robot4all io5 exercises and solutions robotics
TRANSCRIPT
#
Leading Partner: CCS
ROBOT4ALLEXERCISES AND SOLUTIONS - ROBOTICS
INTELLECTUAL OUTPUT 5
1
LEIBNIZ UNIVERSITÄT HANNOVERGermany Coordinator ( )
2 EK PEIRAIA Greece
EMPHASYS CENTRE Cyprus
United Kingdom
CDIMM MARAMURES FOUNDATIONRomania
CIVIC COMPUTING
WOMEN IN DIGITAL INITIATIVES LUXEMBOURG ASBL
SpainI.E.S. MARÍA MOLINER
Luxemburg
CyprusCYPRUS COMPUTER SOCIETY
Institut für Didaktik der Demokratie
Richard Heise
All rights reserved. The content of the publication may be used for educational and other non-commercial
purposes on the condition of using the following name as source in every reproduction: „Erasmus+ Project
Robot4All“.
Mareike Heldt
LAYOUT:
PROJECT MANAGEMENT:
This project has been funded with support from the European Commission. This communication reflects the
views only of the author, and the Commission cannot be held responsible for any use which may be made of the
information contained therein. Project Number: 2017-1-DE02-KA202-004274
Leibniz Universität Hannover
PROJECT LEADERSHIP:
Prof. Dr. Dirk Lange
www.robovet.eu
PROJECTS WEBSITE:
1
LEIBNIZ UNIVERSITÄT HANNOVERGermany Coordinator ( )
2 EK PEIRAIA Greece
EMPHASYS CENTRE Cyprus
United Kingdom
CDIMM MARAMURES FOUNDATIONRomania
CIVIC COMPUTING
WOMEN IN DIGITAL INITIATIVES LUXEMBOURG ASBL
SpainI.E.S. MARÍA MOLINER
Luxemburg
CyprusCYPRUS COMPUTER SOCIETY
Institut für Didaktik der Demokratie
Richard Heise
All rights reserved. The content of the publication may be used for educational and other non-commercial
purposes on the condition of using the following name as source in every reproduction: „Erasmus+ Project
Robot4All“.
Mareike Heldt
LAYOUT:
PROJECT MANAGEMENT:
This project has been funded with support from the European Commission. This communication reflects the
views only of the author, and the Commission cannot be held responsible for any use which may be made of the
information contained therein. Project Number: 2017-1-DE02-KA202-004274
Leibniz Universität Hannover
PROJECT LEADERSHIP:
Prof. Dr. Dirk Lange
www.robovet.eu
PROJECTS WEBSITE:
2 3
03
04
05
12
19
38
03Organization .............................................................................................................................................................
Introduction ..............................................................................................................................................................
Lesson 5: Basic Arduino .........................................................................................................................................
Bill of Materials .........................................................................................................................................................
Lesson 6: Advanced Arduino ..................................................................................................................................
Appendix ...................................................................................................................................................................
Lesson 4: Introduction to Arduino and Robotics .................................................................................................
Arduino is an open-source electronics platform based on easy-to-use hardware and software. Arduino was born
as an easy tool for fast prototyping, aimed at students without a background in electronics and programming. As
soon as it reached a wider community, the Arduino board started changing to adapt to new needs and
challenges, differentiating its offer from simple 8-bit boards to products for IoT applications, 3D printing, and
embedded environments. The software, too, is open-source, and it is growing through the contributions of users
worldwide.
Ÿ �VET students with fewer opportunities.
Nowadays, Robotic skills are essential in most of the industrial and engineering processes of our current way
of life. So, in order to be able to create, control and modify such prototypes we should improve the Robotics
curricula of our students introducing them on this field.
The aim of this course is to create robotic circuits and control them efficiently with the use of programming
instructions over Arduino and Tinkercad platforms.
Target groups:
Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter message - and turn it
into an output - activating a motor, turning on an LED, publishing something online. You can order your board
what to do by sending a set of instructions to the microcontroller on the board. To do so you use the Arduino
programming language and the Arduino Software.
Ÿ �Technical VET trainers interested in Robotics and IT fields.
The exercises are intended as a way to introduce you to different elements that we can use in any robot (diodes,
The exercises are organized in three blocks: lesson 4, lesson 5 and lesson 6. In each of every lesson there are
different examples in increasing complexity order, from the very basic to the very advanced. Most of the
exercises are linked to a online solution in Tinkercad, when you will be able to see the hardware circuit associated
to the solution as well as the code, and you will be able to simulate the circuit operation.
The exercises are intended to be physically assembled using a protoboard and different components, but if you
want you could only simulate them although you will loose the fun and practice of electronics assembling.
INTRODUCTION
ORGANIZATION
2 3
03
04
05
12
19
38
03Organization .............................................................................................................................................................
Introduction ..............................................................................................................................................................
Lesson 5: Basic Arduino .........................................................................................................................................
Bill of Materials .........................................................................................................................................................
Lesson 6: Advanced Arduino ..................................................................................................................................
Appendix ...................................................................................................................................................................
Lesson 4: Introduction to Arduino and Robotics .................................................................................................
Arduino is an open-source electronics platform based on easy-to-use hardware and software. Arduino was born
as an easy tool for fast prototyping, aimed at students without a background in electronics and programming. As
soon as it reached a wider community, the Arduino board started changing to adapt to new needs and
challenges, differentiating its offer from simple 8-bit boards to products for IoT applications, 3D printing, and
embedded environments. The software, too, is open-source, and it is growing through the contributions of users
worldwide.
Ÿ �VET students with fewer opportunities.
Nowadays, Robotic skills are essential in most of the industrial and engineering processes of our current way
of life. So, in order to be able to create, control and modify such prototypes we should improve the Robotics
curricula of our students introducing them on this field.
The aim of this course is to create robotic circuits and control them efficiently with the use of programming
instructions over Arduino and Tinkercad platforms.
Target groups:
Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter message - and turn it
into an output - activating a motor, turning on an LED, publishing something online. You can order your board
what to do by sending a set of instructions to the microcontroller on the board. To do so you use the Arduino
programming language and the Arduino Software.
Ÿ �Technical VET trainers interested in Robotics and IT fields.
The exercises are intended as a way to introduce you to different elements that we can use in any robot (diodes,
The exercises are organized in three blocks: lesson 4, lesson 5 and lesson 6. In each of every lesson there are
different examples in increasing complexity order, from the very basic to the very advanced. Most of the
exercises are linked to a online solution in Tinkercad, when you will be able to see the hardware circuit associated
to the solution as well as the code, and you will be able to simulate the circuit operation.
The exercises are intended to be physically assembled using a protoboard and different components, but if you
want you could only simulate them although you will loose the fun and practice of electronics assembling.
INTRODUCTION
ORGANIZATION
4 5
LESSON 4: INTRODUCTION TO
ARDUINO AND ROBOTICS
Ÿ Find in Tinkercad similar circuits and work in them.
Ÿ Find in Tinkercad similar circuits and work with them.
Ÿ Work on the exercises of lesson 6.
Ÿ Work on the exercises of lesson 4, first through the Tinkercad simulation and then assembling the circuits and
programming the Arduino UNO.
sensors, LCDs, etc) in an easy simulation environment and simultaneously make the transition to an useful
hardware environment. The suggested approach to use this exercises is the following:
Ÿ Work on the exercises of lesson 5, first through Tinkercad and then assembling the circuits.
Ÿ Work on the exercises supplied with the Elegoo Robot Car Kit, assembling the car and using the different
sensors and actuators.
Ÿ � Arduino UNO with ATMEGA328P.
Ÿ � LM35 temperature sensor.
Ÿ � 2x 10K potentiometer.
Ÿ � Breadboard, may be a tiny one like this or better a bigger one like this.
Ÿ � 3 micro push buttons.
Ÿ � L293 motor driver.
Ÿ � Arduino yun or Arduino yun shield for arduino uno.
Ÿ � Parallax ping ultrasound distance sensor. It is an expensive one and it is used because it is modelized in
Tinkercad but it can be replaced with minimal circuit and code changes with the much cheaper HC-SR04.
Ÿ � Leds: red, green and yellow.
Ÿ � 3 x 10K resistor.
Ÿ � Micro-servo.
Ÿ � RGB led strip.
Ÿ � DC micro motor.
Ÿ � RFID tokens.
Ÿ � RMD6300 RFID card reader.
Ÿ � N channel mosfet.
Ÿ � 3x 220 ohm resistor.
Ÿ � Simulate the circuit in Tinkercad.
(select blocks+text and Tinkercad will generate the code)
Ÿ � What is the resistor value and why?
Ÿ � Using blocks (pseudocode) write down a program that makes the led blinks once per second.
�
Ÿ Using Tinkercad circuits, create a circuit with arduino UNO, a breadboard, and a led connected to Arduino
digital pin 8.
Ÿ � Compare the blocks with the code generated by Tinkercad
Ÿ � Build the corresponding real circuit, program it with arduino IDE and test it.
EXERCISES
Ÿ Traffic light: https://www.tinkercad.com/things/cdgx8jSsFSo
Ÿ Switch on/off a light: https://www.tinkercad.com/things/lTBPtStOWzM
1. Blink
Ÿ � To build basic Tinkercard circuits.
OBJECTIVES
Ÿ � To create elementary Arduino circuits.
Ÿ � To be familiar with Programming using blocks.
Ÿ � To manage electronic elements as resistors, leds, breadboards,…
Ÿ � To follow the sequence of instructions of a basic program and preview the output results.
Ÿ � To read and understand initial C++ programs.
Ÿ � To write short and basic C++ programs using the most elementary structures.
After completing this lesson students should be able:
Ÿ Blink: https://www.tinkercad.com/things/ejt30quxU9d
BILL OF MATERIALS
4 5
LESSON 4: INTRODUCTION TO
ARDUINO AND ROBOTICS
Ÿ Find in Tinkercad similar circuits and work in them.
Ÿ Find in Tinkercad similar circuits and work with them.
Ÿ Work on the exercises of lesson 6.
Ÿ Work on the exercises of lesson 4, first through the Tinkercad simulation and then assembling the circuits and
programming the Arduino UNO.
sensors, LCDs, etc) in an easy simulation environment and simultaneously make the transition to an useful
hardware environment. The suggested approach to use this exercises is the following:
Ÿ Work on the exercises of lesson 5, first through Tinkercad and then assembling the circuits.
Ÿ Work on the exercises supplied with the Elegoo Robot Car Kit, assembling the car and using the different
sensors and actuators.
Ÿ � Arduino UNO with ATMEGA328P.
Ÿ � LM35 temperature sensor.
Ÿ � 2x 10K potentiometer.
Ÿ � Breadboard, may be a tiny one like this or better a bigger one like this.
Ÿ � 3 micro push buttons.
Ÿ � L293 motor driver.
Ÿ � Arduino yun or Arduino yun shield for arduino uno.
Ÿ � Parallax ping ultrasound distance sensor. It is an expensive one and it is used because it is modelized in
Tinkercad but it can be replaced with minimal circuit and code changes with the much cheaper HC-SR04.
Ÿ � Leds: red, green and yellow.
Ÿ � 3 x 10K resistor.
Ÿ � Micro-servo.
Ÿ � RGB led strip.
Ÿ � DC micro motor.
Ÿ � RFID tokens.
Ÿ � RMD6300 RFID card reader.
Ÿ � N channel mosfet.
Ÿ � 3x 220 ohm resistor.
Ÿ � Simulate the circuit in Tinkercad.
(select blocks+text and Tinkercad will generate the code)
Ÿ � What is the resistor value and why?
Ÿ � Using blocks (pseudocode) write down a program that makes the led blinks once per second.
�
Ÿ Using Tinkercad circuits, create a circuit with arduino UNO, a breadboard, and a led connected to Arduino
digital pin 8.
Ÿ � Compare the blocks with the code generated by Tinkercad
Ÿ � Build the corresponding real circuit, program it with arduino IDE and test it.
EXERCISES
Ÿ Traffic light: https://www.tinkercad.com/things/cdgx8jSsFSo
Ÿ Switch on/off a light: https://www.tinkercad.com/things/lTBPtStOWzM
1. Blink
Ÿ � To build basic Tinkercard circuits.
OBJECTIVES
Ÿ � To create elementary Arduino circuits.
Ÿ � To be familiar with Programming using blocks.
Ÿ � To manage electronic elements as resistors, leds, breadboards,…
Ÿ � To follow the sequence of instructions of a basic program and preview the output results.
Ÿ � To read and understand initial C++ programs.
Ÿ � To write short and basic C++ programs using the most elementary structures.
After completing this lesson students should be able:
Ÿ Blink: https://www.tinkercad.com/things/ejt30quxU9d
BILL OF MATERIALS
6 7
CIRCUIT:
Arduino output when high is 5V. The led, when lighting has a Vled near 2V, so Vr=5V-Vled=3V. If we want the led
shines properly we will use a current of 15mA, so R=3V/15mA = 200ohm.
BLOCKS:
}
delay(500); // During 500 milliseconds
p inMode(8, OUTPUT);
CODE:
void loop()
{
digitalWrite(8, LOW); //OFF
{
}
delay(500); // During 500 milliseconds
void setup()
digitalWrite(8, HIGH); //ON
Ÿ Compare the blocks with the code generated by Tinkercad (select blocks+text and Tinkercad will generate
the code).
2. Traffic Light
Ÿ Simulate the circuit in Tinkercad.
https://www.tinkercad.com/things/ejt30quxU9d
Ÿ Using blocks write down a program that creates a semaphore: the green light will be on 20s, then the yellow
light will blink 10 times and then the red light will be on 20s.
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and three leds (red, yellow, green)
connected to pins 2,3,4.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
CIRCUIT
6 7
CIRCUIT:
Arduino output when high is 5V. The led, when lighting has a Vled near 2V, so Vr=5V-Vled=3V. If we want the led
shines properly we will use a current of 15mA, so R=3V/15mA = 200ohm.
BLOCKS:
}
delay(500); // During 500 milliseconds
p inMode(8, OUTPUT);
CODE:
void loop()
{
digitalWrite(8, LOW); //OFF
{
}
delay(500); // During 500 milliseconds
void setup()
digitalWrite(8, HIGH); //ON
Ÿ Compare the blocks with the code generated by Tinkercad (select blocks+text and Tinkercad will generate
the code).
2. Traffic Light
Ÿ Simulate the circuit in Tinkercad.
https://www.tinkercad.com/things/ejt30quxU9d
Ÿ Using blocks write down a program that creates a semaphore: the green light will be on 20s, then the yellow
light will blink 10 times and then the red light will be on 20s.
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and three leds (red, yellow, green)
connected to pins 2,3,4.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
CIRCUIT
8 9
BLOCKS:
CODE:
void setup()
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
}
void loop()
{
digitalWrite(2, HIGH); //Green
{
digitalWrite(3, LOW);
digitalWrite(4, LOW);
delay(20000); // during 20s
digitalWrite(2, LOW);
}
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, a led and a push button to switch
on/off.
Ÿ Compare the blocks with the code generated by Tinkercad (select blocks+text and Tinkercad will generate
the code).
digitalWrite(3, LOW);
digitalWrite(4, HIGH);
https://www.tinkercad.com/things/cdgx8jSsFSo
delay(500); // during 500 milliseconds
3. Switch on/off a light
Ÿ Using blocks write down a program that waits the user to push and then changes the state of the led (on/off).
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
CIRCUIT:
for (int counter = 0; counter < 10; ++counter) //blink 10 times
digitalWrite(3, LOW); //yellow OFF
delay(500); // during 500 milliseconds
digitalWrite(3, HIGH); //yellow ON
digitalWrite(2, LOW); //RED
delay(20000); // during 20s
{
}
Ÿ Simulate the circuit in Tinkercad.
8 9
BLOCKS:
CODE:
void setup()
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
}
void loop()
{
digitalWrite(2, HIGH); //Green
{
digitalWrite(3, LOW);
digitalWrite(4, LOW);
delay(20000); // during 20s
digitalWrite(2, LOW);
}
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, a led and a push button to switch
on/off.
Ÿ Compare the blocks with the code generated by Tinkercad (select blocks+text and Tinkercad will generate
the code).
digitalWrite(3, LOW);
digitalWrite(4, HIGH);
https://www.tinkercad.com/things/cdgx8jSsFSo
delay(500); // during 500 milliseconds
3. Switch on/off a light
Ÿ Using blocks write down a program that waits the user to push and then changes the state of the led (on/off).
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
CIRCUIT:
for (int counter = 0; counter < 10; ++counter) //blink 10 times
digitalWrite(3, LOW); //yellow OFF
delay(500); // during 500 milliseconds
digitalWrite(3, HIGH); //yellow ON
digitalWrite(2, LOW); //RED
delay(20000); // during 20s
{
}
Ÿ Simulate the circuit in Tinkercad.
10 11
{
while (digitalRead(2) == 1) { } //wait release
pinMode(2, INPUT);
delay(20); // Wait for 20 milliseconds to avoid rebounds when pressing
BLOCKS:
pinMode(8, OUTPUT);
}
void setup()
{
int state = 0;
CODE:
void loop()
if (digitalRead(2) == 1)
{
delay(20); // Wait for 20 milliseconds to avoid rebounds when releasing
{
digitalWrite(8, LOW);
}
digitalWrite(8, HIGH);
if (state == 1)
state = 0;
} else
{
state = 1;
}
if (state == 0)
{
} else
{
}
}
https://www.tinkercad.com/things/lTBPtStOWzM
10 11
{
while (digitalRead(2) == 1) { } //wait release
pinMode(2, INPUT);
delay(20); // Wait for 20 milliseconds to avoid rebounds when pressing
BLOCKS:
pinMode(8, OUTPUT);
}
void setup()
{
int state = 0;
CODE:
void loop()
if (digitalRead(2) == 1)
{
delay(20); // Wait for 20 milliseconds to avoid rebounds when releasing
{
digitalWrite(8, LOW);
}
digitalWrite(8, HIGH);
if (state == 1)
state = 0;
} else
{
state = 1;
}
if (state == 0)
{
} else
{
}
}
https://www.tinkercad.com/things/lTBPtStOWzM
12 13
LESSON 5:
BASIC ARDUINO
Ÿ LCD: https://www.tinkercad.com/things/h6c7oCjkj7L
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD. Display “Hello world” in
the LCD.
Ÿ Simulate the circuit in Tinkercad.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
Ÿ ASCII table: https://www.tinkercad.com/things/icWyROFaZr9
Ÿ Measuring distances with Parallax ping sensor: https://www.tinkercad.com/things/kDk54zrw28W
Ÿ � To use a LCD in Arduino to display messages to the user.
Ÿ � To use different types of sensors and actuators (temperature sensors, distance sensors, servomotors).
EXERCISES
OBJECTIVES
Ÿ � To differenciate digital and analog use of inputs and outputs in Arduino.
Ÿ � To write basic Arduino programs using libraries with C++ classes and objects.
After completing this lesson students should be able:
Ÿ Temperature measure: https://www.tinkercad.com/things/8h3Z9DviRtp
Ÿ Servo control: https://www.tinkercad.com/things/9qYj2rVm0jD
1. LCD
�
Ÿ What is the potentiometer for?
CIRCUIT:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
lcd.begin(16, 2);
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
// (note: line 1 is the second row, since counting begins with 0):
// print the number of seconds since reset:
CODE:
void setup() {
// set up the LCD's number of columns and rows:
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// set the cursor to column 0, line 1
lcd.setCursor(0, 1);
lcd.print(millis() / 1000);
}
https://www.tinkercad.com/things/h6c7oCjkj7L
2. ASCII table
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD. Display the complete
ASCII table in the LCD.
Ÿ Simulate the circuit in Tinkercad.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
12 13
LESSON 5:
BASIC ARDUINO
Ÿ LCD: https://www.tinkercad.com/things/h6c7oCjkj7L
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD. Display “Hello world” in
the LCD.
Ÿ Simulate the circuit in Tinkercad.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
Ÿ ASCII table: https://www.tinkercad.com/things/icWyROFaZr9
Ÿ Measuring distances with Parallax ping sensor: https://www.tinkercad.com/things/kDk54zrw28W
Ÿ � To use a LCD in Arduino to display messages to the user.
Ÿ � To use different types of sensors and actuators (temperature sensors, distance sensors, servomotors).
EXERCISES
OBJECTIVES
Ÿ � To differenciate digital and analog use of inputs and outputs in Arduino.
Ÿ � To write basic Arduino programs using libraries with C++ classes and objects.
After completing this lesson students should be able:
Ÿ Temperature measure: https://www.tinkercad.com/things/8h3Z9DviRtp
Ÿ Servo control: https://www.tinkercad.com/things/9qYj2rVm0jD
1. LCD
�
Ÿ What is the potentiometer for?
CIRCUIT:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
lcd.begin(16, 2);
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
// (note: line 1 is the second row, since counting begins with 0):
// print the number of seconds since reset:
CODE:
void setup() {
// set up the LCD's number of columns and rows:
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// set the cursor to column 0, line 1
lcd.setCursor(0, 1);
lcd.print(millis() / 1000);
}
https://www.tinkercad.com/things/h6c7oCjkj7L
2. ASCII table
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD. Display the complete
ASCII table in the LCD.
Ÿ Simulate the circuit in Tinkercad.
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
14 15
CIRCUIT:
CODE:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup()
{
lcd.begin(16, 2);
lcd.print("ASCII table");
sprintf(msg,"Ascii:%i Char:%c",i,i); //prints code and character
void loop()
lcd.setCursor(0, 0);
for(int i=32; i<256; i++) //from blank space to end of ascii table
delay(3000);
}
lcd.clear();
}
char msg[20];
}
{
lcd.print(msg);
{
delay(500);
CIRCUIT:
3. Temperature measure
Using a LM35 sensor you should show the current temperature on the LCD. Consult the documentation about the
LM35 sensor: http://www.ti.com/lit/ds/symlink/lm35.pdf. As you can check the sensor gives a 10mV/ºC
tension.
// set up the LCD's number of columns and rows:
char msg[20];
#include <LiquidCrystal.h>
{
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
{
void setup()
CODE:
lcd.begin(16, 2);
void loop()
lcd.print(msg);
sprintf(msg,"Temp = %d%cC",temp,178); //create the text string to send to the LCD
}
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
int temp=analogRead(0)*500/1023; //10mV/ºC -> convert to ºC
}
lcd.setCursor(0, 0);
https://www.tinkercad.com/things/8h3Z9DviRtp
https://www.tinkercad.com/things/icWyROFaZr9
14 15
CIRCUIT:
CODE:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup()
{
lcd.begin(16, 2);
lcd.print("ASCII table");
sprintf(msg,"Ascii:%i Char:%c",i,i); //prints code and character
void loop()
lcd.setCursor(0, 0);
for(int i=32; i<256; i++) //from blank space to end of ascii table
delay(3000);
}
lcd.clear();
}
char msg[20];
}
{
lcd.print(msg);
{
delay(500);
CIRCUIT:
3. Temperature measure
Using a LM35 sensor you should show the current temperature on the LCD. Consult the documentation about the
LM35 sensor: http://www.ti.com/lit/ds/symlink/lm35.pdf. As you can check the sensor gives a 10mV/ºC
tension.
// set up the LCD's number of columns and rows:
char msg[20];
#include <LiquidCrystal.h>
{
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
{
void setup()
CODE:
lcd.begin(16, 2);
void loop()
lcd.print(msg);
sprintf(msg,"Temp = %d%cC",temp,178); //create the text string to send to the LCD
}
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
int temp=analogRead(0)*500/1023; //10mV/ºC -> convert to ºC
}
lcd.setCursor(0, 0);
https://www.tinkercad.com/things/8h3Z9DviRtp
https://www.tinkercad.com/things/icWyROFaZr9
16 17
const int ping = 2;
CODE:
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
Use the sensor Ping of Paralax to measure a distance and show it in cm on the LCD. Do it in Tinkercad and
simulate it. Build the corresponding circuit and test it. If you do not have the Ping sensor of Parallax you can
modify it using a HC-SR04, but in this case we use a pin for trigger and another one for echo. Sensor
documentation: https://www.parallax.com/product/28015n.
CIRCUIT:
4. Measuring distances with Paralax Ping sensor
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
#include <LiquidCrystal.h>
}
void loop()
lcd.begin(16, 2);
{
{
void setup()
lcd.print("Distance: ");
digitalWrite(ping, HIGH);
5. Servo control
Control a servo according to the potentiometer position. You will connect the potentiometer so that it gives a
value between 0 and 5 V at the pin A3. You will also connect the servo to the pin D9 and it will be controlled
generating a PWM signal through the Servo class.
lcd.print(distance);
}
pinMode(ping, INPUT); // set to input for echo
delayMicroseconds(10);
long duration = pulseIn(ping, HIGH);
// Calculating the distance
digitalWrite(ping, LOW);
// Reading the echo duration
lcd.setCursor(0, 1);
int distance= duration/58;
// Trigger pin start low
pinMode(ping, OUTPUT); // Output
digitalWrite(ping, LOW);
delayMicroseconds(2);
// Generation of a 10us HIGH pulse as trigger
https://www.tinkercad.com/things/kDk54zrw28W
16 17
const int ping = 2;
CODE:
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
Use the sensor Ping of Paralax to measure a distance and show it in cm on the LCD. Do it in Tinkercad and
simulate it. Build the corresponding circuit and test it. If you do not have the Ping sensor of Parallax you can
modify it using a HC-SR04, but in this case we use a pin for trigger and another one for echo. Sensor
documentation: https://www.parallax.com/product/28015n.
CIRCUIT:
4. Measuring distances with Paralax Ping sensor
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
#include <LiquidCrystal.h>
}
void loop()
lcd.begin(16, 2);
{
{
void setup()
lcd.print("Distance: ");
digitalWrite(ping, HIGH);
5. Servo control
Control a servo according to the potentiometer position. You will connect the potentiometer so that it gives a
value between 0 and 5 V at the pin A3. You will also connect the servo to the pin D9 and it will be controlled
generating a PWM signal through the Servo class.
lcd.print(distance);
}
pinMode(ping, INPUT); // set to input for echo
delayMicroseconds(10);
long duration = pulseIn(ping, HIGH);
// Calculating the distance
digitalWrite(ping, LOW);
// Reading the echo duration
lcd.setCursor(0, 1);
int distance= duration/58;
// Trigger pin start low
pinMode(ping, OUTPUT); // Output
digitalWrite(ping, LOW);
delayMicroseconds(2);
// Generation of a 10us HIGH pulse as trigger
https://www.tinkercad.com/things/kDk54zrw28W
18 19
#include <Servo.h>
#define pinPotentiometer A3
void setup()
{
servo.write(position);
}
servo.attach(9);
void loop()
Servo servo;
}
int position=map(potentiometer,0,1023,0,180);
int potentiometer=analogRead(pinPotentiometer);
{
CIRCUIT:
CODE:
https://www.tinkercad.com/things/9qYj2rVm0jD
LESSON 6:
ADVANCED ARDUINO
Ÿ Light effects.
Ÿ To use complex hardware and software combinations in Arduino.
Ÿ To communicate Arduino with other platforms and create mixed software/hardware solutions.
OBJECTIVES
After completing this lesson students should be able:
Ÿ To understand and use complex C++ Arduino structures and use complex classes and objects.
Ÿ To understand schematics and use them as a guide for assembling circuits using Arduino and other different
hardware.
Ÿ To create libraries with C++ functions, classes and objects.
EXERCISES
Ÿ PWM control: https://www.tinkercad.com/things/hm05Kl1ERG5
Ÿ Access control with arduino yun: https://github.com/fperal/AccessControl
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD, a driver and a DC motor. It
will have three buttons: one will set rotation clockwise, other will set rotation counterclockwise and the other
will stop the motor. It will have a potentiometer which will set the speed
CIRCUIT:
1. PWM control
�
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
Ÿ Simulate the circuit in Tinkercad.
18 19
#include <Servo.h>
#define pinPotentiometer A3
void setup()
{
servo.write(position);
}
servo.attach(9);
void loop()
Servo servo;
}
int position=map(potentiometer,0,1023,0,180);
int potentiometer=analogRead(pinPotentiometer);
{
CIRCUIT:
CODE:
https://www.tinkercad.com/things/9qYj2rVm0jD
LESSON 6:
ADVANCED ARDUINO
Ÿ Light effects.
Ÿ To use complex hardware and software combinations in Arduino.
Ÿ To communicate Arduino with other platforms and create mixed software/hardware solutions.
OBJECTIVES
After completing this lesson students should be able:
Ÿ To understand and use complex C++ Arduino structures and use complex classes and objects.
Ÿ To understand schematics and use them as a guide for assembling circuits using Arduino and other different
hardware.
Ÿ To create libraries with C++ functions, classes and objects.
EXERCISES
Ÿ PWM control: https://www.tinkercad.com/things/hm05Kl1ERG5
Ÿ Access control with arduino yun: https://github.com/fperal/AccessControl
Ÿ Using Tinkercad circuits, create a circuit with Arduino UNO, a breadboard, and a LCD, a driver and a DC motor. It
will have three buttons: one will set rotation clockwise, other will set rotation counterclockwise and the other
will stop the motor. It will have a potentiometer which will set the speed
CIRCUIT:
1. PWM control
�
Ÿ Build the corresponding real circuit, program it with arduino IDE and test it.
Ÿ Simulate the circuit in Tinkercad.
20 21
CODE:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
#define clockwise 0
#define counterclockwise 1
#define stop 2
#define enable 3
#define MotorPositive 9
#define MotorNegative 10
#define ButtonCW 15
#define ButtonCCW 16
#define ButtonStop 17
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup()
pinMode(ButtonCCW,INPUT);
}
{
pinMode(MotorNegative,OUTPUT);
lcd.begin(16, 2);
void SetMotorSpeed(int percent);
pinMode(enable,OUTPUT);
// set up the LCD's number of columns and rows:
pinMode(MotorPositive,OUTPUT);
void SetMotorDirection(int dir);
pinMode(ButtonCW,INPUT);
pinMode(ButtonStop,INPUT);
SetMotorDirection(clockwise);
{
lcd.setCursor(0, 0);
lcd.setCursor(0, 0);
void loop()
{
if (digitalRead(ButtonCW))
lcd.setCursor(0, 0);
}
if (digitalRead(ButtonCCW))
{
lcd.print("Dir: CW ");
SetMotorDirection(counterclockwise);
lcd.print("Dir: CCW ");
}
if (digitalRead(ButtonStop))
{
SetMotorDirection(stop);
lcd.print("Dir: stop ");
int speed=analogRead(A0)/10;
SetMotorSpeed(speed);
lcd.setCursor(0,1);
lcd.print("Speed: ");
lcd.print(speed);
}
lcd.print(" ");
}
20 21
CODE:
#include <LiquidCrystal.h>
const int rs = 13, en = 11, d4 = 7, d5 = 6, d6 = 5, d7 = 4;
#define clockwise 0
#define counterclockwise 1
#define stop 2
#define enable 3
#define MotorPositive 9
#define MotorNegative 10
#define ButtonCW 15
#define ButtonCCW 16
#define ButtonStop 17
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup()
pinMode(ButtonCCW,INPUT);
}
{
pinMode(MotorNegative,OUTPUT);
lcd.begin(16, 2);
void SetMotorSpeed(int percent);
pinMode(enable,OUTPUT);
// set up the LCD's number of columns and rows:
pinMode(MotorPositive,OUTPUT);
void SetMotorDirection(int dir);
pinMode(ButtonCW,INPUT);
pinMode(ButtonStop,INPUT);
SetMotorDirection(clockwise);
{
lcd.setCursor(0, 0);
lcd.setCursor(0, 0);
void loop()
{
if (digitalRead(ButtonCW))
lcd.setCursor(0, 0);
}
if (digitalRead(ButtonCCW))
{
lcd.print("Dir: CW ");
SetMotorDirection(counterclockwise);
lcd.print("Dir: CCW ");
}
if (digitalRead(ButtonStop))
{
SetMotorDirection(stop);
lcd.print("Dir: stop ");
int speed=analogRead(A0)/10;
SetMotorSpeed(speed);
lcd.setCursor(0,1);
lcd.print("Speed: ");
lcd.print(speed);
}
lcd.print(" ");
}
22 23
{
2. Light effects
Ÿ We are going to use the class FastLED to make some light effects with a color led strip.
digitalWrite(MotorPositive,HIGH);
Ÿ Fastled class
break;
case clockwise:
void SetMotorDirection(int dir)
analogWrite(enable,percent*2.55);
{
break;
digitalWrite(MotorPositive,LOW);
digitalWrite(MotorNegative,HIGH);
{
case counterclockwise:
break;
digitalWrite(MotorNegative,LOW);
void SetMotorSpeed(int percent)
switch(dir)
digitalWrite(MotorNegative,HIGH);
}
digitalWrite(MotorPositive,HIGH);
}
case stop:
}
DOCUMENTATION:
Ÿ Fastled basic usage
Ÿ RGB led strip
CODE:
#include "FastLED.h"
#define NumLeds 30
randomSeed(analogRead(0));
void loop()
//red increasing gradient
}
leds[i] = CRGB::White; FastLED.show(); delay(30);
delay(100);
}
for(int i=0; i<NumLeds; i++)
void setup()
for(int i=0; i<NumLeds; i++)
{
leds[i] = CRGB::Black; FastLED.show(); delay(30);
#define DATA_PIN 6
}
//clearing red
for(int i=0; i<NumLeds; i++)
FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NumLeds);
CRGB leds[NumLeds];
{
//color gradient
{
leds[i].red=i; FastLED.show();
{
//white sweep
https://www.tinkercad.com/things/hm
05Kl1ERG5
22 23
{
2. Light effects
Ÿ We are going to use the class FastLED to make some light effects with a color led strip.
digitalWrite(MotorPositive,HIGH);
Ÿ Fastled class
break;
case clockwise:
void SetMotorDirection(int dir)
analogWrite(enable,percent*2.55);
{
break;
digitalWrite(MotorPositive,LOW);
digitalWrite(MotorNegative,HIGH);
{
case counterclockwise:
break;
digitalWrite(MotorNegative,LOW);
void SetMotorSpeed(int percent)
switch(dir)
digitalWrite(MotorNegative,HIGH);
}
digitalWrite(MotorPositive,HIGH);
}
case stop:
}
DOCUMENTATION:
Ÿ Fastled basic usage
Ÿ RGB led strip
CODE:
#include "FastLED.h"
#define NumLeds 30
randomSeed(analogRead(0));
void loop()
//red increasing gradient
}
leds[i] = CRGB::White; FastLED.show(); delay(30);
delay(100);
}
for(int i=0; i<NumLeds; i++)
void setup()
for(int i=0; i<NumLeds; i++)
{
leds[i] = CRGB::Black; FastLED.show(); delay(30);
#define DATA_PIN 6
}
//clearing red
for(int i=0; i<NumLeds; i++)
FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NumLeds);
CRGB leds[NumLeds];
{
//color gradient
{
leds[i].red=i; FastLED.show();
{
//white sweep
https://www.tinkercad.com/things/hm
05Kl1ERG5
24 25
leds[i].red=0; FastLED.show();
{
leds[i].blue=0; FastLED.show();
}
delay(100);
delay(100);
for(int i=0; i<NumLeds; i++)
//clearing gree
{
//gree increasing gradient
{
delay(100);
leds[i].green=0; FastLED.show();
}
leds[i].green=i; FastLED.show();
//blue increasing gradient
for(int i=0; i<NumLeds; i++)
for(int i=0; i<NumLeds; i++)
}
{
leds[i].blue=i; FastLED.show();
delay(100);
}
//clearing blue
for(int i=0; i<NumLeds; i++)
{
delay(100);
}
int time=millis();
do
int red,green,blue,led;
blue=random(255);
leds[led].green=green;
//random colors on each led
{
leds[led].red=red;
FastLED.show();
leds[led].blue=blue;
} while (millis()<(time+5000)); //during 5seconds
red=random(255);
led=random(NumLeds);
}
green=random(255);
3. Access control with Arduino Yun
Ÿ The goal of this exercise is to control access to a place controlling a electric lock using RFID tokes and a RFID
lector RMD6300, using an arduino Yun.
DOCUMENTATION:
Ÿ RFID tokens
Ÿ RMD6300
Ÿ The program will read tokens through RMD6300, that will be connected to a serial port, will check if the token
is authorized and will open the door just in case.
Ÿ The Arduino yun will keep a file with authorized users and tokens and other file with access logs.
24 25
leds[i].red=0; FastLED.show();
{
leds[i].blue=0; FastLED.show();
}
delay(100);
delay(100);
for(int i=0; i<NumLeds; i++)
//clearing gree
{
//gree increasing gradient
{
delay(100);
leds[i].green=0; FastLED.show();
}
leds[i].green=i; FastLED.show();
//blue increasing gradient
for(int i=0; i<NumLeds; i++)
for(int i=0; i<NumLeds; i++)
}
{
leds[i].blue=i; FastLED.show();
delay(100);
}
//clearing blue
for(int i=0; i<NumLeds; i++)
{
delay(100);
}
int time=millis();
do
int red,green,blue,led;
blue=random(255);
leds[led].green=green;
//random colors on each led
{
leds[led].red=red;
FastLED.show();
leds[led].blue=blue;
} while (millis()<(time+5000)); //during 5seconds
red=random(255);
led=random(NumLeds);
}
green=random(255);
3. Access control with Arduino Yun
Ÿ The goal of this exercise is to control access to a place controlling a electric lock using RFID tokes and a RFID
lector RMD6300, using an arduino Yun.
DOCUMENTATION:
Ÿ RFID tokens
Ÿ RMD6300
Ÿ The program will read tokens through RMD6300, that will be connected to a serial port, will check if the token
is authorized and will open the door just in case.
Ÿ The Arduino yun will keep a file with authorized users and tokens and other file with access logs.
26 27
CIRCUIT:
////////////////////////////////////////////////////////////////////////////////////////////
//
// RFIDYun
// Arduino program uses RMD6300 to read RFID tokens
//AltSoftSerial work better than softwareserial (better performance)
//it uses a timer
// RFIDid is a 7 digit number
// Linino part stores RFID valid numbers in a file named users
#include <FileIO.h>
#include <Bridge.h>
// line format is RFIDid:username
//DEBUG uses "serial" console. If it is not available it freezes at the beginning of the program
//#define DEBUG
//FILEDEBUG uses access log file to log button apen as well as rfid login
#include <AltSoftSerial.h>
#define FILEDEBUG
//#include <SoftwareSerial.h>
// users format is similar to /etc/passwd: one line for each user
AltSoftSerial RFID; //(RX=13, TX=5)
//SoftwareSerial RFID(2,8); //(RX=2, TX=8)
int TagCheck(unsigned long int code, char *tag);
unsigned long int longCalcCode(char *tag);
String getTimeStamp();
int ReadUser(File&, char *tag, char *username);
unsigned char HexToNum(unsigned char digit);
CODE:
26 27
CIRCUIT:
////////////////////////////////////////////////////////////////////////////////////////////
//
// RFIDYun
// Arduino program uses RMD6300 to read RFID tokens
//AltSoftSerial work better than softwareserial (better performance)
//it uses a timer
// RFIDid is a 7 digit number
// Linino part stores RFID valid numbers in a file named users
#include <FileIO.h>
#include <Bridge.h>
// line format is RFIDid:username
//DEBUG uses "serial" console. If it is not available it freezes at the beginning of the program
//#define DEBUG
//FILEDEBUG uses access log file to log button apen as well as rfid login
#include <AltSoftSerial.h>
#define FILEDEBUG
//#include <SoftwareSerial.h>
// users format is similar to /etc/passwd: one line for each user
AltSoftSerial RFID; //(RX=13, TX=5)
//SoftwareSerial RFID(2,8); //(RX=2, TX=8)
int TagCheck(unsigned long int code, char *tag);
unsigned long int longCalcCode(char *tag);
String getTimeStamp();
int ReadUser(File&, char *tag, char *username);
unsigned char HexToNum(unsigned char digit);
CODE:
28 29
//green led pin 8
//red led pin 10
#define GREEN 8
#define RED 10
#define BUTTON 11
{
void setup()
RFID.begin(9600); // start serial to RFID reader
pinMode(GREEN, OUTPUT);
#ifdef DEBUG
FileSystem.open("users",FILE_READ);
pinMode(RED, OUTPUT);
Bridge.begin(); //start communication with linino
while (!Console); //wait until console is ready
Console.println("Arduino starting......");
#endif
/* //initialize comunication with the filesystem in the linino part
Console.begin(); //start communication with ethernet console (300bps)
FileSystem.begin();
*/
}
void loop()
{
char tag[14];
int index = 0;
int i;
//creating log, it will add user to the end of the log file
UsersFile.close(); //finished reading, file closed
File LogFile = FileSystem.open("/root/accesslog", FILE_APPEND);
}
#ifdef DEBUG //printing the code readed to the console terminal
Console.print(" ");
i = RFID.read();
do //making a sweep of the 13 bytes and putting all together in a string
char rfid[10], user[25], userOK[25] = "";
//create objets UsersFile, linked to users in linino, open for reading
File UsersFile = FileSystem.open("/root/users", FILE_READ);
if (RFID.available() > 13) //RFID token is 13 bytes long, so I check if there is at least 13 bytes
{
{
Console.print(i);
} while (i != 3);
tag[index++] = i;
Console.println(" "); //sending LF to the console (if not it does not show)
#endif
int OK = 0;
while (ReadUser(UsersFile, rfid, user) == 0) //we will sweep all users file until user found or EOF
{
{
OK = 1;
#endif
if (TagCheck(atol(rfid), tag)) //convert string to number and check against tag
strcpy(userOK, user);
}
#ifdef DEBUG
28 29
//green led pin 8
//red led pin 10
#define GREEN 8
#define RED 10
#define BUTTON 11
{
void setup()
RFID.begin(9600); // start serial to RFID reader
pinMode(GREEN, OUTPUT);
#ifdef DEBUG
FileSystem.open("users",FILE_READ);
pinMode(RED, OUTPUT);
Bridge.begin(); //start communication with linino
while (!Console); //wait until console is ready
Console.println("Arduino starting......");
#endif
/* //initialize comunication with the filesystem in the linino part
Console.begin(); //start communication with ethernet console (300bps)
FileSystem.begin();
*/
}
void loop()
{
char tag[14];
int index = 0;
int i;
//creating log, it will add user to the end of the log file
UsersFile.close(); //finished reading, file closed
File LogFile = FileSystem.open("/root/accesslog", FILE_APPEND);
}
#ifdef DEBUG //printing the code readed to the console terminal
Console.print(" ");
i = RFID.read();
do //making a sweep of the 13 bytes and putting all together in a string
char rfid[10], user[25], userOK[25] = "";
//create objets UsersFile, linked to users in linino, open for reading
File UsersFile = FileSystem.open("/root/users", FILE_READ);
if (RFID.available() > 13) //RFID token is 13 bytes long, so I check if there is at least 13 bytes
{
{
Console.print(i);
} while (i != 3);
tag[index++] = i;
Console.println(" "); //sending LF to the console (if not it does not show)
#endif
int OK = 0;
while (ReadUser(UsersFile, rfid, user) == 0) //we will sweep all users file until user found or EOF
{
{
OK = 1;
#endif
if (TagCheck(atol(rfid), tag)) //convert string to number and check against tag
strcpy(userOK, user);
}
#ifdef DEBUG
30 31
//without this, it reads 6 times each RFID.
digitalWrite(RED, HIGH);
delay(2000);
RFID.flush();
}
delay(3000);
while (RFID.available())RFID.read(); //flush seem not to work well, so I read all data from RFID to empty it
LogFile.close();
digitalWrite(RED, LOW);
#ifdef DEBUG
LogFile.print(userOK); //log access to file
#endif
Console.print("Hello ");
Console.println(userOK);
if (OK)
{
Console.println("OK");
digitalWrite(GREEN, HIGH);
delay(2000);
digitalWrite(GREEN, LOW);
}
LogFile.print(" access at "); LogFile.println(getTimeStamp());
else
{
#ifdef DEBUG
Console.println("ERROR");
#endif
String line=CalendarFile.readStringUntil('\n');
{
}
{
{
if (line.substring(6,7)=="O") OpenTheDoor=1;
if (line.length()==7 && line.substring(0,1)!="#")
unsigned long int LineSeconds=3600*(line.substring(0,2)).toInt()+60*(line.substring(3,5)).toInt();
if (line.substring(6,7)=="C") OpenTheDoor=0;
}
//tranlating HH:MM to seconds from midnight
if (seconds>LineSeconds)
}
String sMinutes=sDate.substring(14,16);
String sSeconds=sDate.substring(17,19);
String sHours=sDate.substring(11,13);
//getting date in seconds from midnight
String sDate=getTimeStamp();
// calendar file /root/calendar
if (sDay.toInt()<6) //from monday to friday
{
String sDay=sDate.substring(0,1);
}
unsigned long int seconds=3600*sHours.toInt()+60*sMinutes.toInt()+sSeconds.toInt();
int OpenTheDoor=0;
//and HH:MM/C for close the door
//format HH:MM/O for open the door
File CalendarFile = FileSystem.open("/root/calendar", FILE_READ);
//Reading lines from the file. The lines are marked with the time in wich we open or close the door
while(CalendarFile.available()>0)
30 31
//without this, it reads 6 times each RFID.
digitalWrite(RED, HIGH);
delay(2000);
RFID.flush();
}
delay(3000);
while (RFID.available())RFID.read(); //flush seem not to work well, so I read all data from RFID to empty it
LogFile.close();
digitalWrite(RED, LOW);
#ifdef DEBUG
LogFile.print(userOK); //log access to file
#endif
Console.print("Hello ");
Console.println(userOK);
if (OK)
{
Console.println("OK");
digitalWrite(GREEN, HIGH);
delay(2000);
digitalWrite(GREEN, LOW);
}
LogFile.print(" access at "); LogFile.println(getTimeStamp());
else
{
#ifdef DEBUG
Console.println("ERROR");
#endif
String line=CalendarFile.readStringUntil('\n');
{
}
{
{
if (line.substring(6,7)=="O") OpenTheDoor=1;
if (line.length()==7 && line.substring(0,1)!="#")
unsigned long int LineSeconds=3600*(line.substring(0,2)).toInt()+60*(line.substring(3,5)).toInt();
if (line.substring(6,7)=="C") OpenTheDoor=0;
}
//tranlating HH:MM to seconds from midnight
if (seconds>LineSeconds)
}
String sMinutes=sDate.substring(14,16);
String sSeconds=sDate.substring(17,19);
String sHours=sDate.substring(11,13);
//getting date in seconds from midnight
String sDate=getTimeStamp();
// calendar file /root/calendar
if (sDay.toInt()<6) //from monday to friday
{
String sDay=sDate.substring(0,1);
}
unsigned long int seconds=3600*sHours.toInt()+60*sMinutes.toInt()+sSeconds.toInt();
int OpenTheDoor=0;
//and HH:MM/C for close the door
//format HH:MM/O for open the door
File CalendarFile = FileSystem.open("/root/calendar", FILE_READ);
//Reading lines from the file. The lines are marked with the time in wich we open or close the door
while(CalendarFile.available()>0)
32 33
CalendarFile.close();
}
if(!digitalRead(BUTTON)) //user request to open the door (pull-up)
{
if(OpenTheDoor) //if the schedule says the door should be opened now
{
else
File LogFile = FileSystem.open("/root/accesslog", FILE_APPEND);
delay(1000);
/*
}
}
#ifdef FILEDEBUG
delay(1000);
#ifdef DEBUG
digitalWrite(GREEN, HIGH); //it will blink open
}
#endif
#endif
Console.println(" / Open / ");
LogFile.print("BUTTON access at "); LogFile.println(getTimeStamp());
digitalWrite(GREEN, LOW);
{
digitalWrite(GREEN, LOW);
digitalWrite(RED, LOW);
digitalWrite(RED,HIGH);
if(OpenTheDoor) //if the schedule says the door should be opened now
{
#ifdef DEBUG
Console.println(" / Open / ");
#endif
digitalWrite(GREEN, HIGH); //it will blink open 1s every 10s
delay(1000);
digitalWrite(GREEN, LOW);
delay(9000);
}
else
{
#ifdef DEBUG
delay(10000);
}
{
if ( (digit >= '0') && (digit <= '9') ) return digit - 48;
*/
Console.println(" / close / ");
#endif
///////////////////////////////////////////////////////
// HexToNum
//
// C onvert a HEX digit in ASCII format to a number with its value
//
unsigned char HexToNum(unsigned char digit)
if ( (digit >= 'a') && (digit <= 'f') ) return digit - 87;
}
}
if ( (digit >= 'A') && (digit <= 'F') ) return digit - 55;
////////////////////////////////////////////////////////
// TagCheck
//
32 33
CalendarFile.close();
}
if(!digitalRead(BUTTON)) //user request to open the door (pull-up)
{
if(OpenTheDoor) //if the schedule says the door should be opened now
{
else
File LogFile = FileSystem.open("/root/accesslog", FILE_APPEND);
delay(1000);
/*
}
}
#ifdef FILEDEBUG
delay(1000);
#ifdef DEBUG
digitalWrite(GREEN, HIGH); //it will blink open
}
#endif
#endif
Console.println(" / Open / ");
LogFile.print("BUTTON access at "); LogFile.println(getTimeStamp());
digitalWrite(GREEN, LOW);
{
digitalWrite(GREEN, LOW);
digitalWrite(RED, LOW);
digitalWrite(RED,HIGH);
if(OpenTheDoor) //if the schedule says the door should be opened now
{
#ifdef DEBUG
Console.println(" / Open / ");
#endif
digitalWrite(GREEN, HIGH); //it will blink open 1s every 10s
delay(1000);
digitalWrite(GREEN, LOW);
delay(9000);
}
else
{
#ifdef DEBUG
delay(10000);
}
{
if ( (digit >= '0') && (digit <= '9') ) return digit - 48;
*/
Console.println(" / close / ");
#endif
///////////////////////////////////////////////////////
// HexToNum
//
// C onvert a HEX digit in ASCII format to a number with its value
//
unsigned char HexToNum(unsigned char digit)
if ( (digit >= 'a') && (digit <= 'f') ) return digit - 87;
}
}
if ( (digit >= 'A') && (digit <= 'F') ) return digit - 55;
////////////////////////////////////////////////////////
// TagCheck
//
34 35
// Check decimal number printed on tag against tag readed
//
// by RFID sensor in HEX format
// code -> decimal code printed on tag
// tag[] -> character array containig tag in HEX format
{
int TagCheck(unsigned long int code, char *tag)
unsigned char HexData[4];
//
for (int i = 3, index = 0; i < 11; i = i + 2, index++) HexData[index] = (HexToNum(tag[i]) << 4) + HexToNum(tag[i +
1]);
int i = 0;
int checksum = 0x0A;
unsigned long int CalcCode = HexData[0];
checksum = checksum ̂ HexData[i];
while (i < 4)
{
return code == CalcCode;
}
}
//
// longCalcCode
////////////////////////////////////////////////////////
// as printed in tags
CalcCode = (CalcCode << 8) + HexData[i++]; //generate the code using hex digits weights
//
// code -> decimal code printed on tag
// Convert RFID sensor in HEX format to numeric format
unsigned long int longCalcCode(char *tag)
checksum = checksum ̂ HexData[i];
unsigned long int CalcCode = HexData[0];
unsigned char HexData[4];
// tag[] -> character array containig tag in HEX format
//
int i = 0;
for (int i = 3, index = 0; i < 11; i = i + 2, index++) HexData[index] = (HexToNum(tag[i]) << 4) + HexToNum(tag[i +
1]);
int checksum = 0x0A;
while (i < 4)
{
CalcCode = (CalcCode << 8) + HexData[i++]; //generate the code using hex digits weights
}
return CalcCode;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////
// ReadUser
//
// Reads linino file for the next tag id
// Returns tagID in string format at tag and username also in string format at username
// Returns 0 if everything went OK and >0 if there is some error:
int ReadUser(File& UsersFile, char *tag, char *username)
{
if (UsersFile == 0) return 1;
// 1 -> Error reading file /root/users
// 2 -> Error: /root/users may be empty?
34 35
// Check decimal number printed on tag against tag readed
//
// by RFID sensor in HEX format
// code -> decimal code printed on tag
// tag[] -> character array containig tag in HEX format
{
int TagCheck(unsigned long int code, char *tag)
unsigned char HexData[4];
//
for (int i = 3, index = 0; i < 11; i = i + 2, index++) HexData[index] = (HexToNum(tag[i]) << 4) + HexToNum(tag[i +
1]);
int i = 0;
int checksum = 0x0A;
unsigned long int CalcCode = HexData[0];
checksum = checksum ̂ HexData[i];
while (i < 4)
{
return code == CalcCode;
}
}
//
// longCalcCode
////////////////////////////////////////////////////////
// as printed in tags
CalcCode = (CalcCode << 8) + HexData[i++]; //generate the code using hex digits weights
//
// code -> decimal code printed on tag
// Convert RFID sensor in HEX format to numeric format
unsigned long int longCalcCode(char *tag)
checksum = checksum ̂ HexData[i];
unsigned long int CalcCode = HexData[0];
unsigned char HexData[4];
// tag[] -> character array containig tag in HEX format
//
int i = 0;
for (int i = 3, index = 0; i < 11; i = i + 2, index++) HexData[index] = (HexToNum(tag[i]) << 4) + HexToNum(tag[i +
1]);
int checksum = 0x0A;
while (i < 4)
{
CalcCode = (CalcCode << 8) + HexData[i++]; //generate the code using hex digits weights
}
return CalcCode;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////
// ReadUser
//
// Reads linino file for the next tag id
// Returns tagID in string format at tag and username also in string format at username
// Returns 0 if everything went OK and >0 if there is some error:
int ReadUser(File& UsersFile, char *tag, char *username)
{
if (UsersFile == 0) return 1;
// 1 -> Error reading file /root/users
// 2 -> Error: /root/users may be empty?
36 37
if (UsersFile.available() == 0) return 2; //no data found. Maybe EOF?
{
tag[i] = data[i];
int n = 0;
// This function return a string with the time stamp
// getTimeStamp()
//////////////////////////////////////////////////////////////////////////////////////////////////////////
} while (data[++i] != '\n');
char data[25] = "xx";
tag[i++] = '\0'; //add string terminator
}
//
{
return 0; //all went OK
if (data[i] != '\n') i++; //next char until LF found
while (UsersFile.available() > 0 && data[i] != '\n') //read file until EOF or LF found
do //read username, until LF found
{
int i = 0;
}
i = 0;
data[i] = UsersFile.read();
do //read tag, until : found
} while (data[++i] != ':');
username[n++] = data[i];
username[n] = '\0'; //add end of string
//
//
// From https://www.arduino.cc/en/Tutorial/YunDatalogger
// T for the time hh:mm:ss
Process time;
String getTimeStamp()
{
String result;
// date is a command line utility to get the date and the time
// in different formats depending on the additional parameter
time.begin("date");
time.addParameter("+%u %D %T"); // parameters: D for the complete date mm/dd/yy
// u for week day number (1 is monday)
// read the output of the command
while (time.available() > 0) {
char c = time.read();
if (c != '\n') {
result += c;
time.run(); // run the command
}
}
return result;
}
https://github.com/fperal/AccessControl
36 37
if (UsersFile.available() == 0) return 2; //no data found. Maybe EOF?
{
tag[i] = data[i];
int n = 0;
// This function return a string with the time stamp
// getTimeStamp()
//////////////////////////////////////////////////////////////////////////////////////////////////////////
} while (data[++i] != '\n');
char data[25] = "xx";
tag[i++] = '\0'; //add string terminator
}
//
{
return 0; //all went OK
if (data[i] != '\n') i++; //next char until LF found
while (UsersFile.available() > 0 && data[i] != '\n') //read file until EOF or LF found
do //read username, until LF found
{
int i = 0;
}
i = 0;
data[i] = UsersFile.read();
do //read tag, until : found
} while (data[++i] != ':');
username[n++] = data[i];
username[n] = '\0'; //add end of string
//
//
// From https://www.arduino.cc/en/Tutorial/YunDatalogger
// T for the time hh:mm:ss
Process time;
String getTimeStamp()
{
String result;
// date is a command line utility to get the date and the time
// in different formats depending on the additional parameter
time.begin("date");
time.addParameter("+%u %D %T"); // parameters: D for the complete date mm/dd/yy
// u for week day number (1 is monday)
// read the output of the command
while (time.available() > 0) {
char c = time.read();
if (c != '\n') {
result += c;
time.run(); // run the command
}
}
return result;
}
https://github.com/fperal/AccessControl
38 39
LED
A Light Emmiting Diode is a optoelectronics device wich emmits colored light when directly polarized. It must be
used with a resistor to limit intensity. Typically it has a direct voltage drop near 2V. More information at Wikipedia:
https://en.wikipedia.org/wiki/Light-emitting_diode
BREADBOARD
A breadboard is used to quickly assemble circuits without soldering. The holes are connected as can be seen
in this image. More information in Wikipedia: https://en.wikipedia.org/wiki/Breadboard
A resistor is a device that implements electrical resistance to the current flow. There is a color code to identify
the resistance. More information at Wikipedia: https://en.wikipedia.org/wiki/Resistor
POTENTIOMETER
Is a variable resistor device with three terminals. It can be used as a variable resistor or as a voltage divider. More
information at Wikipedia. https://en.wikipedia.org/wiki/Potentiometer
Is a device like any other switch. It closes a circuit.
MICRO PUSH BUTTONS.
RESISTOR
APPENDIX
38 39
LED
A Light Emmiting Diode is a optoelectronics device wich emmits colored light when directly polarized. It must be
used with a resistor to limit intensity. Typically it has a direct voltage drop near 2V. More information at Wikipedia:
https://en.wikipedia.org/wiki/Light-emitting_diode
BREADBOARD
A breadboard is used to quickly assemble circuits without soldering. The holes are connected as can be seen
in this image. More information in Wikipedia: https://en.wikipedia.org/wiki/Breadboard
A resistor is a device that implements electrical resistance to the current flow. There is a color code to identify
the resistance. More information at Wikipedia: https://en.wikipedia.org/wiki/Resistor
POTENTIOMETER
Is a variable resistor device with three terminals. It can be used as a variable resistor or as a voltage divider. More
information at Wikipedia. https://en.wikipedia.org/wiki/Potentiometer
Is a device like any other switch. It closes a circuit.
MICRO PUSH BUTTONS.
RESISTOR
APPENDIX
40 41
It is a ultrasound distance sensor. It emmits ultrasound pulses at 40Khz and measure the time between the it
emits the pulses and it receives the reflected pulses, and generates a 5V pulse with variable duration
proportional to the measured distance. More information at parallax: https://www.parallax.com/product/28015.
Lm35
The LM35 is a integrated circuit temperature sensor. It has 3 terminals: power and output. The output is
10mV/ºC. More information at texas instrument webpage: www.ti.com/product/lm35
MICRO-SERVO
PARALLAX PING
A micro servo is a little servomotor. A servo is a special type of motor controlled by a control board which set the
motor to a fixed position. It is possible to adjust the position with few grade accuracy. The servo position is
controlled by the duty cycle of a PWM signal with a typical 50Hz frequency. More information at Wikipedia:
https://en.wikipedia.org/wiki/Servo_control
L293
It is a motor driver integrated circuit to implement a H bridge. It provides full control of a motor, including
bidirectional control and braking. More information at Wikipedia: https://en.wikipedia.org/wiki/H_bridge
DC MICRO MOTOR
A micro motor is a little DC motor suitable to move a little robot. It must be operated through a driver (like L293 or
L298) as it needs currents exceeding 100mA to work. A DC micromotor usually rotates at some thousands rpms,
so, to lower rpm count and increase torque, it is usually equipped with a gear, like the one in the image. More
information at Wikipedia: https://en.wikipedia.org/wiki/DC_motor
N CHANNEL MOSFET
A MOSFET is a power transistor controlled by gate voltage usually used as a voltage controlled switch. More
information: https://www.electronics-tutorials.ws/transistor/tran_6.html
40 41
It is a ultrasound distance sensor. It emmits ultrasound pulses at 40Khz and measure the time between the it
emits the pulses and it receives the reflected pulses, and generates a 5V pulse with variable duration
proportional to the measured distance. More information at parallax: https://www.parallax.com/product/28015.
Lm35
The LM35 is a integrated circuit temperature sensor. It has 3 terminals: power and output. The output is
10mV/ºC. More information at texas instrument webpage: www.ti.com/product/lm35
MICRO-SERVO
PARALLAX PING
A micro servo is a little servomotor. A servo is a special type of motor controlled by a control board which set the
motor to a fixed position. It is possible to adjust the position with few grade accuracy. The servo position is
controlled by the duty cycle of a PWM signal with a typical 50Hz frequency. More information at Wikipedia:
https://en.wikipedia.org/wiki/Servo_control
L293
It is a motor driver integrated circuit to implement a H bridge. It provides full control of a motor, including
bidirectional control and braking. More information at Wikipedia: https://en.wikipedia.org/wiki/H_bridge
DC MICRO MOTOR
A micro motor is a little DC motor suitable to move a little robot. It must be operated through a driver (like L293 or
L298) as it needs currents exceeding 100mA to work. A DC micromotor usually rotates at some thousands rpms,
so, to lower rpm count and increase torque, it is usually equipped with a gear, like the one in the image. More
information at Wikipedia: https://en.wikipedia.org/wiki/DC_motor
N CHANNEL MOSFET
A MOSFET is a power transistor controlled by gate voltage usually used as a voltage controlled switch. More
information: https://www.electronics-tutorials.ws/transistor/tran_6.html
42 43
RGB LED STRIP
It is a strip of color leds. Each of the leds of the strip may be controlled individually setting the intensity of
one of each three color components. The strip used is a NeoPixel strip. The leds are joined in a shift register
and one can set the color of each LED's red, green and blue component with 8-bit PWM precision (so 24-bit
color per pixel). More information at adafruit: https://www.adafruit.com/product/1376?length=1
RDM6300 125KHz card reader mini-module is designed for reading code from 125KHz card compatible read-
only tags and read/write card. More information at Itead wiki: https://www.itead.cc/wiki/RDM6300
RMD6300 RFID CARD READER AND RFID TOKENS
ARDUINO YUN
The Arduino Yún is a microcontroller board based on the ATmega32u4 and the Atheros AR9331. The Atheros
processor supports a Linux distribution based on OpenWrt named Linino OS. The board has built-in Ethernet and
WiFi support, a USB-A port, micro-SD card slot, 20 digital input/output pins (7 of them can be used as PWM
outputs and 12 as analog inputs), a 16 MHz crystal oscillator, a micro USB connection, an ICSP header, and 3
reset buttons.
More information:
Ÿ https://en.wikipedia.org/wiki/OpenWrt
Ÿ https://store.arduino.cc/arduino-yun
42 43
RGB LED STRIP
It is a strip of color leds. Each of the leds of the strip may be controlled individually setting the intensity of
one of each three color components. The strip used is a NeoPixel strip. The leds are joined in a shift register
and one can set the color of each LED's red, green and blue component with 8-bit PWM precision (so 24-bit
color per pixel). More information at adafruit: https://www.adafruit.com/product/1376?length=1
RDM6300 125KHz card reader mini-module is designed for reading code from 125KHz card compatible read-
only tags and read/write card. More information at Itead wiki: https://www.itead.cc/wiki/RDM6300
RMD6300 RFID CARD READER AND RFID TOKENS
ARDUINO YUN
The Arduino Yún is a microcontroller board based on the ATmega32u4 and the Atheros AR9331. The Atheros
processor supports a Linux distribution based on OpenWrt named Linino OS. The board has built-in Ethernet and
WiFi support, a USB-A port, micro-SD card slot, 20 digital input/output pins (7 of them can be used as PWM
outputs and 12 as analog inputs), a 16 MHz crystal oscillator, a micro USB connection, an ICSP header, and 3
reset buttons.
More information:
Ÿ https://en.wikipedia.org/wiki/OpenWrt
Ÿ https://store.arduino.cc/arduino-yun