PROGRAMMING WITH

ARDUINO

Arduino
An open-source hardware platform based
on an Atmel AVR 8-bit microcontroller and
a C++ based IDE
Over 300000 boards have been
manufactured
Arduino Due is based on a 32-bit ARM
Cortex

Typical Arduino Board

Arduino IDE

Important functions
Serial.println(value);
Prints the value to the Serial Monitor on your
computer

pinMode(pin, mode);
Configures a digital pin to read (input) or write
(output) a digital value

digitalRead(pin);
Reads a digital value (HIGH or LOW) on a pin set for
input

digitalWrite(pin, value);
Writes the digital value (HIGH or LOW) to a pin set for
output

Using LEDs

void setup()
{
pinMode(77, OUTPUT);
//configure pin 77 as
output
}
// blink an LED once
void blink1()
{
digitalWrite(77,HIGH); // turn the LED on
delay(500); // wait 500 milliseconds
digitalWrite(77,LOW); // turn the LED off
delay(500); // wait 500 milliseconds
}

Creating infinite loops

void loop() //blink a LED repeatedly
{
digitalWrite(77,HIGH); // turn the
LED on
delay(500); // wait 500 milliseconds
digitalWrite(77,LOW); // turn the LED
off
delay(500); // wait 500 milliseconds
}

Using switches and buttons

const int inputPin = 2; // choose the input pin
void setup() {
pinMode(inputPin, INPUT); // declare pushbutton as input
}
void loop(){
int val = digitalRead(inputPin); // read input value
}

Reading analog inputs and scaling

const int potPin = 0; // select the input pin for the
potentiometer
void loop() {
int val; // The value coming from the sensor
int percent; // The mapped value
val = analogRead(potPin); // read the voltage on the pot
(val ranges from 0 to 1023)
percent = map(val,0,1023,0,100); // percent will range
from 0 to 100.

Creating a bar graph using LEDs

const int NoLEDs = 8;
const int ledPins[] = { 70, 71, 72, 73, 74, 75, 76, 77};
const int analogInPin = 0; // Analog input pin const int
wait = 30;
const boolean LED_ON = HIGH;
const boolean LED_OFF = LOW;
int sensorValue = 0; // value read from the sensor
int ledLevel = 0; // sensor value converted into LED
'bars'
void setup() {
for (int i = 0; i < NoLEDs; i++)
{
pinMode(ledPins[i], OUTPUT); // make all the LED pins
outputs
}
}

Creating a bar graph using LEDs

void loop() {
sensorValue = analogRead(analogInPin); // read the analog
in value
ledLevel = map(sensorValue, 0, 1023, 0, NoLEDs); // map to
the number of LEDs
for (int i = 0; i < NoLEDs; i++)
{
if (i < ledLevel ) {
digitalWrite(ledPins[i], LED_ON); // turn on pins less than
the level
}
else {
digitalWrite(ledPins[i], LED_OFF); // turn off pins higher
than the level:
}
}
}

Measuring Temperature
const int inPin = 0; // analog pin
void loop()
{
int value = analogRead(inPin);
float millivolts = (value / 1024.0) *
3300; //3.3V analog input
float celsius = millivolts / 10; //
sensor output is 10mV per degree
Celsius
delay(1000); // wait for one second
}

Reading data from Arduino

void setup()
{
Serial.begin(9600);
}
void serialtest()
{
int i;
for(i=0; i<10; i++)
Serial.println(i);
}

Sending data to Arduino

Connecting LCDs

Using LCDs
#include <LiquidCrystal.h> // include the library
//constants for the number of rows and columns in
const int numRows = 2;
const int numCols = 16;
// initialize the library with the numbers of the
pins
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
void setup()
{
lcd.begin(numCols, numRows);
lcd.print("hello, world!"); // Print a message to
}

code
the LCD

interface

the LCD.

Using PIR motion sensors

Using PIR motion sensors

const int ledPin = 77; // pin for the LED
const int inputPin = 2; // input pin (for the PIR sensor)
void setup() {
pinMode(ledPin, OUTPUT); // declare LED as output
pinMode(inputPin, INPUT); // declare pushbutton as input
}
void loop(){
int val = digitalRead(inputPin); // read input value
if (val == HIGH) // check if the input is HIGH
{
digitalWrite(ledPin, HIGH); // turn LED on if motion
detected
delay(500);
digitalWrite(ledPin, LOW); // turn LED off
}
}

Using ultrasonic sensors

The ping sound pulse is generated when the
pingPin level goes HIGH for two microseconds.
The sensor will then generate a pulse that
terminates when the sound returns.
The width of the pulse is proportional to the
distance the sound traveled
The speed of sound is 340 meters per second,
which is 29 microseconds per centimeter. The
formula for the distance
of the round trip is: RoundTrip = microseconds /
29

Using ultrasonic sensors

const int pingPin = 5;
const int ledPin = 77; // pin connected to LED
void setup()
{
Serial.begin(9600);
pinMode(ledPin, OUTPUT);
}
void loop()
{
int cm = ping(pingPin) ;
Serial.println(cm);
digitalWrite(ledPin, HIGH);
delay(cm * 10 ); // each centimeter adds 10 milliseconds delay
digitalWrite(ledPin, LOW);
delay( cm * 10);
}

Using ultrasonic sensors

int ping(int pingPin)
{
long duration, cm;
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);
return cm ;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}

Audio output
tone(speakerPin, frequency, duration); // play the
tone
delay(duration); //wait for the tone to finish

Example
Write a program that plays an A note (440
Hz) for 1 second when a motion sensor
detects motion.

Using Interrupts
On a standard Arduino board, two pins
can be used as interrupts: pins 2 and 3.
The interrupt is enabled through the
following line:
attachInterrupt(interrupt, function, mode)
attachInterrupt(0, doEncoder, FALLING);

Interrupt example
int led = 77;
volatile int state = LOW;
void setup()
{
pinMode(led, OUTPUT);
attachInterrupt(1, blink, CHANGE);
}
void loop()
{
digitalWrite(led, state);
}
void blink()
{
state = !state;
}

Timer functions (timer.h library)

int every(long period, callback)
Run the 'callback' every 'period' milliseconds. Returns
the ID of the timer event.
int every(long period, callback, int repeatCount)
Run the 'callback' every 'period' milliseconds for a
total of 'repeatCount' times. Returns the ID of the
timer event.
int after(long duration, callback)
Run the 'callback' once after 'period' milliseconds.
Returns the ID of the timer event.

Timer functions (timer.h library)

int oscillate(int pin, long period, int startingValue)
Toggle the state of the digital output 'pin' every 'period'
milliseconds. The pin's starting value is specified in
'startingValue', which should be HIGH or LOW.
Returns the ID of the timer event.
int oscillate(int pin, long period, int startingValue, int
repeatCount)
Toggle the state of the digital output 'pin' every 'period'
milliseconds 'repeatCount' times. The pin's starting
value is specified in 'startingValue', which should be
HIGH or LOW. Returns the ID of the timer event.

Timer functions (Timer.h library)

int pulse(int pin, long period, int startingValue)
Toggle the state of the digital output 'pin' just once
after 'period' milliseconds. The pin's starting value is
specified in 'startingValue', which should be HIGH or
LOW. Returns the ID of the timer event.
int stop(int id)
Stop the timer event running. Returns the ID of the
timer event.
int update()
Must be called from 'loop'. This will service all the
events associated with the timer.

Example (1/2)

#include "Timer.h"
Timer t;
int ledEvent;
void setup()
{
Serial.begin(9600);
int tickEvent = t.every(2000, doSomething);
Serial.print("2 second tick started id=");
Serial.println(tickEvent);
pinMode(13, OUTPUT);
ledEvent = t.oscillate(13, 50, HIGH);
Serial.print("LED event started id=");
Serial.println(ledEvent);
int afterEvent = t.after(10000, doAfter);
Serial.print("After event started id=");
Serial.println(afterEvent);
}

Example (2/2)
void loop()
{
t.update();
}
void doSomething()
{
Serial.print("2 second tick: millis()=");
Serial.println(millis());
}
void doAfter()
{
Serial.println("stop the led event");
t.stop(ledEvent);
t.oscillate(13, 500, HIGH, 5);
}

CHIPKIT MAX32 ARDUINO

BOARD

ChipKit MAX32

Microcontroller: PIC32MX795F512L
Flash Memory: 512K
RAM Memory: 128K
Operating Voltage: 3.3V
Operating Frequency: 80Mhz
Typical operating current: 90mA
Input Voltage (recommended): 7V to 15V
Input Voltage (maximum): 20V
I/O Pins: 83 total
Analog Inputs: 16
Analog input voltage range: 0V to 3.3V
DC Current per pin: +/-18mA
Advanced peripherals:
10/100 Ethernet MAC
USB 2.0 Full Speed OTG controller
2 CAN controllers.
External Interrupts: Pin 3 (INT0), Pin 2 (INT1), Pin 7 (INT2), Pin 21 (INT3), Pin 20
(INT4)

Basic I/O Shield

Features

128x32 pixel OLED graphic display

I2C temperature sensor
256Kbit I2C EEPROM
I2C daisy chain connector
4 push buttons
4 slide switches
8 discrete LEDs
4 open drain FET drivers
Analog potentiometer

Temperature Sensor
A digital temperature sensor is provided using a
Microchip TCN75A 2-Wire Serial Temperature Sensor.
The temperature sensor, IC2, is an I2C device, and is
located in the lower right corner of the board.
The TCN75A is rated for an accuracy of +/-1C and has
selectable resolution from 0.5C down to 0.0625C. The
seven bit device address is 1001000.
Digilent provides a library for accessing the temperature
sensor. This library is available on the Digilent web site
and in the third party library repository on github.
Using the temperature sensor with the MAX32 board
requires manually connecting the SDA and SCL pins to
the basic I/O shield

Configuring Temperature sensor

void config(uint8_t configuration)

Parameters
configuration - Value to be written to config register
This function writes the configuration register with the given value. There are a number of defined
values as described below that can be ord together to set multiple parameters. For example if
one
wished to put the device in one shot mode and use 12 bit resolution the following call could be
made.
Config(ONESHOT | RES12)
IOSHIELDTEMP_ONESHOT 0x80 //One Shot mode
IOSHIELDTEMP_RES9 0x00 //9-bit resolution (0.5C)
IOSHIELDTEMP_RES10 0x20 //10-bit resolution
IOSHIELDTEMP_RES11 0x40 //11-bit resolution
IOSHIELDTEMP_RES12 0x60 //12-bit resolution (0.0625C)
IOSHIELDTEMP_FAULT1 0x00 //1 fault queue bits
IOSHIELDTEMP_FAULT2 0x08 //2 fault queue bits
IOSHIELDTEMP_FAULT4 0x10 //4 fault queue bits
IOSHIELDTEMP_FAULT6 0x18 //6 fault queue bits
IOSHIELDTEMP_ALERTLOW 0x00 //Alert bit active-low
IOSHIELDTEMP_ALERTHIGH 0x04 //Alert bit active-high
IOSHIELDTEMP_CMPMODE 0x00 ///comparator mode.
IOSHIELDTEMP_INTMODE 0x02 //interrupt mode
IOSHIELDTEMP_STARTUP 0x00 //Shutdown disabled
IOSHIELDTEMP_SHUTDOWN 0x01 //Shutdown enabled
IOSHEIDLTEMP_CONF_DEFAULT //Power up initial configuration

Reading Temperature sensor

float getTemp()
Retrieves the current temp from the temp
sensor and converts the returned value
into a signed floating point value.

Example
void setup(){
IOShieldTemp.config(IOSHIELDTEMP_ONESHOT |
IOSHIELDTEMP_RES11 | IOSHIELDTEMP_ALERTHIGH);
}

void loop()
{
float temp;
int celsius;
char sign, msd_char, lsd_char;
//Get Temperature in Celsius.
temp = IOShieldTemp.getTemp();
}

Potentiometer

A potentiometer is provided on the board

to be used as an analog signal source or
analog control input. The pot is a 10Kohm
trimmer pot connected between the VCC3V3
supply and ground. The wiper of the pot is
connected to analog input A0.
The pot is read using the analogRead function.

OLED Display
128x32 pixels
Each individual pixel can only be on
(illuminated) or off (not illuminated)
The display is a serial device that is
accessed via an SPI interface.
write-only device

Using the OLED display

Initialization
Mode select
Character
Graphic
Drawing

Example
void setup()
{
IOShieldOled.begin();
}
void loop()
{
char toprint;
IOShieldOled.clearBuffer();
IOShieldOled.setCursor(0, 0);
toprint = A;
IOShield0led.putChar(toprint);
}

INTRODUCTION TO SENSORS

What is a sensor?
A device that receives a stimulus and
responds with an electrical signal.
A special type of transducer (device that
converts one type of energy into another

Common Sensors
Mechanical
Accelerometers
Gyroscopes

Optical
Photodetectors
Infrared

Semiconductor
Gas
Temperature
Magnetic

Example: Simple temperature

sensor
A RTD is a thermoresistive temperature
sensor. It is a metal element (in a ceramic
tube) whose resistance typically increases with
temperature, according to a known function.
A linear approximation is given by
Where a is the temperature coefficient, T is the
temperature in Kelvin and R0 the resistance in
a known temperature

Example
Calculate the temperature for a copper
RTD if R0 = 500 and room temperature
and a = 0.0043. The measured resistance
is 500.43

Sensor Characteristics (1/4)

Range
Full Scale Range
Operating Voltage Range

Accuracy
Transfer Function
S=F(x), where x is the measurand and S the electrical
signal (commonly Voltage)

Sensitivity
The change in input required to generate a unit
change in output

Sensor Characteristics (2/4)

Accuracy
Precision

Sensor Characteristics (3/4)

Error: the difference between the measured
value and true value
Systematic errors are reproducible
inaccuracies that can be corrected with
compensation methods
Interference errors
Operator errors etc.

Random error
Noise

Sensor Characteristics (4/4)

Hysterysis: the difference in output
between the rising and falling output
values for a given input

Example: Smoke sensor (1/2)

An MQ-2 smoke sensor reports smoke by the voltage
level it puts out.
The more smoke there is, the higher the voltage.
built-in potentiometer for adjusting sensitivity
Three pins:
Vdd input
Ground input
Analog output

Smoke sensor (2/2)

const int smokePin = 54; //sensor input
void setup() {
pinMode(smokePin, INPUT);
Serial.begin(9600);
}
void loop() {
int smoke_level = analogRead(smokePin); //read sensor
Serial.println(smoke_level);
if(smoke_level > 120) {
//calibrate accordingly
Serial.println("Smoke detected");
}
delay(100); // ms
}

References
M.J. McGrath, C. N. Scanaill and D. Nafus,
Sensor Technologies Healthcare, Wellness and
Environmental Applications, Apress, 2013
C.W. de Silva, Sensors and Actuators: Control
System Instrumentation, 2nd Edition, CRC Press,
2015
T. Karvinen and K. Karvinen, Make: Sensors: A
Hands-On Primer for Monitoring the Real World
with Arduino and Raspberry Pi, Maker Media,
Inc, 2014

ACTUATORS

Actuators
Device that turns energy (typically
electrical) to motion
Features
Force
Speed
Torque
Power
Efficiency

DC motor
Force is produced
(F=ILB) due to the
electric current in a
wire inside a magnetic
field.
Proportional to the
current, therefore can
be controlled by
potentiometer
Hard to control
precisely

Servo motors
A DC motor with a
control circuit
Servo motors are
controlled by PWM
through the control
pin

Servo motor control

#include <Servo.h>
Servo myservo; // create servo object to control a servo
void setup() {
int val = 180; // variable to control servo
myservo.attach(9); // pin 9 is a PWM pin
}
void loop() {
myservo.write(val);
// constant servo speed
delay(15);
// waits for the servo to get there
}

Stepper Motors

motor controlled by a series of electromagnetic coils.

The center shaft has a series of magnets mounted on it
the coils are alternately given current or not, creating
magnetic fields which repulse or attract the magnets on
the shaft, causing the motor to rotate.
allows for very precise control of the motor. it can be
turned in very accurate steps of set degree increments
two basic types
unipolar
bipolar

Example: Unipolar stepper motor

Four digital pins
required to
control the motor
Darlington
transistor array
used for
supplying the
power required

Stepper motor control

#include <Stepper.h> //the control sequence is in this library
const int stepsPerRevolution = 200; // motor-dependent
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11); //pins used
void setup() {
// set the speed at 60 rpm:
myStepper.setSpeed(60); //actually sets the delay between steps
}
void loop() {
// step one revolution in one direction:
myStepper.step(stepsPerRevolution);
delay(500);
}

INTERNET OF THINGS WITH

ARDUINO

Arduino with GPS (1/4)

Three modes:
Stand-alone: GPS obtains information such as position and
altitude with only the signal of the satellites
slowest of the three modes
AT+CGPSINFO command brings directly latitude, logtitude,
date, UTC time, altitude and speed
S-GPS: module connects to a GPS server
module calculates the position
A-GPS: Three modes
MS-Assisted: Server sends data and calculates position
MS-based: Server sends aiding data, module calculates
position
Stand-Alone: Module demodulates GPS data and calculates
position

Arduino with GPS (2/4)

AT+CGPSINFO returns the GPS info in a string:
[<latitude>],[<N/S>],[<longitude>],[<E/W>],[<date>],
[<UTC_time>],[<altitude>],[<speedOG>],[<course>]

Arduino with GPS (3/4)

int8_t answer;
int onModulePin= 2;
char gps_data[100]; //will perform 100 GPS data reads
int counter;
void setup(){
pinMode(onModulePin, OUTPUT);
Serial.begin(115200);
Serial.println("Starting...");
power_on();
delay(5000); // starts GPS session in stand alone mode
}
}
void power_on(){ //void power_on() should be placed AFTER void loop(), used here for lecture
digitalWrite(onModulePin,HIGH); //GPS module requires a 3 sec pulse on onModulePin
delay(3000);
digitalWrite(onModulePin,LOW);
}

Arduino with GPS (4/4)

void loop(){
answer = sendATcommand("AT+CGPSINFO","+CGPSINFO:",1000);
// request info from GPS
if (answer == 1) {
counter = 0;
do{
while(Serial.available() == 0);
//reading GPS data
gps_data[counter] = Serial.read();
counter++;
}
}
Serial.print("GPS data:");
//printing GPS data
Serial.print(gps_data);
}

Connecting through 3G (1/2)

int8_t answer;
int onModulePin = 2, aux;
char aux_str[50];
void setup(){
pinMode(onModulePin, OUTPUT);
Serial.begin(115200);
Serial.println("Starting...");
power_on();
delay(3000); //sets the PIN code
sprintf(aux_str, "AT+CPIN=%s", pin_number);
sendATcommand(aux_str, "OK", 2000);
delay(3000);

Connecting through 3G (2/2)

while( (sendATcommand("AT+CREG?", "+CREG: 0,1",
500) || sendATcommand("AT+CREG?", "+CREG: 0,5",
500)) == 0 ); // sets APN, user name and password
sprintf(aux_str, "AT+CGSOCKCONT=1,\"IP\",\"%s\"", apn);
sendATcommand(aux_str, "OK", 2000);
sprintf(aux_str, "AT+CSOCKAUTH=1,1,\"%s\",\"%s\"",
user_name, password);
sendATcommand(aux_str, "OK", 2000);
}