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Step 5Setup of the uController and Arduino Code
We used a roboduino because it has ready-to-go headers for servos.
Check out the arduino code we used.
The drill speed is controlled via a lookup table, and if the measured speed is a little off, it keeps changing the throttle to fine tune. In control-person-speak, we've got lookup-table based feedforward + Feedback Integral Control. The noise in the system makes Derivative control unwieldy.
The LCD screen and buttons provide an interface that lets you choose how fast the drill goes, how many turns, start/stop, and a bunch of other parameters in a big ol state machine.
The servo that guides the solder onto the target spool is electronically geared to the overall speed, so if the drill goes slower, the guiding servo moves slower, also.
Check out the arduino code we used.
The drill speed is controlled via a lookup table, and if the measured speed is a little off, it keeps changing the throttle to fine tune. In control-person-speak, we've got lookup-table based feedforward + Feedback Integral Control. The noise in the system makes Derivative control unwieldy.
The LCD screen and buttons provide an interface that lets you choose how fast the drill goes, how many turns, start/stop, and a bunch of other parameters in a big ol state machine.
The servo that guides the solder onto the target spool is electronically geared to the overall speed, so if the drill goes slower, the guiding servo moves slower, also.
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