The goal is to write a program which is able to perform tasks described below.

• Controlling the DC motor using a digital board. By pressing S1 button, LED1 is lit and the motor turns clockwise. By pressing S3 button, LED3 is lit and the motor revolves anti clockwise. By pressing S2, LED2 is lit and the motor is stopped.

1. Robot, by using two DC motors and touch sensors movement of a robot is simulated. Touch sensors are the buttons of the digital board (S1…S3). The motor is controlled by pressing the buttons. S1 stops the left motor for 2 seconds and then starts both motors at full speed. S2 stops the right motor for two second and then starts both motors at full speed. If both buttons are pressed, the motors are rotating in reverse direction until the buttons are released
2. Servo motor, the servo motor is controlled via the buttons of the digital board. By pressing down S1 the servomotor moves one step to the right. By pressing down S3, the servo motor moves one step to the left and S2 makes the servomotor to move to the initial (middle) position. The position of the servo motor is displayed live on the 7 segment display (each number corresponds to 10 degrees of the turn: middle position equals 5).
3. Radar, functioning of radar is simulated. In order to identify objects closer than 0,5 meters, IR distance sensor is installed to the lever of the servo motor. The lever of servo motor is moving constantly form one extreme position to the other and it carries this sensor all the time with itself. If there happens to be an object in closer range than 0,5 meters of the sensor, then the servo motor is stopped for 5 seconds and by signaling a LED (PB7) on the controller board detection of the object is announced.
4. Stepper motor, after each pressing on the buttons S1 and S3 it rotates 10 steps, accordingly clock wise and anti clock wise. The rotation is stopped immediately by pressing on the button S2.
5. All three different types of the motors are connected. By pressing a button it starts and stops a certain motor. S1 controls the DC motor. S2 controls the servo-motor and S3 controls the stepper-motor.

1. DC motor accelerates when S1 is pressed down and holds achieved speed when the button is released. By holding S2 pressed down, the motor decelerates smoothly. By pressing button S3, the motor stops instantly (simulating emergency stop).
2. Tracking an object. By using ultrasonic distance sensor, which is installed on the lever of the servo-motor, the servomotor has to track a bypassing object. The motor turns according the movement of the object so that the object is all the time in the middle of the tracking sector of the sensor.
3. Stepper motor keeps the last position of the motor after change of each sequence. When activating new sequence, use variable, so the movement continues exactly from the last position of the motor.
4. Acceleration, the program allows changing the acceleration/deceleration of the stepper motor. Use linear speed slopes which can be easily identified at visual inspection. Longer movements have to follow following scheme: acceleration –> steady speed –> deceleration.
5. Design a PID regulator for a DC motor. NB! This exercise demands a motor with feedback. This exercise may be solved also theoretically.

1. Milleks kasutatakse H-silda? Mis on selle toimeprintsiip?
2. Kuidas on määratud RC servomootori võlli asend?
3. Milline on põhierinevus uni- ja bipolaarsamm-mootorite vahel?
4. Kuidas rakendada samm-mootoris poolsamm- ja mikrosammrežiime? Tooge näide.
5. Kuidas juhitakse alalisvoolu mootori pöörlemiskiirust? Tooge näide.
6. Millist pulsilaiuse modulatsiooni (PWM) töötsüklit on vaja, et saavutada alalisvoolu mootori võlli pöörlemiskiiruseks 70% nominaalsest pöörlemiskiirusest?
7. Kuidas määratakse enkoodri kasutamisel mootori pöörlemissuund?
8. Kuidas saab alalisvoolu mootorit elektriliselt pidurdada?
9. Mis juhtub, kui samm-mootori puhul kommutatsiooniskeem muutub liiga kiiresti?
10. Kas ja kuidas on võimalik kasutada dünaamilist pidurdamist?