• Breakout board of the Atmega 329
• 5V 16MHz version
• Atmega 329
• 16MHz crystal oscillator
• 3.3V voltage regulator
• Reset push-button
• Indicator LED

• Arduino pro mini contains 13 digital pins and 4 analog pins
• digital pins receive and transmit information in binary form
• analog pins feed into 10-bit analog to digital converter, and read a voltage from 0V to 5V
• 
  

• Two methods of communication
• SPI bus
• reserved for USB communication
• I2C bus
  
• requires one device to be set as the Master and subsequent devices to be set as slaves
• occupied by the PWM generator

• Adafruit breakout board - PCA9685PW
• requires 5V power and ground and standard two wire I2C communication port
• 16 individual outputs which are ordered into triplets: 2 control signal, 1 PWM signal
• 2 control signal - directional/control outputs
• 
  

• VNH2SP30 - dual H-Bridge motor driver carrier
• capable of supplying 30A of current to the motors
• MC33926 - standard H-Bridge motor driver carrier
• capable of supplying 3A (5A peak) of current to the motors

• The arm requires 5 encoders
• 
  

• 
  
• CD74HC4067 - 4 bit, 16 input multiplexer
• Each input from 0 to 15 corresponds to a 4 bit binary address

• 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

• Narthex - Raspberry software
• Narthex - composed of two main parts
• Server side
• Client side

• Narthex server side uses Python
• Utilizes the Twisted even driven networking engine
• Narthex server sides forms a bridge to allow communication between the Arduino and the remote control interface
• Communicates with the Arduino using Serial over USB
• Server side has three main parts:
• server.py
• The main program which runs all the other portions of the code
• PrometheusSerial.py
• handles communication with the Arduino
• PrometheusSocket.py
• Handles communication with the remote control interface
• Narthex is designed to handle multiple remote control interfaces at the same time

• The client side served to the users' browsers when they point it the IP or the Raspberry Pi
• 10.33.0.2
• The webpage contains Javascript
• Provides communication with the server side and the Arduinio
• The interface makes use of serveral 3rd party javascript libraries
• three.js
• Provides the 3D rendering of the arm to give the user visual
• knockout.js
• Provides two-way synchronization between the Javascript data models and the user interface

• Fundamental design of the circuitry is inherently flawed
• Arduino appeared to never read the full range of the analog encoder
• The incoming signal never reached 0V or 5V
• The source of the problem is due to the type of ADC on the ATMEGA328 chip

• The I2C bus is a serial port which adds a delay between commands and motion
• The multiplexer adds on through its propagation delay
• The multiplexer adds unecessary resistance to the encoder voltage

• The motorController class requires modification of the speed function
• The robotArm class contains low level codes to directly communicate with in/out pins
• PMotorSpeed, PIMotorSpeed classes both require tuning of proportional and integral terms for more accuracy
• PIDMotorSpeed is not complete and also would require tuning
• commandProcessor class does not have any problem on the software side; however, due to hardware limitations

• The client side of the Narthex code is not completely tested and has several issues
• The remote control interface does not correctly read the joint limits
• Features for multi-client syncing have been build into Narthex but are not finished
• Remote control interface does not take collision detection into account
• The remote control interface also does not read the setpoints from the Arduino when it is first started

• 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

• The solution to control the speed of the motors is not yet figured out and will be one of the criteria for the future work
• The direct communication between the in/out pins and the arduino is temporary and will be abstracted away
• PID controller will require tuning and this can be done through series of testing and calculations
• The issue found in communicating between arduino and raspberry pi will be addressed by change in hardware

• Hardware change
• In version 2, arduino and raspberry pi will be replaced by single board, Beaglebone Black
• With the change in hardware, the software team can integrate ROS and their inverse kinematics libraries
• The software team will rewrite the code in order to run Prometheus with this new Beaglebone Black
• PID controller requires coding to accommodate the new board
• Once the PID controller codes are written, the software team needs to tune the PID in order to minimize the errors

• Capstone Advisor: Voden, Tom
• Mechanical Mentor: Toorian, Armen
• Electrical Mentor: Ohanian, Richard
• Software Mentor: Isayan, Sevada

• Mechanical :
•  Zograbian, Roman
• Electrical:
•  Hovhannisyan, Ernest

• Software:
•  Kim, Sung Hoon
• Litomisky, Marek

• Mechanical
  
• Electrical
  
• Software
  

• Progress check
  
• Systems coordination
  

Z-Motion

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

• Heat sensor
• Glass w/ clamps
• Heat bed
  
• Aluminum plate
  
• TEC
• Heat sink
  
• Fan
  

• Initial design: Belt drive system.
• Changed to same drive system as Z-axis.
• Zero-Backlash nut.

• Initially we directly soldered onto prototype boards
• boards did not work -->
•  switched to using solderless breadboards for layout and testing
• minimized errors and number of boards/parts wasted

• Used perforated prototype board for final motor driver board & heater and temperature board

• Future goal: plan and design a PCB
• neater, physically more appealing, space reduction 

• Selecting components that meet specifications 

• Defining quantities 

• Learning the importance of submitting in a timely matter 

• Learned to define specifications that will work with existing circuitry 

• Power
  
• Can be powered via the USB connection or with an external power supply - we are connecting to a computer via  USB  to power 
  
• Board has two voltage regulators: 5V & 3.3V
  
• The power pins:
• 5V. Outputs a regulated 5V from the regulator on board.  Our board  will be supplied with power from the USB connector (5V).
• 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.
• GND. Ground pins.

• Input/Output
• Each of the 54 digital pins on the Mega can be used as an input or output, using pinMode(), digitalWrite(), and digitalRead() functions
• They operate at 5 volts
• Each pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
  
• The Mega2560 has 16 analog inputs
  

• Mechanical endstop
• using 4
• 2 for x-axis, 1 for y-axis, 1 for z-axis
• Purpose: 
• for software:  by pressing the endstop, designates the origin of the coordinate system
• necessary because with the origin, cannot know/control where the motors are/go
• Connected directly to Arduino
• one line to 5V, other to digital pins on the Arduino 

• L297 Stepper motor controller IC generates four phase drive signals for two phase bipolar and four phase unipolar step motors
• Can be driven in half step, normal and wave drive modes
• Requires only clock, direction and mode input signals
• Can be used with monolithic bridge drives such as L298
• L298 is an integrated monolithic circuit
• It is high voltage, high current dual full-bridge driver
• Designed to accept standard TTL logic levels
• Two enable inputs are provided to enable or disable the device independently of the input signals
• 
  

• A-4988 board
• each driver has step and direction pins which will communicate with the Atmega 2560
• Total of 6 motor drivers:
• 2 x-axis
• 2 independent motor drivers to control  2 separate motions
• 2 extruders
• to print different materials    
  
• 1 y-axis
• will drive 2 motors in parallel
• 2 z-axis
• will drive 2 motors in parallel per motor driver
• one signal is shared between the two motor drivers

• Heater and Thermistor Board
• Function: heat up the extruders, TEC place, & control the fan
• 2nd Function: measure temperatures of 2 extruders and electronics area for safety 
• Independent board to heat up as well as measure the temp. of the bed

• Etched PCB Resistive heater

• Designed for 12 V nominal power

• Calculated current of approximately 45 A

• things and stuff
• 
  

• Resistive heater
• Standard Glow Plug
• 3 A max 

• 10k Ohm Thermistor
• NTC Type
• max temperature

• Digital Multimeter
  
• Oscilloscope
  
• Function Generator
  
• Soldering Station/Desoldering Station
  
• Power Supply
  
• Hot Air Station
  

• Heater bed requires a separate board due to high amperage 
• 5 identical motor drivers are no longer working with the board
• Ground is not properly made