></b><br />
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<b>3 e_fungsi = v_target - v_drive;<br />4 z_motor = r_old + Kp*(e_fungsi - e_old) + Ki*(e_func+e_old)/2;</b><br />
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<b>Derivative </b>term is based on the rate at which the system is changing. Sometime it can be extremely aggressive when it is acting on the error of the system. In my case I make it adjustable to reduce the aggressiveness of this term. Similar to the I controller, the D controller (derivative controller) is rarely used by itself, but mostly in combination with the P or PI controller. The idea for adding a derivative term is to speed up the P controller’s response to a change<br />
of input</div>
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<i>'kD term......</i><b> </b><br />
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<b>errdelta = DIFF - errprev</b><br />
<b>d1 = kd * errdelta<br />drive = d1 + p1</b></div>
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15 sept 2011 </div>
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<span style="font-size: large;">Understanding DOF in simulation system (long story short)</span></div>
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In three dimensions, the six DOFs of a rigid body are sometimes described using these names:<br />
<ol>
<li>Moving up and down (heaving) = The yawing along the vertical Z-axis;</li>
<li>Moving left and right (swaying);</li>
<li>Moving forward and backward (surging) = Rolling along the longitudinal X-axis;</li>
<li>Tilting forward and backward (pitching) = Sway along the lateral Y-axis.;</li>
<li>Turning left and right (yawing);</li>
<li>Tilting side to side (rolling).</li>
</ol>
All movement will be measure accurately with <a href="http://www.motionnode.com/" target="_blank">motionnode</a> sensor like the one we use here. motionode hardware provides real-time orientation, accelerometer,
gyroscope, and magnetometer data. you can study the source code by downloading the <a href="http://www.motionnode.com/sdk.html">Software Development Kit (SDK).</a></div>
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<a href="http://www.microchip.com/"><br /></a></div>
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Sept 9th 2011</div>
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<span style="color: red;"><span style="color: black;">Figure 1-3</span></span></div>
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<span style="color: red;"><span style="color: black;">The Green board on </span></span><span style="color: red;"><span style="color: black;">Figure 1-3 is pololu motor driver. It has </span></span><span style="color: red;"><span style="color: black;">the VNH2SP30-E chip full bridge motor driver</span><span style="color: black;"> intended for a wide range of automotive</span><span style="color: black;"> applications. The device incorporates a dual</span><span style="color: black;"> monolithic High-Side drivers and two Low-Side</span><span style="color: black;"> switches. The High-Side driver switch is designed</span><span style="color: black;"> using STMicroelectronic’s well known and proven</span><span style="color: black;"> proprietary VIPower™ M0 technology that allows</span><span style="color: black;"> to efficiently integrate on the same die a true</span><span style="color: black;"> Power MOSFET with an intelligent signal/</span><span style="color: black;"> protection circuitry.</span><span style="color: black;"></span><span style="color: black;"> This package,</span><span style="color: black;"> specifically designed for the harsh automotive</span><span style="color: black;"> environment offers improved thermal performance</span><span style="color: black;"> thanks to exposed die pads. Moreover, its fully</span><span style="color: black;"> symmetrical mechanical design allows superior</span><span style="color: black;"> manufacturability at board level. The input signals</span><span style="color: black;"> INA and INB can directly interface to the</span><span style="color: black;"> microcontroller to select the motor direction and the brake condition.</span></span></div>
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Sept 7th 2011 </div>
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<span style="color: black;">Finally Kubing 2DOF with USB CDC (virtual com) done. Using a PIC18F2550. Instruction shown below are for Windows Vista. Just Follow a yellow guide for setup.</span></div>
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<span style="color: black;">Kubing 2dof USB Setup finish. Sometime X-sim can't detect virtual comm so you need to manually add "\com1" or "\comx" in the listbox above. </span></div>
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<span style="color: black;">Kubing 2dof V1.3b (June 9th 2011) The new and improve version come with status Rx led and much faster motor respond. Its should work well without limit switch.</span><br />
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*Gear indicator with F1 style rpm indicator for rfactor MMG..code and schematic Uploaded. <a href="http://simf1.blogspot.com/p/controller-black-box.html">Click here</a></div>
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<span style="font-size: large;">Inverted Pendulum Project</span></div>
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Inverted pendulum on buggy </div>
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The derivative term is crucial in order to bring the inherently unstable system into stability. In any PID control the derivative terms acts as an anticipator. By checking the current error against the previous error, the controller<br />
can tell if the error term is getting bigger or smaller. If the error term is getting larger, the derivative term<br />
adds to the output of the controller much like that of the proportional and integral terms, but to a lesser effect. If<br />
the error term is getting smaller, this term will subtract from the output of the control in anticipation of an overshoot<br />
condition. Without the derivative term the system will always be unstable because there is no way to compensate for the overshoot condition.<br />
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<span style="font-size: large;"><span style="color: blue;">KUBING 2DOF V1.1 (March 31th 2011)</span></span><br />
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After a month of testing and tuning on my inverted pendulum buggy I have found that by adding suppression caps to the POTs will drastically reduce the noise problem. This update applicable to all pots in my schematic. But only VR1 and VR2 shown.</div>
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</div><div class="separator" style="clear: both; text-align: center;"><span title="PROTOBOARD FOR 40PIN PIC WITH FTDI USB">PIC-Ready1 with ftdi chip from Mikroelektronika seems to be a great choice since they have a great support forum and discussion about the board they produce. You also can use this board for various of project.</span></div><div class="separator" style="clear: both; text-align: center;"><br />
</div><div class="separator" style="clear: both; text-align: center;"><a href="http://www.mikroe.com/eng/products/view/305/pic-ready1-board/"><img border="0" height="202" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiA9WLV8y5LNIGqD3mnqvij-et94NCvF_RCHg5YmC4xpH8rd6eSNxBI5YcVqavDY7Iev5QNx2eZVh_N5_C0TeWoEyc1VyJgXW8_wC6NlDZjOsO9DIElAbAhE9hpj3QB_D9XBcLvLrp7yUWT/s320/picready.jpg" width="320" /></a></div><div class="separator" style="clear: both; text-align: center;"><span title="PROTOBOARD FOR 40PIN PIC WITH FTDI USB"><br />
</span></div><div class="separator" style="clear: both; text-align: center;"><span title="PROTOBOARD FOR 40PIN PIC WITH FTDI USB">OR Built your own using this schematic</span></div><div class="separator" style="clear: both; text-align: center;"><br />
</div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3W4fw5i7WOeAx8V-V2MuxTvwsC7ZooEBqRtCwqRUmgCrYrabi37wt4IZR4-q3TOUpERleLJ_9lCaXBWS4eFwbGEXWUgUXpf-HpIotPE0YXMnIyu-D99AGaiW5Y5V1iwNBduUExI4_Uolq/s1600/budu_2dof.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3W4fw5i7WOeAx8V-V2MuxTvwsC7ZooEBqRtCwqRUmgCrYrabi37wt4IZR4-q3TOUpERleLJ_9lCaXBWS4eFwbGEXWUgUXpf-HpIotPE0YXMnIyu-D99AGaiW5Y5V1iwNBduUExI4_Uolq/s400/budu_2dof.jpg" width="350" /></a></div><div class="separator" style="clear: both; text-align: center;">compitable with polulu motor driver..</div><div class="separator" style="clear: both; text-align: center;"><span title="PROTOBOARD FOR 40PIN PIC WITH FTDI USB">more info about wiring <a href="http://simf1.blogspot.com/p/electronic.html">here.</a></span></div><div class="separator" style="clear: both; text-align: center;"><span title="PROTOBOARD FOR 40PIN PIC WITH FTDI USB">* Improve circuit with noise supression <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgz_MvYb4l58S6tQHvlBaCHxIu1gZbaBB6kFpds_Oz518-b0rezqMVc20HXCkQj1_QIKNjkAKa4pgx9QK_mIG3lipqZjf-qu5d79NrN88HVh7NhHLvB1IVKkAvSH39QpJZ8x6stVYKbYWCW/s1600/2dof.jpg">here </a><br />
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</div><div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="http://www.blogger.com/%3Cscript%20type=%22text/javascript%22%3E%3C%21--%20google_ad_client%20=%20%22pub-0678128656039387%22;%20google_ad_host%20=%20%22pub-1556223355139109%22;%20/*%20160x600,%20created%2012/16/10%20*/%20google_ad_slot%20=%20%227858532433%22;%20google_ad_width%20=%20160;%20google_ad_height%20=%20600;%20//--%3E%20%3C/script%3E%20%3Cscript%20type=%22text/javascript%22%20src=%22http://pagead2.googlesyndication.com/pagead/show_ads.js%22%3E%20%3C/script%3E"><br />
</a></span></div></div>Unknownnoreply@blogger.com4tag:blogger.com,1999:blog-2250253697859186689.post-35945792419412925142010-12-02T06:48:00.000-08:002018-10-31T07:26:47.105-07:00Budu_2DOF V1.0 !! Easy to built<div dir="ltr" style="text-align: left;" trbidi="on"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3W4fw5i7WOeAx8V-V2MuxTvwsC7ZooEBqRtCwqRUmgCrYrabi37wt4IZR4-q3TOUpERleLJ_9lCaXBWS4eFwbGEXWUgUXpf-HpIotPE0YXMnIyu-D99AGaiW5Y5V1iwNBduUExI4_Uolq/s1600/budu_2dof.jpg" onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}"><img alt="" border="0" id="BLOGGER_PHOTO_ID_5546097013007495762" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3W4fw5i7WOeAx8V-V2MuxTvwsC7ZooEBqRtCwqRUmgCrYrabi37wt4IZR4-q3TOUpERleLJ_9lCaXBWS4eFwbGEXWUgUXpf-HpIotPE0YXMnIyu-D99AGaiW5Y5V1iwNBduUExI4_Uolq/s400/budu_2dof.jpg" style="cursor: pointer; display: block; height: 400px; margin: 0px auto 10px; text-align: center; width: 351px;" /></a></div>Unknownnoreply@blogger.com2tag:blogger.com,1999:blog-2250253697859186689.post-29153510590032506832010-11-30T06:10:00.000-08:002020-08-19T21:50:22.520-07:00<div dir="ltr" style="text-align: left;" trbidi="on">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUTJZ0PW3soRbF_w6_0r3dKCkx74SWUNJ6jhcWO4iNTy3czHMnAF2zXVwzHHOFIaitQqFAFMryjcwjCO5AIO7oedZPhlInKWzYytmSFD5uoBHHJ3OSCpQTN4_xqLA6jWj0KNSs2a3DRt6j/s1600/kubing1.2.jpg" onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}"><img alt="" border="0" id="BLOGGER_PHOTO_ID_5545345317921886530" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUTJZ0PW3soRbF_w6_0r3dKCkx74SWUNJ6jhcWO4iNTy3czHMnAF2zXVwzHHOFIaitQqFAFMryjcwjCO5AIO7oedZPhlInKWzYytmSFD5uoBHHJ3OSCpQTN4_xqLA6jWj0KNSs2a3DRt6j/s400/kubing1.2.jpg" style="cursor: pointer; display: block; height: 410px; margin: 0px auto 10px; text-align: justify; width: 355px;" /></a><br />
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Click on image to enlarge. With adjustable kD schematic. Video show you how important adjustable kD in simulator and how they overcome oscillation problem in high kP setting.</div>
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Overview of methods</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiU794-rD2UDcoRJPwfH0g28iCOP1zrjESmcBiNBS8v8PBtxw_gDR4gySobCSI38TMMI6WsmjJ1e2vMJoTWOzK9vVI6r6VKiWIGhvywTO4HEhrVbv8Yrnintj5T9mVvyjoxRB6AnN1R4ygT/s1600/PID_Compensation_Animated.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="300" data-original-width="400" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiU794-rD2UDcoRJPwfH0g28iCOP1zrjESmcBiNBS8v8PBtxw_gDR4gySobCSI38TMMI6WsmjJ1e2vMJoTWOzK9vVI6r6VKiWIGhvywTO4HEhrVbv8Yrnintj5T9mVvyjoxRB6AnN1R4ygT/s400/PID_Compensation_Animated.gif" width="400" /></a></div>
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There are several methods for tuning a PID loop. The most effective methods generally involve the development of some form of process model, then choosing P, I, and D based on the dynamic model parameters. Manual tuning methods can be relatively time consuming, particularly for systems with long loop times.</div>
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The choice of method will depend largely on whether or not the loop can be taken "offline" for tuning, and on the response time of the system. If the system can be taken offline, the best tuning method often involves subjecting the system to a step change in input, measuring the output as a function of time, and using this response to determine the control parameters</div>
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While PID controllers are applicable to many control problems, and often perform satisfactorily without any improvements or only coarse tuning, they can perform poorly in some applications, and do not in general provide optimal control. The fundamental difficulty with PID control is that it is a feedback control system, with constant parameters, and no direct knowledge of the process, and thus overall performance is reactive and a compromise. While PID control is the best controller in an observer without a model of the process, better performance can be obtained by overtly modeling the actor of the process without resorting to an observer.</div>
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PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced so that the control system does not overshoot, oscillate or hunt about the control setpoint value. They also have difficulties in the presence of non-linearities, may trade-off regulation versus response time, do not react to changing process behavior (say, the process changes after it has warmed up), and have lag in responding to large disturbances.</div>
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The most significant improvement is to incorporate feed-forward control with knowledge about the system, and using the PID only to control error. Alternatively, PIDs can be modified in more minor ways, such as by changing the parameters (either gain scheduling in different use cases or adaptively modifying them based on performance), improving measurement (higher sampling rate, precision, and accuracy, and low-pass filtering if necessary), or cascading multiple PID controllers.</div>
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Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2250253697859186689.post-41273645910911283672010-11-26T09:08:00.000-08:002018-10-31T07:26:47.186-07:00<div dir="ltr" style="text-align: left;" trbidi="on"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgd5CJukivnPOfftn623XOzyLGr5gRq1mNgTK8q8DvzziYn-noFgkMyrxvFjVkbci8dYfWwAp0xXUxvJ3xtwLZjQYXZhnyNrLK5SB5Q3OcxlNTq3U7r7xIAr7Yz1mT85uuqKQrBmFO7Fy6N/s1600/skematik.jpg"><img alt="" border="0" id="BLOGGER_PHOTO_ID_5544071591571402274" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgd5CJukivnPOfftn623XOzyLGr5gRq1mNgTK8q8DvzziYn-noFgkMyrxvFjVkbci8dYfWwAp0xXUxvJ3xtwLZjQYXZhnyNrLK5SB5Q3OcxlNTq3U7r7xIAr7Yz1mT85uuqKQrBmFO7Fy6N/s400/skematik.jpg" style="cursor: pointer; display: block; height: 347px; margin: 0px auto 10px; text-align: center; width: 335px;" /></a>only one channel for beta testing...I want to hear feedback from you..picture attachment would be nice. (you need <a href="http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en023805">microchip programmer</a>...)<br />
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<div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/rR7g9RvBwT8?feature=player_embedded' frameborder='0'></iframe></div><br />
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<h1 class="entry-title" style="color: orange;"><span style="font-size: xx-small;">Pengambilan KPLI 2012 </span></h1><h1 class="entry-title" style="color: orange;"></h1><div style="color: orange; text-align: justify;"><span style="font-size: xx-small;">Tahun ini pihak kementerian tidak lagi mengambil GSTT dan guru Kursus Perguruan Lepasan Ijazah (<b>KPLI</b>) bagi memberi peluang kepada GSTT sedia ada diserap sebagai guru tetap terlatih.</span></div><div style="color: orange;"><br />
</div><div style="color: orange;"><span style="font-size: xx-small;">Umur bersara 60 tahun </span></div><div style="color: orange;"><span style="font-size: xx-small;">PM: Kerajaan akan laksanakan secara beransur-ansur</span><span style="font-size: xx-small;">KUALA LUMPUR 4 Mei - Kerajaan akan menaikkan had umur persaraan kakitangan awam secara beransur-ansur sehingga..</span></div><div style="color: orange;"><span style="font-size: xx-small;"> </span><span style="font-size: xx-small;"> </span></div><div style="color: orange;"><span style="font-size: xx-small;">Malaysian Beckham Safee Sali ends his trial at Cardiff City</span></div><div style="color: orange;"><span style="font-size: xx-small;">Cardiff City manager Malky Mackay today praised Safee Sali as the Malaysian striker completed his visit to South Wales, having trained with the Bluebirds.</span></div><span style="color: orange; font-size: xx-small;"> </span><div style="color: orange;"><span style="font-size: xx-small;">“Safee joined us for a ten day trial, during which time he showed a great attitude</span></div><span style="color: orange; font-size: xx-small;"><br />
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