Coursework - Arduino Motor Controller - Report

• 40% of overall module
• TinkerCAD submissions are not accepted (unless changes)

In the submission, YOUR username, name, surname and student ID need to be present. If not, it might not be possible to match the designs with your report, which will potentially result in mark detriments if an association of the circuit to a student cannot be made.

A minimum of 3 files are expected to be submitted. More can be submitted if required.

The required files are:

1. Report - maximum of two (2) A4 pages (or 3 with references)
   • Maximum of one (1) page for text
   • Maximum of one (1) page for diagrams, graphs, pictures
   • A third single page is permitted for references, if required
2. Source code
   • .ino, .h, .cpp files (as appropriate)
   • Circuit & configuration of elements in tinkerCAD or a drawing of your circuit diagram
3. Data used to generate the graphs & tables included in your report
   • Scripts are also accepted (e.g. .xlsx file)

Your single page of text in the report must include the following sections, each of which providing the mentioned information:

1. Introduction
   • Summary of the content of the report
2. Discussion/results
   • Explain the results and observations (A to E). In this section formulas and references to graphs obtained during the exercises must be reported and discussed (e.g. D and E if any, important line of code)
3. Conclusions
   • A brief reflection on what went well/badly and what you should have done differently
4. Graphics (second page)
   • Graphics is the second page which can contain images (with captions), diagrams (with captions), tables (with captions), etc… if any.
5. References if any (bottom second page or third page)

1. Code clarity and comments.
2. Report layout and clarity.
3. Results display and accuracy (graphs etc…), captions, units and descriptions.
4. Reflection and discussion and report content.
5. References.
6. Demo.

Each point (A, B, C, D, E) needs to be able to be tested separately. The final code should contain all the code for each exercise and comments.

Programmatically (during runtime) each section should be able to be activated/disabled. If this is not possible, 5 separates .ino files / TinkerCAD designs should be generated (however having multiple .ino files/projects will cost 10% of the mark (out of 100%)) but will facilitate your work in case of problems.

Write a README.txt file to explain what is required to run the program and select the different states (this will be submitted in Moodle with the report).

Take a short video/screen recording of each demo to be uploaded as part of submission (no need for more than 2-3 minutes long) in PANOPTO folder: EE10239: [EE10239] - Robotics Design [assignments].

Task D

In the report, include;

• Formulas to calculate speed from encoder to end-shaft.
• Schematics from tasks A, B and C.
• A graph of speed vs input.

Task E

In the report, include;

• PID values: Kp, Kd, and Ki.
• Graphs of;
  • Velocity profile
  • Position vs target position

Completion of each task will gain the following mark percentages;