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DMP Electronics Inc. () [email protected]
DIY
DIY
Stpe1 Step2 Step3 Step4 Step5
RC
DMP RS-1270 KONDO KRS-788HV
DMP RS-0263
TowerPro SG-90
Scanner STL-9894CTG
KONDO KRS-2552HV
Robotics MX-28
Robotics AX-12
SYS-214050
RC (1/2) RC Servo Radio Control ServoRadio Control
Servo
Servo
RC (2/2) RC Servo Servo
RC
Arduino
()
()
RC RC
PWM
RC PWM
AI
Robotics () TTL SerialRS485 KONDO () PWMTTL Serial
() PWM () PWM
TOWERPRO () PWM
PWM (1/2) (Pulse Width Modulation)
PWM
PWM (2/2)
duty , HIGH
period HIGHLOW
HIGH LOW HIGH LOW HIGH LOW
PWM (1/2) PWM RC
1000 / 1500 / 2000 us PWM
: 0 / 90 /180
20ms
PWM (2/2) RC PWM
0 700us180 2300us
RC (1/6) RC
RC (2/6)
RC (3/6) RC
RC (4/6)
RC (5/6) RC
RC (6/6) RC
86Duino
86Duino
86Duino ONE 86Duino Zero 86Duino EduCake
86Duino (1/2) 32-bit x86 SoC Arduino UNO
x86 Arduino
Arduino
Arduino API
33 Arduino
Made In TaiwanCPU Made In Taiwan
86Duino (2/2)
86Duino ONE 86Duino Zero
86Duino EduCake
RC 86Duino Zero ?
86Duino Zero Zero RC
RC
Arduino shields
Arduino Sensor Shlied
Arduino Sensor Shlied 86Duino Zero
+
86Duino Zero +
Arduino Sensor shield RC Servo SG90 x 3
RC Servo SG90
86Duino Zero
2.54mm
Zero 5V
DIY
DIY DIY
Stpe1 Step2 Step3 Step4 Step5
DIY DIY
Stpe1 Step2 Step3 Step4 Step5
1. 2.
3. USB
PS2
(1)
()
()
()
(2)
()
()
()
(86Duino Zero)
(3)
(86Duino Zero)
DIY DIY
Stpe1 Step2 Step3 Step4 Step5
(1/8) 3
2 35
1 38
(2/8) 1
(3/8) 2
(4/8) 4
(5/8) 5
3
1
1
(6/8) 4
2
(7/8) 1
1
(8/8) 4
(1/3) SG90 3 ()
(2/3) 7.4V 1
(3/3) 86Duino Zero 1
USB
2
1
5
6
7
8 9
4
3
10 11
12 13
1. 2. 3. 4. 5. 6. 7. 8. / 9. 10. 11. 12. 13.
DIY DIY DIY
Stpe1 Step2 Step3 Step4 Step5
Step 1.0 3
Step 1 ()
2 1
2
1
1
2
Step 1.1 1
()
90 90
Step 1.2 2
90 90
Step 1.3 M
~ 160
~ 80 ~ 80
(10 )
Step 1.4
2 1
3
3
12
2
1 2
Step 1.5
Step 1.6 1
3 ~ 5 ,
1
1
Step 1.7 2 1 2
2
Step 1.8
/ -
(30 )
DIY DIY DIY
Stpe1 Step2 Step3 Step4 Step5
Step 2.0 1
1
Step 2 ()
/
(1) (2)
Step 2.1
()
( 1/3 )
90
1 ~ 4 4
Step 2.2
4
12
12 34
1 2 20
20
1
2
3 4 20
20
3
4
(15 )
DIY DIY DIY
Stpe1 Step2 Step3 Step4 Step5
Step 3.0 3
Step 3 ()
3
Step 2 1
Step 3.1
-
Step 3.2 Step 2 (
)
Step 3.3
2
90
1:
2:
90
1:
2:
3
1 ~ 2
30
(15 )
DIY DIY DIY
Stpe1 Step2 Step3 Step4 Step5
Step 4.0 4 2
5
86Duino Zero
Step 4
86Duino Zero
Step 3 Step 2
Step 4.1 86Duino Zero 2 86Duino Zero
2
86Duino Zero
2 86Duino
86Duino
5V GND
86Duino 86Duino GND GND
86Duino 5V 5V
1 86Duino 44 S1
2 86Duino 43 S2
3 86Duino 42 S3
86Duino Zero
42
43 44 GND 5V
Step 4.2
3 2 1
1
2
3
Step 4.3 2
()
Step 3
Step 4.4
86Duino
(10 )
DIY DIY DIY
Stpe1 Step2 Step3 Step4 Step5
Step 5.0 Step 5
3
2
3
Step 5.0
180
86Duino duty 1500us PWM ( 90 )
Step 5.1 sketch
http://www.roboard.com/temp/servo.zip
http://www.roboard.com/temp/servo.zip
#include // Servo86 Servo myservo1; Servo myservo2; // Servo Servo myservo3; void setup() { myservo1.attach(42); // Servo myservo2.attach(43); myservo3.attach(44); myservo1.write(1500); // 1500us PWM myservo2.write(1500); myservo3.write(1500); } void loop() {}
Sketch 86Duino 86Duino Coding 210
http://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.zip
http://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.ziphttp://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.zip
USB 86Duino
86Duino, http://www.86duino.com/index.php?p=4220&lang=TW
PC
USB
http://www.86duino.com/index.php?p=4220&lang=TW
86Duino 86Duino Zero/One/EduCake COMXX Windows
86Duino 1. 86Duino Coding IDE
2. > > 86Duino Zero
3. > COM port > (86Duino )
4. > ... > servo.ino
1.
2.
3.
Uploading the binary sketch Done
USB
USB
USB
3
2 1
Step 5.3 3
3
(15 )
8.2V ~ 8.4V
SG-90 4.8V ~ 7.2 V SG-90 () 7.2V
()
20 40W ( 20 )
DC to DC
DC-DC
5V 86Duino Zero VIN
** !!
DMP Electronics Inc. () [email protected]
Arduino/86Duino
86ME
86ME
86ME Mk-IV
Arduino/86Duino
Arduino : Servo attach() - Servo pin
write() - Servo 0 ~ 180
writeMicroseconds()- PWM duty Servo
read() - Servo
attached() - Servo pin attach
detach() - Servo pin
** Servo Arduino
#include Servo myservo; void setup() { myservo.attach(9); myservo.write(900); delay(1000); myservo.write(2000); delay(1000); myservo.write(900); delay(1000); myservo.write(2000); } void loop() {}
Demo
Servo : 86Duino Servo86
45
PWM Duty jitter
Frame
#include Servo myservo; void setup() { myservo.attach(9); myservo.write(900); delay(1000); myservo.setVelocity(1100); myservo.write(2000); delay(1000); myservo.setVelocity(550); myservo.write(900); delay(2000); myservo.setVelocity(2200); myservo.write(2000); } void loop() {}
Demo
PWM Duty (1/2) Arduino Servo PWM
PWM duty (jitter)
PWM channel 12 , Arduino Timer, Timer , PWM jitter
PWM Duty (2/2) Arduino PWM duty
CPU
Arduino UNO , PWM
+
Arduino UNO
PWM RC Servo , servo
RC Servo , PWM
Arduino UNO
+
KONDO KRS4014 Servo
Servo
Arduino 86Duino 1 servo pin, PWM duty
PWM Duty (1/2)
duty
duty
Arduino UNO 1000 us 1000.04 us 1006.42 us 6 ~ 7 us Arduino Leonardo
1000 us 1000.04 us 1007.92 us 7 ~ 8 us
Arduino DUE 1000 us 998.200 us 998.280 us 1 ~ 2 us Arduino Mega2560
1000 us 1001.12 us 1008.87 us 8 ~ 9 us
86Duino 1000 us 998.64 us 1001.1 us 1 ~ 2 us ** ** 86Duino PWM I/O pin , 0
Arduino DUE / Mega2560 86Duino 45 servo pins, pin PWM duty , :
PWM Duty (2/2)
duty
duty
Arduino DUE 1000 us 998.05 us 1004.68 us 2 ~ 5 us Arduino Mega2560
1000 us 1001.09 us
1076.96 us 1 ~ 77 us
86Duino 1000 us 998.70 us 1001.31 us 1 ~ 2 us
Arduino Servo 12 channels , 2 Timer , Timer jitter
(1/3)
(2/3)
(3/3) https://www.youtube.com/watch?v=oOgHzcrVG1s
https://www.youtube.com/watch?v=oOgHzcrVG1s
Frame ()
(Frame) Servo86
Frame Pose
Frame 1 Frame 2 Frame 3 Frame 4 Frame 5
Frame
Frame Frame1: 1500, 1300, 1200, 900, 1765, 1809, 1243, 1200,990, 754, 2000
Frame2: 1340, 1200, 1543, 2178, 1222, 1456, 1723, 1111, 954, 1245
Frame3: 1000, 2345, 2000, 800, 1200, 2019, 2430, 1432, 1270, 955, 1560
86ME
86ME Frame
Servo86 86Duino
86ME Frame
otion frame
homeframe frame frame
homeframe
offset homeframe
offset
86ME offset homeframe
frame
(motion) frame
motion 86Duino sketch
86ME Demo https://www.youtube.com/watch?v=LZhoCQ4E-N4
https://www.youtube.com/watch?v=LZhoCQ4E-N4
86ME
86ME 1. 86ME
http://www.86duino.com/index.php?page_id=8923&lang=TW
2. 86ME
3. Windows .NET Framework 3.5 86ME
http://www.86duino.com/index.php?page_id=8923&lang=TWhttp://www.86duino.com/index.php?page_id=8923&lang=TW
86ME 86Duino
USB
PC 86ME
86ME
86Duino
86ME 86Duino USB 86Duino
86ME 86Duino 1. 86Duino Coding IDE
2. > > 86Duino Zero
3. > COM port > (86Duino )
4. > > Servo86 > MotionEditor
86ME 86Duino Uploading the binary
sketch Done
86ME 86Duino IDE
86ME
86Duino Auto 86ME
COM port COM port
(1/6)
(2/6)
(3/6) Robot
Configuration 86Duino Pin Home Offset Robot Configuration
(4/6) 86Duino
Offset Home
(5/6) 3
86Duino Zero 4243 44 OtherServos
(6/6) Load Robot Picture
1. 2.
OK
OK 86ME Motion
Name Motion
86ME Frame
Frame (1/6) 1) Motion Name
2) Add Motion MotionMotion Frame Action
Frame (2/6) 3) Action List
4) Add new action at the first field
5) Frame
Frame
(3/6) Frame
CH num PWM duty PWM duty
(4/6) PWM duty
(5/6)
Robot Configuration
CH
(6/6) Frame Sync
PWM duty
Frame
Frame
Motion
Frame (1/2) Frame
Frame Motion
1) Frame 0 Frame 1
2) add new action at the next field -> frame
Frame (2/2) 4
(1/3) 4 Frame86ME
Frame
(2/3) Frame
(3/3)
Flag Goto
Flag & Goto
Goto
Flag
Goto
Flag
Flag Flag
Flag Name
Flag
Goto Goto
Goto
Goto
Target Flag Name Flag
Enable Goto Goto
Loop Infinitely
Loop Infinitely Number of
loops Goto
Number of loops 2 Goto Motion
Motion
Motion 1. Motion Add Motion
2. Motion name
Motion
86ME Motion
Auto
Keyboard
Bluetooth
PS2 Controller
Auto Always On
Always Off
Start Up
Keyboard Keyboard
Key
Type
First Press
Pressed
Release
Bluetooth Bluetooth
Key
Used Port 86Duino Port
PS2 PS2
Key
Type Keyboard
DATCMDATTCLK PS2 86Duino Pin
86Duino
sketch sketch 86DUino
86Duino sketch
86Duino Sketch (1/3) 86ME Motion 86Duino
Sketch Sketch 86Duino Motion
86ME Sketch
Frame sketch
Frame sketch
86Duino Sketch (2/3) Frame sketch
Offset 86Duino Frame sketch (.ino )
Offset Frame SD sketch
86Duino Sketch (3/3) Frame sketch ()
sketch (.ino ) Offset Frame
Offset Frame SD
86ME
(1/4)
(2/4)
(3/4)
(4/4)
(1/4) Frame
CH42 1750
CH43 1300
CH44 1750
(2/4) Frame
CH42 1250
CH43 1300
CH44 1250
(3/4) Frame
CH42 1250
CH43 1700
CH44 1250
(4/4) Frame
CH42 1750
CH43 1700
CH44 1750
4 frame
(1/4)
(2/4)
(3/4)
(4/4)
(1/4) Frame
CH42 1750
CH43 1700
CH44 1250
(2/4) Frame
CH42 1250
CH43 1700
CH44 1750
(3/4) Frame
CH42 1250
CH43 1300
CH44 1750
(4/4) Frame
CH42 1750
CH43 1300
CH44 1250
4 frame
(1/4)
(2/4)
(3/4)
(4/4)
(1/4) Frame
CH42 1750
CH43 1300
CH44 1250
(2/4) Frame
CH42 1250
CH43 1300
CH44 1750
(3/4) Frame
CH42 1250
CH43 1700
CH44 1750
(4/4) Frame
CH42 1750
CH43 1700
CH44 1250
4 frame
86DuinoZero
APP UART 86DuinoZero 86DuinoZero
86Duino Zero
UART
PWM
PWM
APP
sketch
sketch
86ME
86Duino IDE
86DuinoZero
86DuinoZero HC-06 HC-05 1 HC-06
HC-06 UART 4 VCCGND RXD TXD
86DuinoZero Serial1 86DuinoZero HC-06
5V GND
RX1
HC-06
HC-06 LED ( 0.2 ) HC-06
86ME 1)
forward
2) Trigger 3) Bluetooth 4)
APP U
5) 86Duino Serial1
1
3 4
5
2
86ME Sketch 86ME Generate 86Duino sketch (All
in One 86Duino sketch
86Duino IDE > ...
86ME
86Duino IDE 86Duino
APP Android
Google Bluetooth Controller
iOS
APP store LightBlue Android Bluetooth Controller App iOS Bluetooth Controller App
Bluetooth Controller Set Keys
Key Name Data of Key
86ME forward U
ScanAPP
HC-06APP
Connect to HC-06
HC-06 LED !!
?
?
()
A4
2
1
Thank You 86Duino Maker Day II
DMP Electronics Inc. () [email protected]
86Duino Maker Day IIDIY Mk-IV RC 4RC (1/2)RC (2/2)RC 9RC RC PWM (1/2)PWM (2/2) PWM (1/2) PWM (2/2)RC (1/6)RC (2/6)RC (3/6)RC (4/6)RC (5/6)RC (6/6) 86Duino 86Duino 86Duino (1/2)86Duino (2/2) RC 86Duino Zero ? 86Duino Zero 29 31 32 33 35DIY DIY DIY 40 (1) (2) (3) DIY 45 (1/8) (2/8) (3/8) (4/8) (5/8) (6/8) (7/8) (8/8) (1/3) (2/3) (3/3) 60 DIY Step 1.0 63 64 66Step 1.1 1 68 69Step 1.2 2Step 1.3 72Step 1.4 74 76 77Step 1.5 79Step 1.6 1 81 82 83 84 85Step 1.7 2 Step 1.8 88 89 91 DIY Step 2.0 94 96Step 2.1 98 99 100 101 102Step 2.2 104 105 106 107 108 DIY Step 3.0 111 113Step 3.1 115Step 3.2 117 118 119Step 3.3 121 122 123 125 127 DIY Step 4.0 130 132Step 4.1 86Duino Zero 134 135 136 137 138 139 140Step 4.2 142Step 4.3 144 145Step 4.4 147 148 DIY Step 5.0Step 5.0Step 5.1 Sketch 86Duino 157 158 159 160 86Duino 162 163 164 165 166 167Step 5.3 169 171 172 174 17686Duino Maker Day II Mk-IV Arduino/86Duino Arduino : Servo Servo : 86Duino Servo86 PWM Duty (1/2)PWM Duty (2/2) Arduino UNO , PWM PWM PWM Duty (1/2) PWM Duty (2/2) (1/3) (2/3) (3/3)Frame () 19686ME 86ME 86ME 86ME 86ME Demo 86ME 86ME 86ME 86Duino 86ME 86Duino 86ME 86Duino 207 86ME 86Duino 86ME (1/6) (2/6) (3/6) (4/6) (5/6) 215 (6/6) 217 86ME Frame Frame (1/6) Frame (2/6) (3/6) 223 (4/6) (5/6) 226 (6/6) Motion Frame (1/2) Frame (2/2) (1/3) (2/3) (3/3)FlagGoto 241 Motion MotionMotion AutoKeyboardBluetoothPS2 86Duino sketch 86Duino Sketch (1/3) 86Duino Sketch (2/3) 86Duino Sketch (3/3) 86ME (1/4) (2/4) (3/4) (4/4) (1/4) 265 (2/4) 267 (3/4) 269 (4/4) 271 (1/4) (2/4) (3/4) (4/4) (1/4) 279 (2/4) 281 (3/4) 283 (4/4) 285 (1/4) (2/4) (3/4) (4/4) (1/4) 293 (2/4) 295 (3/4) 297 (4/4) 299 301 30386DuinoZero 306 307 30886ME 86ME Sketch 312 APP 315 316 317 318 319 320Thank You