# Execution Plan ### Deadlines #### External - Spark challenge Apr 25th - Less than two weeks #### Internal - PCB design deadline: This Sunday (17th) - Prototype system deadline: Mid next week ### Servo Control - Given angle, convert to PWM duty cycle - Set CCR register - Map to 0 to 100% duty cycle - Could use DAC instead for more resolution if necessary - Updates between duty cycles have set - Fixed clock frequency, so velocity of servo is controlled by step difference (or could vary PSC/ARR to change the frequency instead(can we do this?)) - Data Pinouts: - TIM2_CH2: PA1, AF2 SERVO #1 - TIM2_CH3: PA2, AF2, SERVO #2 - TIM2_CH4: PA3, AF2, SERVO #3 - TIM3_CH4: PB1, AF1, SERVO #4 - TIM3_CH1: PB4, AF1, SERVO #5 - TIM3_CH2: PB5, AF1, SERVO #6 (gripper) ### Read Potentiometers - Use ADC to generate values between 0-4096 from 0-3.3V analog signal - Value above/below 2048 increments axis value by $\pm$ 0.01m - Data Pinouts: - 2 Joysticks (one axis will be unused): - X-axis, PC0, ADC_IN10 - Y-axis, PC1, ADC_IN11 - Z-axis, PC2, ADC_IN12 - 3 Potentiometers (10kohm pots): - Wrist-roll, PC3, ADC_IN13 - Wrist-pitch, PC4, ADC_IN14 - Gripper, PC5, ADC_IN15 ### Read PIR sensor interrupts - Positive edge triggers should increment score - Use GPIO interrupt (input to PC10) ### Kinematics - Convert [0,4096] XYZ to [-90,90] - IK is basically a 3 link planar arm on a turntable - [Planar 3 link IK- pg 5](https://www.seas.upenn.edu/~meam520/notes/planarkinematics.pdf) - Polar coordinates are probably easier  ### PCB Design - Arm has basic circuit with all servos connected in parallel and data pins connected to micro - 5V, 2A rated power supply, with barrel jack connector (**2.1mm ID and 5.5mm OD center positive**) - GND, DATA (3.3v), and HIGH (5V) - Jumper wires from servo are female, so need male header pins on the board - Add: - Holes for mounting joysticks (not soldered), connected via jumper cables similar to servos - Pots are mounted through hole with header pins - - wire e-stop (already purchased) through hot wire - LCD display? - Could do a through hole solder mount - Electrical stuff to add from [PCB Guidelines](https://engineering.purdue.edu/ece362/lecture/20-module.4.pcb.tim.final.pdf) - Minimum trace width based on current - Decoupling capacitors  - test pads, and pin headers - separate grounds of servos and of the micro - Trace inductance: short and wid - Trace impedance: traces wide - minimize signal reflection by 135 turns intead of 90 deg turns (no right angles) ### Game / LCD - Display score - Display time left ### Music / MIDI - Play "No Time for Caution" until 1 min remaining - Then play "Eye of the Tiger"