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ROINTER (RObotic paINTER) PRESENTED BY
OLEH SMOLKIN
MENTORLYUBOMYR DEMKIV
Our goal
Egg-Bots
RASPBERRY PI 2• A 900MHz quad-core ARM Cortex-A7 CPU
• 1GB RAM
• 4 USB ports
• 40 GPIO pins
• Full HDMI port
• Ethernet port
• Combined 3.5mm audio jack and composite video
• Camera interface (CSI)
• Display interface (DSI)
• Micro SD card slot
• VideoCore IV 3D graphics core
ARDUINO MEGA 2560
Microcontroller ATmega2560
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limit) 6-20V
Digital I/O Pins 54 (of which 15 provide PWM output)
Analog Input Pins 16
DC Current per I/O Pin 20 mA
DC Current for 3.3V Pin 50 mA
Flash Memory256 KB of which 8 KB used by bootloader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz
VS.
raspberry pi 2
arduino mega 2560
MOVEMENT𝑥𝑖 = 𝑤 [𝑐𝑜𝑠(𝛼0 + 𝛼𝑖) − 𝑐𝑜𝑠(𝛼0 + 𝛼𝑖−1)]/𝑐𝑥
𝑦𝑖 = ℎ [𝑠𝑖𝑛(𝛼0 + 𝛼𝑖) − 𝑠𝑖𝑛(𝛼0 + 𝛼𝑖−1)]/𝑐𝑦
• 𝑥𝑖 , 𝑦𝑖 – кількість кроків
• w, h – розміри іграшки (см)
• 𝛼0 – обмежуючий кут (рад)
• 𝛼𝑖 – кут ітерації (рад)
• 𝑐𝑥, 𝑐𝑦 - коефіціент кроку двигуна (см-1)
PAINT FEED
PAINT FEED
piston pumpYH370DPM
сatheterg22
Drive shieldpololu drv8835
PAINT FEED
API (RASPBERRY TO ARDUINO)
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
TYPE VALUE FUNCTION COMMENTS
START 0 void start() Start of drawing
HORIZONTAL 1 void horizontal(int px) Movement by horizontal axis
ROTATE 2 void rotate(int px) Rotational movement
MOVE_MARK 3 void moveMarker(bool posit) Put up/down marker
COLOR 4 void color(int numb) Color of marker
Backtracking
