Homework 1 in Microcontrollers and practical robotics 1) a) 0 123.456 - 64 = 59.456 1 59.456 - 32 = 27.456 1 27.456 - 16 = 11.456 1 11.456 - 8 = 3.456 1 3.456 - 4 = 0 3.456 - 2 = 1.456 1 1 0.456 * 2 = 0.912 0 0.912 * 2 = 1.824 1 0.824 * 2 = 1.642 1 0.642 * 2 = 1.284 1 0.284 * 2 = 0.568 0 0.568 * 2 = 1.136 1 0.136 * 2 = 0.272 0 0,544 * 2 = 0,544 0 b)1111011.01110100 to hex 0111 => 7 1011 => 11 0111 => 7 0100 => 4 and so on.. answer is: 7B.74 c) 123.456 to base-5 100 = 400 20 = 40 3=3 400 + 40 + 3 = 443 5^-1 = 0,2 5^-2 = 0,04 5^-3 = 0,008 0,456/0,2 = 2 0,056/0,04 = 1,4 0,4/0,2 = 2 Final answer 443.212 d) 1 = 0001 2 = 0010 3 = 0011 4 = 0100 5 = 0101 6 = 0110 0001 0010 0011.0100 0101 0110 2) a) 16bit equivalent is a) 0000000001101011 the answer is 006B 1011 is in dec 11 and in hex B 0110 is in dec 6 an...
Microcontroller homework for week 04 1. SNR - Ratio of RMS signal to RMS SINAD - Ratio of the RMS signal amplitude to the mean value of the root-sum-square (RSS) ENOB - The effective number-of-bits and relates to SINAD THD - Ratio of the rms value of the fundamental signal to the mean value of the RSS of its harmonics. SFDR - Ratio of the RMS value of the signal to the RMS value of the worst spurious signal. Channels related to the inputs of the ADC can either be multiplexed or individually selected. Linearity relates to how a ADC follows a linear function. All ADCs are to a certain extend non-linearity. Temperature is measurement, which in optimal state for ADC-s, lets them function correctly. Power dissipation refers to the amount power dissipated when the ADC is operating. 2. The output code is 001111012 and the voltage of the LSB is 0,0195V ...
Microcontroller homework for week 10 1. PID control scheme: Equation describing the PID control: Differences between ,,bang-bang" control and proportional control: Proportional 0%...100% As error decreases, output decreases, e.g. reduces overshoot ,,Bang-bang" 0% or 100% Only 2 states (that's why also called On/off control). It has feedback. Similar to PWM ouput signal. Integral and Derivative terms in the PID equation: These are time-based terms: theintegral is an integral over some time period, and the derivative is the derivative between two time periods. Derivative to measure how fast the error is changing; rate of change in error gives indication of the size of the load; allows output to rapidly respond to changing inputs and compensate for varying loads and still offset error. Integral accumulation of errors; long-term control parameter; pushes the output towards the setpoint if PID control settled at offset fro...
Microcontroller homework for week 05 1. Treshold, sensitivity, (full) range, linearity, accuracy, precision, stability, hysteresis, noise 2. VO = RH/(RT+RH) = 0.381356 V 3. A) 100 B) 212,464 4. A) B) R1 = 16,67 k C) D) E) RF = 10k, RL = 28k2, RH = 107k F) Before scaling: 2.35 steps/°C. After scaling: 3.42 steps/°C 5. Some things were assumed, as they were not given. 30 = 1,13V 40 = 0,976V So 35 should be between 40 and 30. Assuming about 1,053 V. Same for 5 degrees... Assuming about 1,725 V. 35 degrees digital 1,053/10*1024 = 107,8272 5 degrees digital 1,725/10*1024 = 176,64 177 108 = 69 ADC counts, 30 degrees SPAN 69/30 = 2,3 ADC ...
Microcontroller homework for week 07 1. A) 40000 counts B) 36000 counts The difference between 20MHz and 18MHz is 4000 counts. 2. A) 555,555 counts more B) Higher resolution is caused by increased sampling rate. 3. A) Because the mixer needs additional components B) The mixer approach multiplies the frequency shift you want to measure, but also any other frequency shift. This includes drift caused by component heating, noise, etc. 4. The output waveform according to input: 5. A) 100 Hz B) 500 Hz C) 1 kHz 6. In an electrical system, a ground loop usual...
Microcontroller homework for week 11 1. 2. I would choose schematic C because the Fly-Back on C is with zener-diode and on the output two diodes are used, witch are placed correctly as are the resistors, so the schematic would function as required.
Microcontroller homework for week 12 1. Three different stepper motors (illustrations on page 162-163): · permanent-magnet, · variablereluctance, · hybrid. The VR stepper has a soft iron rotor with teethand a wound stator. As current is applied to two opposing stator coils, the rotor is pulled into alignment with these twocoils. As the next pair of coils is energized, the rotor advances to the next position. The permanent magnet (PM) stepper has a rotor with alternating north and south. As the coils are energized, the rotor is pulled around. This figure shows a single coil to illustrate the concept, but a realstepper would have stator windings surrounding the rotor. The PM stepper has more torque than an equivalent VR stepper. The hybrid stepper essentially adds teeth to a permanent magnet motor,resulting in better coupling of the magnetic field into the rotor and moreprecise movement. In a hybrid stepper, th...
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