• Team Meetings: Every other Friday @ Noon
  
• Progress report
• Team coordination
• Goal Setting

• Sub-Teams had additional individual meetings

• Breakout board of the Atmega 329
• 5V 16MHz version
• Atmega 329
  
• Reset push-button
• Indicator LED
• Communication
• I2C
  
• SPI
  

• Adafruit breakout board - PCA9685PW
• Communicates with Arduino via I2C communication port
• 16 individual outputs which are ordered into triplets: 2 control signals, 1 PWM signal
• Control signals govern motor direction and "braking"
• All outputs are 5 V logical signals
  

• Absolute, Analog Voltage, Continuous Rotation
• 0 V to 5 V
• Voltage directly proportional to angular position of encoder shaft
  

• CD74HC4067 - 4 bit, 16 input multiplexer
• Multiplexes or "converges" 5 independent encoder signal inputs into one output pin
• Reduces number of Analog pins required on the microcontroller
  
• Each input from 0 to 15 corresponds to a 4 bit binary address

• VEX Robotics kit component
• Low voltage motor can be run on 5V signal
• Run with half L298 H-Bridge
  

• SistineChapel - Arduino Software
• motorController - lowest level of code and directly controls the in/out pins 
• multiplexer - next level of code to control the multiplexer on the circuit board
• robotArm - contains the basic functions to control the movements of the arm
• PMotorSpeed - contains proportional calculations for the PID controller
• PIMotorSpeed - inherits PMotorSpeed class and contains integration calculations for the PID controller
• commandProcessor - communicates between the Arduino and Raspberry Pi
• debugger -  test and debugging purposes

• Encoder value is measured by the Arduino with an Analog to Digital Converter (ADC)
• ADC Type : Sample and Hold
• Key Concept of ADC Type : Successive Approximation
  
• Key Electrical Components : Input Capacitor and large series resistor
• ADC Resolution is 10 bit
• 1024 possibilities (5V/1024)
• Resolution is 0.0048828 V / bit

• The electronics will switch from Arduino to the Beaglebone Black
• multiplexer and PWM generator will be unnecessary
• encoders will connect directly to the Beaglebone Black along with motor drivers
• The arm will have an independent power supply
• Pressure sensor will be added for grip measurement and control
• Emergency stop
• Add end stops
• Convert to independent Delta Sigma ADC for faster conversion
  

• Use stepper motors to allow for precise movement
  
  
• The communication and microcontroller limitations will be resolved by using a new microcontroller
  
  
• Collision detection will be handled by ROS

• Change microcontrollers
• Arduino + RaspberryPi -> BeagleBone Black
  
  
• Install ROS on new microcontroller
• Use ROS collision detection and inverse kinematics libraries
  
  
• Rewrite control code
  
  
• Develop speed controllers that handle dynamic loads

• Mechanical Team 
• Prototype and Revise
• Electrical Team
• Replicate Functionality and Improve
• Software Team
• Expand on Mature Codebase

• Finding necessary parts
  

• Cost efficiency
  

• Defining quantities
  

• Compiling Bill of Materials
  

• Placing orders in a timely maner
  

• Using computer aided design tools
  

• Dimensioning custom parts
  

• Considering size expansion
  

• Improving stability
  

• Anaheim Automation
  
• Nema 17
  
• Length: 1.87 in
  
• Lead wires: 4
  
• Using: 8
  

Z-Axis

• 1/4"-20 Lead screw
• Coupled to motor using plastic hose
• Nut: Printed and tapped

• Primary source of design

• Used Atmega 1284

• Single Extruder

• Supports heated bed
  

• Compiling Bill of Materials

• Learning the importance of submitting in a timely matter 

• Microcontroller board based on the ATmega2560
  

• Power pins:
• Input voltages are regulated to 5V 
• GND. Ground pins

• 16 analog inputs
  

• Mechanical endstop
• using 4
• 2 for x-axis, 1 for y-axis, 1 for z-axis

• Purpose: 
• Designates the origin of the coordinate system

• Connected directly to Arduino
• one line to 5V, other to digital pins

• L297

• L297 Stepper motor controller IC 

• Step and Direction Translator
• bipolar stepper motors
• single winding per phase
• Requires only clock & direction signals

• L298

• A-4988 board

• Step and direction pins will communicate with the Atmega 2560

• 6 motor drivers:
• 2 x-axis
• 2 extruders 
• 1 y-axis
• 2 z-axis

• Heater and Thermistor Board
• Heat up extruders, TEC place, & control the fans
• Measure temperatures of 2 extruders & electronics area for safety 

• Etched PCB Resistive heater

• Calculated current of 45 A

• Driven by MOSFET
• Requires independent PCB with large surface area of copper to supply sufficient current
• Requires larger flyback diode
  

• TEC
• 3 Amps max power
• Engaged when print job is finished

• Heater Block
• Resistive heater
  
• 3 Amps max power

• Digital Multimeter

• Oscilloscope
  

• Function Generator
  

• Soldering Station/Desoldering Station
  

• Power Supply
  

• Hot Air Station
  

• Understanding massive starting code base 
• Dozens of classes
  
• 30+ thousand lines of code
  
  
• Dual extruder carriage with independent movements
  
• Non-standard 3D printer feature
  
  
• Time constraints