Auto-Alignment Laser Mirrors First Semester Report Fall Semester 2013

Transcription

1 Auto-Alignment Laser Mirrors First Semester Report Fall Semester Full Report- by Michael M. Rader Prepared to partially fulfill requirements for ECE401 Department of Electrical and Computer Engineering Colorado State University Fort Collins, Colorado Project Advisor: Jorge Rocca Approved By: Jorge Rocca

2 Abstract For the purposes of safety, efficiency and accuracy, it is essential for lasers to be aligned when performing experiments. Natural and human phenomena will constantly cause beam misalignments, so people working with optics necessarily perform alignments of lenses and mirrors throughout their experiments and applications, either manually or by using autoalignment systems. It s ideal to use auto-alignment systems as this tends to be quicker and more accurate. It is possible to purchase auto-alignment systems commercially; however, our goal is to produce one on-site. Hopefully, we will be able to produce it somewhat cheaper than it would be to buy; however, it s also important that we can have a system that we can alter as we see fit to our uses. This customizability is something that just doesn t exist on the market. The system has already been built and works well, primarily due to David Yazdani s efforts over the last year. My goal is to duplicate David s design so we have four systems in total, and to find ways to make the code more robust and efficient as it s the best part of the system to tweak at this point. One of the most important features I need to add to the system is a feature that will stop the motors from moving when the laser beam is interrupted. So far we have produced two systems that work as expected and desired. The beam auto-aligns and remains stable for up to 12 hours (and likely beyond). The new code is slightly more efficient, and I am still working on implementing the code that will stop the beam when it is interrupted. 2

3 Table of Contents Title Page... 1 Abstract... 2 Table of Contents... 3 List of Figures : Introduction : Previous Work... 8 A Modes of Operation... 8 B Mounts and Stepper Motors C Quadrant Photodetector Module D Microcontroller E Motor Driver F Wireless/Power Supply PCB G Front Panel and Front Panel PCB : Current Work A Starting State B Back Panel C Code : Conclusion and Future Work A Future Work i.) Hardware ii.) Software iii.) Testing iv.) Optimization v.) Time Table for Next Semester B Conclusion Appendix A - Abbreviations Appendix B - Budget Appendix C - Timelines Appendix D Previous Code Appendix E New Code Appendix F Parts List for Motor Driver PCB Appendix G Parts List for Wireless PCB Appendix H Parts List for Front Panel PCB

4 List of Figures Figure Beam Alignment Arrangement Figure Side View of Mirror Arrangement Figure Algorithm for Auto-Alignment Code Figure Wireless Control of Manual Alignment Figure Mirror/Motor Mount with Stepper Motors Figure CAD Design of Motor/Mirror Mounts Figure 2.05(a)- Physical Module Figure Figure 2.05(b)- Circuit Diagram of Module Figure Top-Down View of Encased Quadrant Photodiode Figure Motor Driver PCB Figure Motor Driver Schematic Figure Wireless PCB Figure Wireless PCB Schematic Figure 2.11(a)-Solidworks Schematic of Front Panel Figure 2.11(b)-Front Panel Figure PCB of Front Panel Figure Schematic of Original Back Panel Design Figure Cost Comparison of Lemo and Hirose Connectors Figure 3.03(a)- Schematic of Back Panel Figure 3.03(b) Implemented Back Panel Figure 4.1 Timetable for Next Semeseter 4

5 Introduction At the ERC, we have a variety of optical experiments that requires laser beams to be constantly and accurately aligned. For example, the laser system we created the latest auto-alignment control system for uses a low power HeNe laser as a continuous reference signal for high-power laser pulses which are sent infrequently. For this and other systems, alignment is essential for the following reasons: 1.) Alignment is essential for accuracy and precision in experiments 2.) If misaligned, the beam of the reference laser could cause misalignment of the high power laser which could harm someone who is operating the laser system or damage components. Consequently, it s important for those working in optics to keep their beams as aligned as accurately as possible as often as possible. Due to constant misalignments, this can become time consuming for the experimenter who needs to keep manually aligning the beam. This is where an auto-alignment system becomes important. An auto-alignment system improves the experimenter s work efficiency as well as the level of accuracy in alignment since a human aligning the system can only get it moderately centered, but an auto-alignment system has a higher degree of accuracy and consistency that simply can t be achieved by manual adjustment. It s also important to note that the potential for this laser system to harm someone presents an ethical ramification to the design of our auto-alignment system. Misrepresentation of this system, under-testing of this system, and shoddy work could all potentially harm someone working on these laser systems. Auto-alignment laser systems already exist on the market; however, we intent to produce a similar system on-site that is cheaper and more convenient to our needs than commercial systems. While it s possible our system won t ultimately be as cheap as a budget commercial system, it s beneficial to be able to modify the auto-alignment system in a way that best fits the needs of those working at the ERC. There is a degree of customizability in creating our own system that we wouldn t be able to achieve through a commercial purchase. It s also important to note that the ERC has a general ethos of building as many things on site as possible, and building this system befits the ethos. This is a continuing project, building on the previous work and research of students and researchers. I have been working with David Yazdani, who worked on this system as a senior design project last year. Most advancements on the physical system were driven by David this semester, with me assisting him and learning how the system works. 5

6 The history of this project and David s efforts before I came onto the project are discussed in Chapter II. The work that the two of us did over the semester is listed in Chapter III. Finally, the work I will be doing without David next semester is listed in Chapter IV. Our alignment system, as seen in figure 1, is two mounts with 1 mirrors attached which reflect the beam. Each mount has two linear actuator stepper motors that can adjust the mirror horizontally and vertically. This arrangement allows us four degrees of freedom so as to adjust the position and angle of the beam. Figure 1.1 Top-Down Beam Alignment Arrangement Our auto-alignment system is a basic feedback system. Our plant, the portion of the system we adjust, is the mirror mounts. By adjusting these mirrors, we can adjust the beam. These mirrors are adjusted using high-resolution (1.5 µm linear travel) linear actuator stepper motors. The input to this system is a 7.5 V step input that comes from the motor driver PCB which is in turn driven by the microcontroller. The feedback to this system is provided by splitting a smaller beam off of the primary beam at a 90⁰ angle (see figure 1.2). This split-off beam is then directed onto a quadrant photodiode. This quadrant photodiode can send out a signal indicating how far the split off beam is from the center of the photodiode. The code s algorithm then adjusts the motors accordingly, with the final goal of minimizing the distance from the center of the quadrant photodiode. 6

7 Figure 1.2 Side View of Mirror Arrangement Using the code, we can tweak the resolution of the system as well as its accuracy and the tolerance of the system can be altered. The benefit of this is that we can lower the tolerance, so the system adjusts the mirrors less often, or we can raise the tolerance so that the motors are in a near perpetual state of minor adjustments. The benefit of this flexibility is that we can use this auto-alignment system for a wider range of situations and applications. From this point on, a majority of the changes made to the system will be made through the code as the physical design of the system is satisfactory. There are two modes of operation with this system, manual and auto-alignment. As discussed in Chapter 2, the user can easily switch between these modes. In manual mode, the user can adjust the mirror mounts either by moving the 5-Way Tactile Switch on the front panel or by controlling it wirelessly via remote control. 7

8 2 Previous Work This system is the product of years of research and design, passing through several hands and seeing a variety of iterations. This section focuses primarily on the most recent iteration, starting in Summer 2012 as an undergraduate research project which continued into the 2012/2013 school year as a senior design project. The major components of one system are: (2) mirror/motor mounts with two linear actuator stepper motors each to adjust the position and angle of the beam. This is the plant of the feedback system (2) QP U-SD2 quadrant photodiode modules to detect alignment feedback from the beam (1) MSP430FG4618 Ultra-Low-Power Microcontroller with FET debugging to analyze feedback and return a value to the motor drive PCB (4) Allegro A3979 Microstepping DMOS Driver with Translator (1) Motor Driver PCB (1) Wireless/Power Supply PCB (1) Front Panel PCB A Modes of Operation The auto-alignment system is actually capable of two modes of operation, manual and autoalignment. The auto-alignment mode employs the feedback detection from the Quadrant Photodiode Detectors, the microcontroller polls the values from the detectors using an ADC, averages them, then compares them to an initial 0 value to see how far the beam is from center using the iterative algorithm in Figure 2.1 8

9 Figure 2.1 Algorithm for Auto-Alignment Code The second mode of alignment is manual alignment. This feature is essential for the experimenter to initially align the beam or make small adjustments. There is a human element that is necessary for our design, that is, the beam will stay aligned in the spot that the experimenter chooses, and the auto-alignment system holds it in that spot. The manual alignment can be controlled either by the front panel joystick or wirelessly via the remote seen in Figure 2.2. Figure 2.2 Wireless Control of Manual Alignment A switch on the front panel of the system determines if the system is operating in manual or auto-alignment mode. 9

10 B Mounts and Stepper Motors The mounts for the mirrors and motors are machined on site in the CNC. These mounts previously used 3 mirrors, but were adjusted to accept 1 mirrors by David. The mount design can be seen in Figure 2.3. The Solidworks CAD design for the mounts is also shown in Figure 2.4. Figure 2.3 Mirror/Motor Mount with Stepper Motors Figure 2.4 CAD Design of Motor/Mirror Mounts The stepper motors are Hayden-Kerk H4U linear actuators. Each 7.5 Volt input produces a 1.5 µm linear step from the linear actuator. These linear actuators are custom made, so there is a roughly 2 month lead time for Hayden-Kerk to produce more motors. 10

11 C Quadrant Photodiode Detector Module The quadrant photodiode detector module is encased in a machined case seen in Figure 2.6 and a HeNe line filter is placed over the photodiode to prevent additional noise from affecting the values. The design of the quadrant photodiode itself can be seen in Figure 2.5(a)-(b) Figure 2.5(a) Physical Module Figure 2.5(b)-Circuit Diagram of Module When a beam strikes the photodiode, a photocurrent is produced. This photocurrent is then passed through a Current to Voltage Amplifier. These voltages are then passed into Sum and Difference amplifiers. The module finally returns the following values: (V3+V4)-(V1+V2) = (Top Voltage-Bottom Voltage) (V2+V3)-(V1+V4) = (Left Voltage - Right Voltage) (V1+V2+V3+V4) = Vsum (Voltage Sum) At the moment, we are only utilizing the positional value of the photodiodes, the Top-Bottom and Left-Right. In the future, the Voltage Sum will be utilized to determine if the laser beam is striking the photodiodes or not. The microcontroller initially polls the values coming from the photodiode when the beam is blocked; this gives the code a zero-value to work from, which is the value the algorithm is iteratively seeking. After this initial polling, if the system is set on auto-alignment mode then the microcontroller will continue constantly polling the quadrant photodiode. The code polls the photodiodes 100 times, and then averages this value out. The basic algorithm in the code simply determines that, if the Top Voltage-Bottom Voltage is greater than the zero-value, then move the y-axis motor on the mount forward to move the beam in the y direction. If Top-Bottom is less than the 0-value, then the y-axis motor will move back, moving the beam in +y direction. The same process is used in Left-Right, but with the x-axis motor. 11

12 Figure 2.6 Top-Down View of Encased Quadrant Photodiode D Microcontroller We are using a Texas Instruments MSP430FG4618 Ultra-Low-Power Microcontroller with FET debugging. The benefit of this microcontroller is that we can easily make changes to the code and download them to the microcontroller via a USB debugger. We are utilizing the IAR IDE software to download and debug the code to the microcontroller. This IDE will accept and interpret Assembly/C/C++ code; our code is a mixture of these languages. 12

13 E Motor Driver The PCB for the motor driver can be seen Figure 2.7. This PCB is the product of a previous senior design project. There are four identical motor driver modules on this PCB, one for each stepper motor. Figure 2.7 Motor Driver PCB This PCB accepts input from the microcontroller and then drives the motors. A list of parts required for this PCB can be found in Appendix F. A schematic of the PCB can be found in Figure 2.8. This PCB takes in voltage values of +5 and +12. The primary benefit of these drivers is to simplify driving the motors and to allow fractional stepping of the motors (1/2, 1/4, 1/16). Figure 2.8 Motor Driver Schematic 13

14 F Wireless/Power Supply PCB The wireless PCB can be seen in Figure 2.9, its schematic is in Figure 2.10, and a list of parts for it can be found in Appendix G. Figure 2.9 Wireless PCB This board can take input from the front panel as well as the wireless remote seen in Figure 2.2 and is then directly passed to the motor controller for manual control of the motors. Figure 2.10 Wireless PCB Schematic 14

15 G Front Panel and Front Panel PCB The most recent addition to the system before I came onto the project is the Front Panel + Front Panel PCB. A picture of the current front panel can be found in Figure 2.11(a) and its Solid Works design can be found in Figure 2.11(b). Figure 2.11(a) Solidworks Schematic Figure 2.11(b) Front Panel The intent of the front panel is to make the system more user friendly, keep the system fully enclosed, and to provide a more aesthetic design. The LCD Display on the front panel shows the currently selected mount as well as the selected resolution of the motor steps. The user can also use the front panel to manually control the motors and switch between modes of operation. The LED arrays on the front panel indicate which direction the motor mounts are currently moving, this is helpful in determining when the auto-alignment system is getting close to full alignment as the LED indicators will light up less frequently and in a more uniform circular pattern. The front panel was machined on-site using the CNC. The schematic of the front panel PCB can be found in Figure and a list of its components can be found in Appendix H. 15

16 Figure 2.12 PCB of Front Panel 16

17 3 Current Work A- Starting State of Project The status of the project when I began was this: (1) Encased system with no back panel and wires connecting directly to the PCBs (1) Non-Encased system Uncommented/Undocumented, Cluttered Code The first several weeks was dedicated to David explaining the system to me while I worked on understanding and characterizing the code. Professor Rocca determined that the system should have a back panel and connectors so that we could easily attach and detach the connections to the system and move it if needed. B- Back Panel The first design for this back panel (Figure 3.1) utilized Molex connectors. This design was fully implemented. David and I soldered wire connections, connected the wires running from the motors and photodiodes to male Molex connectors, and we attached the internal connections to female Molex connectors. These female Molex connecters were then epoxy glued using JB Weld into the back panel to hold them in place. It was then determined that this design was flawed as it allowed noise to effect the signal coming from the photodiodes and going to the motors, it was difficult to connect and disconnect the connections, and the design was not very aesthetically pleasing. 17

18 Figure 3.1 Schematic of Original Back Panel Design The second design for the back panel used circular bayonet lock shielded RF connectors. We were initially advised to use Lemo connectors for this; however, the cost of these connectors was not budget-effective. After some research, I was able to find a much cheaper alternative from Hirose Electric Co Ltd. A table of cost comparisons and the connectors needed is found in Figure 3.2. Figure 3.2 Cost Comparison of Lemo and Hirose Connectors We have since determined that the Hirose connecters are sufficiently shielded for our uses, so it s fortunate that we did not purchase the Lemo connecters given the cost savings here. We also purchased shielded wire for the motor and photodiode connections. David then designed a new back panel design based on a sketch I made using datasheet values for the connectors. This new design was machined by David on site in the CNC. The schematic of the new back panel is in Figure 3.3(a) and the actual back panel can be seen in Figure 3.2(b). 18

19 Figure 3.3(a) Schematic of Panel Figure 3.3(b) Implemented Back Panel David machined two back panels, and then machined one more front panel for the second system. We then soldered all of the connections for the first and second systems. Ultimately, we assembled both systems and tested them in our testing arrangement in the teaching lab. Finally, we were able to test both systems in the actual lab, installing them and seeing if the beam remained aligned. Both systems were tested successfully, so we installed the new shielded wires in the lab and connected them to the permanent mounts. One system is now being used regularly in this lab while the other system is installed in the teaching lab for future testing purposes. 19

20 B- Code The second major project of the semester was working on the code. The original code, as seen in Appendix D, was almost entirely uncommented. It also had several unused variables, unused lines of code, old commented out code and inefficient arrangement of functions. Through the semester I was able to characterize the code, commenting on it as thoroughly as I could. I also removed all unused lines of code and unused variables, added function prototypes to increase compiling speed, and consolidated 8 functions down into one single function. The new code is in Appendix E. This code has been tested, the auto-alignment feature is working perfectly but there is a bug in the manual alignment code that I have not been able to locate yet. One of the features requested by Professor Rocca s graduate student Reed Hollinger is code that stops the motors from adjusting when the beam is interrupted. This change requires the following simple pseudo-code: If (No Beam) Do not move motors, wait Else Follow original iterative algorithm (Figure 2.1) I ve had this algorithm determined since the feature was requested. However, determining if the beam is on the photodiode is actually somewhat difficult. The values that we receive from the photodiode give us the difference between the top and bottom and the left and right. Since there is always some light striking the photodiode, the values we get during beam-broken conditions merely looks like the beam is close to the center. Since the value is never going to be exactly the same as the zero-value, the motors will continue adjusting to reach the center, causing unpredictability. Through analysis of the values reaching the photodiode, it is clear that the best way to implement this algorithm is to use the Vsum value. I will discuss this more in Part 4. 20

21 4 Conclusion and Future Work A- Future Work David has completed the requirements of his senior design project and will not be joining me as a team member next semester, so all continuing work will be mine. The tasks that remain are: i. - Hardware I have already ordered the motors, LCDs, 5-Way tactile switches, connectors, and photodiodes for the next two systems. The parts I have yet to order are: (2) Metal Cases for Systems (Custom from Rose-Bopla) (2) Microcontrollers (2) Front Panel PCBs The parts I need to machine are: (2) Back Panels (2) Front Panels (4) Metallic plates to rest PCBs on (4) Mirror/Motor Mounts I need to solder components to: (2) Wireless PCB (2) Motor Drive PCBs ii. - Software It seems that the Vsum value coming from the quadrant photodiode module is connected to the microcontroller. However, since this value is not used in the code, it is not actually documented where. I need to determine where this value is being read, if it s being read, and use that to implement the shut-off feature in the code. I also still need to debug the new code in order to determine where the bug is that is keeping the manual mode from working. 21

22 iii. Testing My intent is to begin testing midway through the semester. Ideally, both systems will be assembled by then, so I can begin extensive testing to make sure they are functioning correctly. Part one of testing is to connect the assembled system in the teaching lab and let it run for at least 4 hours to see if remains aligned. Part two of testing is to connect the assembled system in Reed s lab to see if it can run for at least 8 hours and remain aligned. This is the benefit of the modularity design of the system, as it is easy to swap out systems without having to replace the mirror or wire arrangements in the labs. Testing of the software should also be done by the ides of March, at the very latest. That is, the new software should function precisely as accurately as the old software and also stop moving the motors when the beam is interrupted. iv. Optimization The final process is optimization, this occurs after the systems have been tested and are working as desired. I will search for any additional features that can be added to the system in order to improve its function and efficiency. For example: Reed has suggested a PID controller to stabilize movement of the motors Dr. Milton has suggested a matrix-based algorithm for the code Clayton has stated that a manual for the system would be helpful for those using the system in the labs. 22

23 v. Time Table for Next Semester The breakdown of tasks is as follows: Figure 4.1 Timetable for Next Semeseter Hardware: Phase 1 Solder components to Wireless/Motor Driver PCBs/Order remaining parts Phase 2 Machine mounts/attaching motors Phase 3 Machine front and back panels + plates for PCBs Phase 4 All parts should arrive by this point, begin assembly Phase 5 Finalize assembly of both systems + Attach wires Software: Phase 1 Implement code change to stop motors when beam is interrupted Phase 2 Fix manual alignment code Phase 3 Debug remaining code and comment fully Testing: Phase 1 Test two new systems in teaching lab + Test new code Phase 2 Fix inevitable problems that arise during testing Phase 3 Test two new systems in Reed s lab Phase 4 Fix inevitable problems that arise during testing Phase 5 Test code on every system + Test optimized features Phase 6 Wrap-up Phase Optimization: Phase 1 Decide which new features can be added to optimize system+code Phase 2 Plan how to implement features Phase 3 Implement features Phase 4 Compare features to previous and determine if they are superior 23

24 B Conclusion There are some unique difficulties to working on a continuing project. Not being involved in the initial process of assembling and characterizing the parts of the system makes it harder to understand the system as a whole. While I feel comfortable with it now, it did take a while to understand how it worked. I am very pleased with the current state of the system. We have an aesthetic and stable design that is easy to connect and disconnect, which is precisely what we wanted. I hope to be able to replicate this design as well for the next two systems, and that they will be equally satisfactory. 24

25 Appendix A - Abbreviations 1) Laser Light amplification via the stimulated emission of radiation 2) HeNe Helium Neon 3) PCB Printed circuit-board 4) FET Flash Emulation Technology 5) ADC Analog to Digital Controller 6) LCD Liquid-Crystal Display 7) ERC Engineering Research Center 8) CAD Computer-Aided Design 9) CNC Computer Numerical Control 10) IDE Integrated Development Environment 11) RF Radio Frequency 12) PID Proportional, Integral, Derivative 25

26 Appendix B - Budget Many of the needed components were purchased in the previous semester, consequently it ll be much cheaper this semester. This Semester: Linear Actuator Motors(4)~$1700 Circular RF Shielded Connectors(24)~$680 Quadrant Photodiodes(4)~$800 Shielded Wire~$ Next Semester (Estimated) Microcontrollers(2)~$198 Front Panel PCB (1) ~$50 Metal cases for systems(2) ~$Unknown (guess: $100) Estimated total for 4 systems ~$7100 Estimated total for 1 system~$1800 This is excellent since our goal was to bring the cost in under $2,

27 Appendix C - Timelines Timeline 1: Design a back panel for the control system in Solidworks and machine it. 9/25 Test the currently established control system and determine any features or fixes that I might need to add. - 9/30 Establish a list of conditions that might negatively impact our system -10/25 Retest system under list of conditions that might negatively impact our system, need to determine that it s completely robust 10/31 Install 1 st Functional System in Reed s Lab and Test (David and Michael) 11/5 Add Shutoff Feature in Code for Beam-Break Conditions (Michael) Finish by 11/5 Machine case for second system (David) Finish by 10/31 Order PCBs for additional systems (David) Finish by 10/31 Assemble second system (David and Michael) Finish by 11/20 Test second system (Michael) Finish by 11/30 Have new code completely written and commented and tested (Michael) Finish by 11/30 Install 2 nd system in Reed s lab (David and Mcihael) Finish by end of Fall semester (or over break) Note: This should satisfy David s senior design requirements Order parts for third and fourth systems and do partial assembly (Michael) Finish by end of Fall semester (or over break) 27

28 Timeline 2 Design a back panel for the control system in Solidworks and machine it. Finish by 9/25 (Completed by David) Test the currently established control system and determine any features or fixes that I might need to add. (Completed by David and Michael) Finish by 9/30 Establish a list of conditions that might negatively impact our system (Michael) Finish by 10/25 Retest system under list of conditions that might negatively impact our system, need to determine that it s completely robust (David and Michael) Finish by 10/31 Install 1 st Functional System in Reed s Lab and Test (David and Michael) Finish by 11/5 Add Shutoff Feature in Code for Beam-Break Conditions (Michael) Finish by 11/5 Machine case for second system (David) Finish by 10/31 Order PCBs for additional systems (David) Finish by 10/31 Assemble second system (David and Michael) Finish by 11/20 Test second system (Michael) Finish by 11/30 Have new code completely written and commented and tested (Michael) Finish by 11/30 Install 2 nd system in Reed s lab (David and Mcihael) Finish by end of Fall semester (or over break) Note: This should satisfy David s senior design requirements Order parts for third and fourth systems and do partial assembly (Michael) Finish by end of Fall semester (or over break) 28

29 Timeline 3 Design a back panel for the control system in Solidworks and machine it. Finish by 9/25 (Completed by David) Test the currently established control system and determine any features or fixes that I might need to add. Finish by 9/30 [tested, works] (completed by David, Michael and Reed) Install first functional system in Reed's lab and test (Completed by David, Michael and Reed, works) Machine front and back panels for second system Finish by 10/11/13 (Completed by David) Machine new back panel to accomodate shielded connectors in back of system as requested by professor Rocca(Completed by David) Order PCBs and parts for additional systems Finish by 10/11/13 12/1/13 Assemble second system Finish by 11/15/13 (Michael and David, in progress) Test second system Finish by 11/22/13 (Michael and David, in progress) Write new code that is faster, more reliable and will stop moving motors if the beam is broken - Finish by 11/22/13 (Michael) Assemble and 3rd and 4th systems and install by end of spring semester 29

30 Timeline 4 Design a back panel for the control system in Solidworks and machine it. Finish by 9/25 (Completed by David) Test the currently established control system and determine any features or fixes that I might need to add. Finish by 9/30 [tested, works] (completed by David, Michael and Reed) Install first functional system in Reed's lab and test (Completed by David, Michael and Reed, works) Machine front and back panels for second system Finish by 10/11/13 (Completed by David) Machine new back panel to accomodate shielded connectors in back of system as requested by professor Rocca(Completed by David) Order PCBs and parts for additional systems Finish by 10/11/13 12/1/13 Next Semester Assemble second system Finish by 11/15/13 (Michael and David, in progress) Test second system Finish by 11/22/13 (Michael and David, in progress) Write new code that is faster, more reliable and will stop moving motors if the beam is broken - Finish by 11/22/13 (Michael) 30

31 Appendix D - Previous Code #include "msp430xg46x.h" #include <intrinsics.h> // Intrinsic functions #include <stdio.h> #include <string.h> int i1=0; int ib1=0; int i2=0; int ib2=0; int i3=0; int ib3=0; int ib4=0; int i4=0; int mm2=0; int mm1=0; int mm3=0; int mm4=0; int size=0; int tempx=0; int mount=0; unsigned int e, d, c, b, a, x, j, z,p, counter,nothing ; // Character //position index for string transmission volatile unsigned int i; unsigned long int Results[6], test[50], read0[101], read1[101], read2[101], read3[101], read4[101], read5[101], sum[6], compare[6], difference, AutoComp[4]; float number = 0.0; void delay(int x) for(int i=0;i<1000;i++) for(int j=0; j<x; j++) i++; void bmovemotor2(int x) mm2++; P2DIR = BIT4+BIT6; P3OUT = BIT4; if(i1%2==0) P3OUT = BIT6; if(i1%2==1) P3OUT &= ~BIT6; P3OUT &= ~BIT6; i1++; if(i1==10000) i1=0; void movemotor2(int x) mm2--; P3DIR = BIT4+BIT6; P3OUT &= ~BIT4; if(ib1%2==0) P3OUT = BIT6; 31

32 if(ib1%2==1) P3OUT &= ~BIT6; P3OUT &= ~BIT6; ib1++; if(ib1==10000) ib1=0; void movemotor1(int x) mm1--; P4DIR = BIT2; P2DIR = BIT3; P4OUT = BIT2; if(i2%2==0) P2OUT = BIT3; if(i2%2==1) P2OUT &= ~BIT3; P2OUT &= ~BIT3; i2++; if(i2==10000) i2=0; void bmovemotor1(int x) mm1++; P4DIR = BIT2; P2DIR = BIT3; P4OUT &= ~BIT2; if(ib2%2==0) P2OUT = BIT3; if(ib2%2==1) P2OUT &= ~BIT3; P2OUT &= ~BIT3; ib2++; if(ib2==10000) ib2=0; void movemotor3(int x) mm3--; P2DIR = BIT7; P4DIR = BIT6; P2OUT = BIT7; if(i3%2==0) P4OUT = BIT6; if(i3%2==1) P4OUT &= ~BIT6; P4OUT &= ~BIT6; i3++; 32

33 if(i3==10000) i3=0; void bmovemotor3(int x) mm3++; P2DIR = BIT7; P4DIR = BIT6; P2OUT &= ~BIT7; if(ib3%2==0) P4OUT = BIT6; if(ib3%2==1) P4OUT &= ~BIT6; P4OUT &= ~BIT6; ib3++; if(ib3==10000) ib3=0; void movemotor4(int x) mm4--; P5DIR = BIT0; P2DIR = BIT1; P5OUT = BIT0; if(i4%2==0) P2OUT = BIT1; if(i4%2==1) P2OUT &= ~BIT1; P2OUT &= ~BIT1; i4++; if(i4==10000) i4=0; void bmovemotor4(int x) mm4++; P5DIR = BIT0; P2DIR = BIT1; P5OUT &= ~BIT0; if(ib4%2==0) P2OUT = BIT1; if(ib4%2==1) P2OUT &= ~BIT1; P2OUT &= ~BIT1; ib4++; if(ib4==10000) ib4=0; // *********************************************** // * changestep subroutine controls motor speed * // * button is P10.7, MS1 is P3.7, MS2 is P4.7 * 33

34 // *********************************************** void changestep() P4DIR = BIT7; P3DIR = BIT7; size++; if(size%4==0) //full P4OUT &= ~BIT7; P3OUT &= ~BIT7; if(size%4==1) // 1/2 P4OUT &= ~BIT7; P3OUT = BIT7; if(size%4==2) // 1/4 P3OUT &= ~BIT7; P4OUT = BIT7; if(size%4==3) // 1/16 P4OUT = BIT7; P3OUT = BIT7; for(int k=0; k<10;k++) delay(5000); void manual() P4DIR =BIT7; P3DIR =BIT7; while((p7in&bit4)!=bit4) int tempx = P10IN; if((tempx & BIT7) ==BIT7) changestep(); volatile int temp=0; volatile int temp2=0; P5DIR=0; P4DIR =BIT7; P10DIR=0; P3DIR =BIT7; P2DIR=0; P7DIR=0; P7DIR =BIT0+BIT5; temp=p7in&bit6; if(temp==bit6) mount= mount+1; for(int i=1; i<100;i++) delay(1000); if(mount%2==0) P7OUT =BIT0; P7OUT &= ~BIT5; if(mount%2==1) 34

35 P7OUT =BIT5; P7OUT &= ~BIT0; temp=p2in&bit6; if(temp==bit6) if(mount%2==0) movemotor1(1); if(mount%2==1) movemotor3(1); //left temp=p2in&bit0; if(p2in&bit0==bit0) //right if(mount%2==0) bmovemotor1(1); if(mount%2==1) bmovemotor3(1); temp=p2in&bit2; if(temp==bit2) //down if(mount%2==0) movemotor2(1); if(mount%2==1) movemotor4(1); temp=p7in&bit7; if(temp==bit7) //up if(mount%2==0) bmovemotor2(1); if(mount%2==1) bmovemotor4(1); P7DIR = BIT7; P7OUT &= ~BIT7; P7DIR=BIT0+BIT5; P2DIR = BIT6; P2OUT &= ~BIT6; P2DIR = 0; P7DIR=BIT0+BIT5; P7OUT&=~BIT0; P7OUT&=~BIT5; void main(void) WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer P6DIR=0; P7DIR =0; P6SEL = 0xFF; // Enable A/D channel inputs ADC12CTL0 = ADC12ON + MSC + SHT0_2; // Turn on ADC12, set sampling //time ADC12CTL1 = SHP + CONSEQ_1; // Use sampling timer, single sequ ADC12MCTL0 = INCH_0; // ref+=avcc, channel = A0 35

36 ADC12MCTL1 = INCH_1; // ref+=avcc, channel = A1 ADC12MCTL3 = INCH_3; // ref+=avcc, channel = A3 ADC12MCTL4 = INCH_4; // ref+=avcc, channel = A4- ADC12MCTL5 = INCH_5; ADC12MCTL6 = INCH_6; ADC12MCTL7 = INCH_7+ EOS; // ref+=avcc, channel = A5, //end seq ADC12IE = 0x08; // Enable ADC12IFG.3 ADC12CTL0 = ENC; // Enable conversions // enable_interrupt(); // Enable interrupts FLL_CTL0 = XCAP14PF; do IFG1 &= ~OFIFG; for (i = 0x47FF; i > 0; i--); while ((IFG1 & OFIFG)); // Configure load caps // Clear OSCFault flag // Time for flag to set // OSCFault flag still set? // --- Initialize serial port (USCI) for baud 8-N-1 P2SEL = 0x30; // P2.5,4 = USCI_A0 RXD/TXD UCA0CTL1 = UCSSEL_1; // CLK = ACLK UCA0CTL1 = UCSSEL_2; // CLK = SMCLK UCA0BR0 = 0x37; // /19200 = = 0x37 UCA0BR1 = 0x00; // UCA0MCTL = 0x0C; // --- Initialize Basic Timer Module for periodic interrupts // Useful only for the beginning! BTCTL = BT_ADLY_32; // Interrupt every 32 mseconds BTCNT1=0x00; BTCNT2=0x00; // --- Main program starts here UCA0CTL1 &= ~UCSWRST; IE2 = UCA0RXIE; IE2 = BTIE; a=0; b=0; d=0; e=0; x=0; z=0; difference = 50; counter = 0; for(j=0;j<101;j++) read0[j] = 0; read1[j] = 0; read2[j] = 0; read3[j] = 0; // **Initialize USCI state machine** // Enable USCI_A0 RX interrupt // Enable Basic Timer interrupt sum[0] = 0; sum[1] = 0; sum[2] = 0; sum[3] = 0; compare[0] = 2047; compare[1] = 2047; compare[2] = 2047; compare[3] = 2047; 36

37 ADC12CTL0 = ADC12SC; // Start conversion while(1) // --- Go to sleep, waiting for interrupts _BIS_SR(LPM0_bits + GIE); printf("???\n"); // Enter LPM0, interrupts enabled // --- Interrupt routines --- #pragma vector=adc12_vector interrupt void ADC12ISR (void) if (z == 0) //delay(1000); z++; for (z=1;z<52;z++) read0[z] = ADC12MEM5; read1[z] = ADC12MEM0; read2[z] = ADC12MEM4; read3[z] = ADC12MEM1; read4[z] = ADC12MEM3; read5[z] = ADC12MEM6; //diode1 //diode2 ADC12CTL0 = ADC12SC; if (z == 1) sum[0] = read0[0]; sum[1] = read1[0]; sum[2] = read2[0]; sum[3] = read3[0]; sum[4] = read4[0]; sum[5] = read5[0]; else if (z < 51) sum[0] = sum[0] + read0[z]; sum[1] = sum[1] + read1[z]; sum[2] = sum[2] + read2[z]; sum[3] = sum[3] + read3[z]; sum[4] = sum[4] + read4[z]; sum[5] = sum[5] + read5[z]; else compare[0] = (sum[0]/50); compare[1] = (sum[1]/50); compare[2] = (sum[2]/50); compare[3] = (sum[3]/50); compare[4] = (sum[4]/50); compare[5] = (sum[5]/50); z = 1000; 37

38 nothing=0; for(j=0;j<101;j++) read0[j] = ADC12MEM5; read1[j] = ADC12MEM0; read2[j] = ADC12MEM4; read3[j] = ADC12MEM1; read4[j] = ADC12MEM3; read5[j] = ADC12MEM6; ADC12CTL0 = ADC12SC; // Start conversion if (j == 0) sum[0] = read0[0]; sum[1] = read1[0]; sum[2] = read2[0]; sum[3] = read3[0]; sum[4] = read4[0]; sum[5] = read5[0]; else if (j < 100) sum[0] = sum[0] + read0[j]; sum[1] = sum[1] + read1[j]; sum[2] = sum[2] + read2[j]; sum[3] = sum[3] + read3[j]; sum[4] = sum[4] + read4[j]; sum[5] = sum[5] + read5[j]; else Results[0] = (sum[0]/101); Results[1] = (sum[1]/101); Results[2] = (sum[2]/101); Results[3] = (sum[3]/101); Results[4] = (sum[4]/101); Results[5] = (sum[5]/101); no_operation(); ADC12CTL0 = ADC12SC; // Set breakpoint here // Start conversion if(results[0]>compare[0]+5) if(mm4>-1000) movemotor4(1); if(results[0]<compare[0]-5) if(mm4<1600) bmovemotor4(1); if(results[1]>compare[1]+5) if(mm3<850) bmovemotor3(1); if(results[1]<compare[1]-5) if(mm3>-850) movemotor3(1); 38

39 if(results[3]>compare[3]+5) if(mm2>-1600) movemotor2(1); if(results[3]<compare[3]-5) if(mm2<1600) bmovemotor2(1); if(results[4]>compare[4]+5) if(mm1>-1200) movemotor1(1); if(results[4]<compare[4]-5) if(mm1<1200) bmovemotor1(1); int temp4 = P7IN&BIT4; if(temp4!= BIT4) manual(); 39

40 Appendix E - New Code /******************************************************************************/ /* Michael M. Rader (michaelmrader@gmail.com) */ /* Control System for Auto-Alignment of Laser Mirrors */ /* This program includes manual and auto-alignment routines for */ /* Alignment of laser alignment mirrors for the EUV labs */ /******************************************************************************/ /**************/ /*Header Files*/ /**************/ #include "msp430xg46x.h" #include <intrinsics.h> #include <stdio.h> #include <string.h> //Includes definitions for MSP microcontroller /***********************/ /*Variable Declarations*/ /***********************/ int i1=0; int ib1=0; int i2=0; int ib2=0; int i3=0; int ib3=0; int i4=0; int ib4=0; int mm1=0; int mm2=0; int mm3=0; int mm4=0; int size=0; int tempx=0; int mount=0; unsigned int j, z; // Character position index for string transmission //volatile unsigned int Results[6], i; volatile unsigned int i; unsigned long int Results[6],read0[101],read1[101],read2[101],read3[101],read4[101],read5[101],sum[6],compare[6]; float number = 0.0; /*********************/ /*FUNCTION PROTOTYPES*/ /*********************/ void delay(int x); void movemotor1(int x); void bmovemotor1(int x); void movemotor2(int x); void bmovemotor2(int x); void movemotor3(int x); void bmovemotor3(int x); void movemotor4(int x); void bmovemotor4(int x); void changestep(); void manual(); /***************/ /*Main Function*/ /***************/ void main(void) WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer P6DIR = 0; // All channels of Port 6 are input P7DIR = 0; // All channels of Port 7 are input P6SEL = 0xFF; // Enable A/D channel inputs on all channels on port 6 ADC12CTL0 = ADC12ON + MSC + SHT0_2; // Turn on ADC12, set sampling time (16 cycles, 3.2 us) ADC12CTL1 = SHP + CONSEQ_1; // Use sampling timer, single sequence of all channels 40

41 ADC12MCTL0 = INCH_0; // ref+=avcc, channel = A0 ADC12MCTL1 = INCH_1; // ref+=avcc, channel = A1 ADC12MCTL2 = INCH_2; // ref+=avcc, channel = A2 ADC12MCTL3 = INCH_3; // ref+=avcc, channel = A3 ADC12MCTL4 = INCH_4; // ref+=avcc, channel = A4 ADC12MCTL5 = INCH_5; // ref+=avcc, channel = A6 ADC12MCTL6 = INCH_6; // ref+=avcc, channel = A7 ADC12MCTL7 = INCH_7+ EOS; // ref+=avcc, channel = A8, end seq ADC12IE = 0x08; // Enable ADC12IFG.3 (IFG refers to Interrupt Flag) ADC12CTL0 = ENC; // Enable conversions FLL_CTL0 = XCAP14PF; // Configure load caps to dampen parasitic capacitance /*The following sequence checks to see if the quartz oscillator has failed*/ do IFG1 &= ~OFIFG; // Clear OSCFault flag delay(19); // Delay for 19 us while flag sets while ((IFG1 & OFIFG)); // Checks if OSCFault flag still set /* Initialize serial port (USCI) for baud 8-N-1 */ P2SEL = 0x30; // P2.5,4 = USCI_A0 RXD/TXD UCA0CTL1 = UCSSEL_1; // CLK = ACLK UCA0CTL1 = UCSSEL_2; // CLK = SMCLK UCA0BR0 = 0x37; // /19200 = = 0x37 UCA0BR1 = 0x00; // UCA0MCTL = 0x0C; // /* Initialize Basic Timer Module for periodic interrupts */ /* Useful only for the beginning! */ BTCTL = BT_ADLY_32; // Interrupt every 32 mseconds BTCNT1=0x00; BTCNT2=0x00; // --- Main program starts here UCA0CTL1 &= ~UCSWRST; IE2 = UCA0RXIE; IE2 = BTIE; // Initialize USCI state machine // Enable USCI_A0 RX interrupt // Enable Basic Timer interrupt z=0; //Simple dummy variable for interrupt routine /*The below routine zeros out read matrices*/ for(i=0;i<101;i++) read0[i] = 0; read1[i] = 0; read2[i] = 0; read3[i] = 0; /*Set sum matrices to 0*/ sum[0] = 0; sum[1] = 0; sum[2] = 0; sum[3] = 0; /*Set compare matrices to constant 2047*/ compare[0] = 2047; compare[1] = 2047; compare[2] = 2047; compare[3] = 2047; ADC12CTL0 = ADC12SC; // Start conversion while(1) //Enter infinite loop while waiting for interrupt _BIS_SR(LPM0_bits + GIE); // Enter Low Power Mode and enable interrupts printf("???\n"); 41

42 /*******************/ /*INTERRUPT ROUTINE*/ /*******************/ #pragma vector=adc12_vector interrupt void ADC12ISR (void) if (z == 0) //This loop is only accessed once z++; for (z=1;z<52;z++) read0[z] = ADC12MEM5; //diode1 read1[z] = ADC12MEM0; read2[z] = ADC12MEM4; read3[z] = ADC12MEM1; //diode2 read4[z] = ADC12MEM3; read5[z] = ADC12MEM6; ADC12CTL0 = ADC12SC; if (z == 1) sum[0] = read0[0]; sum[1] = read1[0]; sum[2] = read2[0]; sum[3] = read3[0]; sum[4] = read4[0]; sum[5] = read5[0]; else if (z < 51) sum[0] = sum[0] + read0[z]; sum[1] = sum[1] + read1[z]; sum[2] = sum[2] + read2[z]; sum[3] = sum[3] + read3[z]; sum[4] = sum[4] + read4[z]; sum[5] = sum[5] + read5[z]; else compare[0] = (sum[0]/50); compare[1] = (sum[1]/50); compare[2] = (sum[2]/50); compare[3] = (sum[3]/50); compare[4] = (sum[4]/50); compare[5] = (sum[5]/50); z = 1000; for(j=0;j<101;j++) read0[j] = ADC12MEM5; read1[j] = ADC12MEM0; read2[j] = ADC12MEM4; read3[j] = ADC12MEM1; read4[j] = ADC12MEM3; read5[j] = ADC12MEM6; ADC12CTL0 = ADC12SC; // Start conversion if (j == 0) 42

43 sum[0] = read0[0]; sum[2] = read2[0]; sum[3] = read3[0]; sum[4] = read4[0]; sum[5] = read5[0]; else if (j < 100) sum[0] = sum[0] + read0[j]; sum[1] = sum[1] + read1[j]; sum[2] = sum[2] + read2[j]; sum[3] = sum[3] + read3[j]; sum[4] = sum[4] + read4[j]; sum[5] = sum[5] + read5[j]; else Results[0] = (sum[0]/101); Results[1] = (sum[1]/101); Results[2] = (sum[2]/101); Results[3] = (sum[3]/101); Results[4] = (sum[4]/101); Results[5] = (sum[5]/101); no_operation(); ADC12CTL0 = ADC12SC; // SET BREAKPOINT HERE // Start conversion if(results[0]>compare[0]+5) if(mm4>-1000) movemotor4(1); if(results[0]<compare[0]-5) if(mm4<1600) bmovemotor4(1); if(results[1]>compare[1]+5) if(mm3<850) bmovemotor3(1); if(results[1]<compare[1]-5) if(mm3>-850) movemotor3(1); if(results[3]>compare[3]+5) if(mm2>-1600) movemotor2(1); if(results[3]<compare[3]-5) 43

44 if(mm2<1600) bmovemotor2(1); if(results[4]>compare[4]+5) if(mm1>-1200) movemotor1(1); if(results[4]<compare[4]-5) if(mm1<1200) bmovemotor1(1); int temp4 = P7IN&BIT4; if(temp4!= BIT4) // should!= be =??? manual(); /**********************/ /*FUNCTION DEFINITIONS*/ /**********************/ /**********************************************************/ /*DELAY FUNCTION */ /*INPUTS: integer x */ /*Creates an arbitrary period of delay given by integer x */ /*125 ns instruction cycle time */ /*Delay is given roughly by function 125*(x+1)[us] */ /**********************************************************/ void delay(int x) for(int i=0;i<1000;i++) for(int j=0; j<x; j++) i++; /**********************************************************/ /*MOVE MOTOR FUNCTIONS */ /*INPUTS: integer x */ /*Each input will step the motor by 1 linear step */ /*1 linear step is about 1.5 um */ /**********************************************************/ void bmovemotor2(int x) mm2++; //Counter variable to keep motor within a maximum range P2DIR = BIT4+BIT6; // P3OUT = BIT4; if(i1%2==0) P3OUT = BIT6; if(i1%2==1) P3OUT &= ~BIT6; P3OUT &= ~BIT6; 44

45 i1++; if(i1==10000) i1=0; void movemotor2(int x) mm2--; //printf("2"); P3DIR = BIT4+BIT6; P3OUT &= ~BIT4; if(ib1%2==0) P3OUT = BIT6; if(ib1%2==1) P3OUT &= ~BIT6; P3OUT &= ~BIT6; //delay(10); ib1++; if(ib1==10000) ib1=0; void movemotor1(int x) mm1--; P4DIR = BIT2; P2DIR = BIT3; P4OUT = BIT2; if(i2%2==0) P2OUT = BIT3; if(i2%2==1) P2OUT &= ~BIT3; P2OUT &= ~BIT3; //delay(10); i2++; if(i2==10000) i2=0; void bmovemotor1(int x) mm1++; P4DIR = BIT2; P2DIR = BIT3; P4OUT &= ~BIT2; if(ib2%2==0) P2OUT = BIT3; if(ib2%2==1) P2OUT &= ~BIT3; P2OUT &= ~BIT3; //delay(10); ib2++; if(ib2==10000) ib2=0; void movemotor3(int x) mm3--; 45

46 P2DIR = BIT7; P4DIR = BIT6; P2OUT = BIT7; if(i3%2==0) P4OUT = BIT6; if(i3%2==1) P4OUT &= ~BIT6; P4OUT &= ~BIT6; //delay(10); i3++; if(i3==10000) i3=0; void bmovemotor3(int x) mm3++; P2DIR = BIT7; P4DIR = BIT6; P2OUT &= ~BIT7; if(ib3%2==0) P4OUT = BIT6; if(ib3%2==1) P4OUT &= ~BIT6; P4OUT &= ~BIT6; //delay(10); ib3++; if(ib3==10000) ib3=0; void movemotor4(int x) mm4--; P5DIR = BIT0; P2DIR = BIT1; P5OUT = BIT0; if(i4%2==0) P2OUT = BIT1; if(i4%2==1) P2OUT &= ~BIT1; P2OUT &= ~BIT1; // i4++; if(i4==10000) i4=0; void bmovemotor4(int x) //probably need a forward and a backward function mm4++; P5DIR = BIT0; P2DIR = BIT1; P5OUT &= ~BIT0; if(ib4%2==0) P2OUT = BIT1; if(ib4%2==1) P2OUT &= ~BIT1; P2OUT &= ~BIT1; 46

47 // ib4++; if(ib4==10000) ib4=0; void changestep() //button is P10.7, MS1 is P3.7, MS2 is P4.7 //printf("button"); P4DIR = BIT7; P3DIR = BIT7; size++; if(size%4==0) //full P4OUT &= ~BIT7; P3OUT &= ~BIT7; if(size%4==1) // 1/2 P4OUT &= ~BIT7; P3OUT = BIT7; if(size%4==2) // 1/4 P3OUT &= ~BIT7; P4OUT = BIT7; if(size%4==3) // 1/16 P4OUT = BIT7; P3OUT = BIT7; for(int k=0; k<10;k++) delay(5000); void manual() P4DIR =BIT7; P3DIR =BIT7; //printf("i am awesome\n"); while((p7in&bit4)!=bit4) //printf("manloop\n"); int tempx = P10IN; //printf("%d\n", tempx); if((tempx & BIT7) ==BIT7) changestep(); volatile int temp=0; volatile int temp2=0; P5DIR=0; P4DIR =BIT7; P10DIR=0; P3DIR =BIT7; P2DIR=0; P7DIR=0; P7DIR =BIT0+BIT5; temp=p7in&bit6; //printf("%d\n", temp); if(temp==bit6) // printf("%d\n", temp); mount= mount+1; for(int i=1; i<100;i++) delay(1000); if(mount%2==0) P7OUT =BIT0; //printf("0\n"); 47

48 P7OUT &= ~BIT5; if(mount%2==1) //printf("1\n"); P7OUT =BIT5; P7OUT &= ~BIT0; temp=p2in&bit6; if(temp==bit6) //left //printf("left\n"); if(mount%2==0) movemotor1(1); if(mount%2==1) movemotor3(1); temp=p2in&bit0; if(p2in&bit0==bit0) //right //printf("right\n"); if(mount%2==0) bmovemotor1(1); if(mount%2==1) bmovemotor3(1); temp=p2in&bit2; if(temp==bit2) //down // printf("down\n"); if(mount%2==0) movemotor2(1); if(mount%2==1) movemotor4(1); temp=p7in&bit7; if(temp==bit7) //up //printf("up\n"); if(mount%2==0) bmovemotor2(1); if(mount%2==1) bmovemotor4(1); P7DIR = BIT7; P7OUT &= ~BIT7; P7DIR=BIT0+BIT5; P2DIR = BIT6; P2OUT &= ~BIT6; P2DIR = 0; P7DIR=BIT0+BIT5; P7OUT&=~BIT0; P7OUT&=~BIT5; 48

49 Appendix F - Parts List for Wireless PCB C1.22uf ND C2.1uf ND C3.1uf ND C4.1uf ND C5.1uf ND C6.1uf ND C7.1uf ND C8.1uf ND C9.1uf ND C10.1uf ND C11.1uf ND C12.1uf ND C13 10uf ND D1 LED D2 LED D3 LED ND D4 LED ND D F1 J1 J2 J3 J4 J5 J6 J7 J8 J10 J11 J12 Q F1451CT-ND WM4200 WM4204 WM4204 WM4200 WM4204 WM4204 WM4204 WM4621 WM4200 WM4204 WM4200 LM317 R1 100 P100GCT-ND R2 698 P698HCT-ND R3 499 P499HCT-ND R4 130 P130GCT-ND R5 1k P1.00KHCT-ND R6 1k P1.00KHCT-ND R7 100k P100KHCT-ND R8 1k P1.00KHCT-ND R9 1k P1.00KHCT-ND R10 100k P100KHCT-ND R11 1k P1.00KHCT-ND R12 1k P1.00KHCT-ND 49

50 R13 100k P100KHCT-ND R14 1k P1.00KHCT-ND R15 1k P1.00KHCT-ND R16 100k P100KHCT-ND R17 1k P1.00KHCT-ND R18 1k P1.00KHCT-ND R19 100k P100KHCT-ND R20 1k P1.00KHCT-ND R21 1k P1.00KHCT-ND R22 100k P100KHCT-ND R23 100k P100KHCT-ND R P220GCT-ND R P130GCT-ND R P130GCT-ND R27 10 P10GCT-ND SW1 SW2 CKN1047-ND CKN1047-ND U LM340 LM340T-5.0-ND U3 dc-dc conv ND U4 Decoder ND U5 Receiver RXM-315-LR 50

51 Appendix G - Parts List for Motor Driver PCB Part Value Device Package Library Sheet C1 0.1uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C10 0.1uF CAP SparkFun 1 C11 0.1uF CAP SparkFun 1 C12 0.1uF CAP SparkFun 1 C13.33uF CAP_POL1206 EIA3216 SparkFun 1 C uF CAP SparkFun 1 C19 0.1uF CAP SparkFun 1 C20 0.1uF CAP SparkFun 1 C21 0.1uF CAP SparkFun 1 C22 0.1uF CAP SparkFun 1 C23 0.1uF CAP SparkFun 1 C24 0.1uF CAP SparkFun 1 C25 0.1uF CAP SparkFun 1 C26 0.1uF CAP SparkFun 1 C27 0.1uF CAP SparkFun 1 C28 0.1uF CAP SparkFun 1 C29 0.1uF CAP SparkFun 1 C30 0.1uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C uF CAP SparkFun 1 C45 100uF CAP_POLG PANASONIC_G SparkFun 1 C46 100uF CAP_POLG PANASONIC_G SparkFun 1 C47 100uF CAP_POLG PANASONIC_G SparkFun 1 C48 100uF CAP_POLG PANASONIC_G SparkFun 1 Part Value Device Package Library Sheet 51