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Lecture 3a, Robotics/Mechatronics:

• Arduino programming to control motors and sensors
But first….
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• We will use a tool to help us to review teamwork in the

RGB project. Please fill out the questionnaire emailed to
you overnight.
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Objectives
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The objectives of this lecture are:

• to identify the functions of a Microcontroller
• give the basics of programming an Arduino
• show how to make simple connections to hardware

You should review this lecture with lecture 3b –

Mechatronic elements which gives more detail of the
hardware you’ll attach to the Arduino
Microcontroller

Sensor Motor
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Introduction
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https://youtu.be/JlRPICfnmhw
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Introduction
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Microcontroller

Vision sensor
Sound sensor
Motors
Power supply

Inertial sensor
Tilt sensor

Tactile sensor

Force sensor

Pressure sensor
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Applications
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Consumer, medical, amusement

Sensors,
Motors, Automobiles
Microcontroller
Communications

Aerospace & security

Micro/Nano Technology
Manufacturing, FA
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Microcontroller Examples
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• PIC Microchip
• 68HC11 of Motorola
• 8096 of Intel
• Arduino
• Raspberry Pi
•…
Different models of ‘arduino’
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https://www.arduino.cc/en/Main/Products
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Control diagram
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Sensor Input: Motor Output:

Mechanical, thermal, Microcontroller Mechanical effort, motion,
electromagnetic, optical, torque
sound,etc.
Control
Sensors Motors

Software
This lecture (part a) focuses on the microcontroller and software.
Part b focuses on sensors and motors (and how to connect them).
Program (‘sketch’) structure
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setup
• runs once
loop
• runs from top to
bottom - for ever -
until powered off
Parts of the ‘language’
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‘reserve’ words
show in a colour

Variables store
value – e.g. a
number or

Functions carry
out actions

Structure lets us
repeat operations
A ‘sketch’
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uses a defined structure

uses the ‘language’ with

variables, functions and
structures

// has comments (grey

words)//

/*& multi line comments

including blank lines*/
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Get started
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Please go to www.arduino.cc
Here you can:
• Get help
• Download software
• See examples
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Online or download?
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• downloaded • online
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Is it working?
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Is the board connected?

Look in tools – can you
‘Get board info’?

>File > Examples > 0.1

Basics > Blink >

upload the sketch

Does the built-in LED

flash continually?
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Basic structure
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setup runs only once – at the

beginning. We use it to set
things up and define
variables, etc.

loop runs forever – it’s hard to

stop. We use it to carry out
instructions repeatedly.
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Example sketch for LDR

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int analog; // declare an integer variable first

void setup() This sketch

{ changes the blink
Serial.begin(9600); // enable serial communication rate of the LED
pinMode(8,OUTPUT); // define LED pin 8 as output based upon the
pinMode(9,OUTPUT); // define LED pin 9 as output brightness of the
light dependent
digitalWrite(8,LOW); // set LED pin 8 as GND (0 V)
resistor (LDR).
} An LDR looks
like this!

void loop()
{
analog = analogRead(0); // read voltage on pin 0 and store it in variable analog
Serial.println(analog); // display the value of analog to the monitor
digitalWrite(9,LOW); // turn on the LED
delay(analog); // delay based on the analog reading
digitalWrite(9,LOW); // turn on the LED
delay(analog); // delay based on the analog reading
}
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Your turn
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• Please work through

worksheet 0.
• Feel free to help
each other and to
ask for help from
me.
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Variables
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Variables must be defined before they are used.

Basic types:
• byte = 8 bit unsigned number (0 to 255)
• int = (integer) 16 bit number (n -32768 to +32767)
• unsigned int = positive integers only (0 to 65535)
• A float = 32 bit floating-point numbers (3.4028235E+38 to -3.4028235E+38); numbers
that have a decimal point with decimal precision of up to 6 digits

Example of proper definitions:

• byte mark; \\ this variable is called mark, and can have any value between 0 and 255
• int variable_1; \\ variable_1 is an integer - it have any value between -32768 and +32767
• unsigned int y = 5; \\ y can be anything between 0 and 65535, this value is initiated as 5
• float not_pi = 3.14155; \\ not_pi is a floating-point value initiated as 3.14155

• More variable types here: https://www.arduino.cc/en/Reference/HomePage

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Functions
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Functions are used to control the Arduino project board and for carrying out
computations.

Physical input and output - digital:

• pinMode() set the pin, numbered in the bracket,
to be INPUT or OUTPUT (or INPUT_PULLUP)
• digitalWrite() write HIGH or LOW to the pin numbered in the bracket
• digitalRead() read HIGH or LOW from the pin numbered in the bracket

Physical input and output - analogue:

• analogRead() read a value from the pin numbered in the bracket with up to 10
bit precision – that’s 210 or 0-1023.
• analogWrite() write a value to the pin numbered in the bracket. The value is
written as a PWM wave between 0 and 256

pulse width
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More Functions
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Other functions work with:

Time:
delay(), delayMicroseconds() micros(), millis() put the value wanted in
the brackets)

Maths:
abs(), max(), min(), sq(), sqrt() etc. for calculations

Trigonometry:
cos(), sin(), tan() for trig calculations

Many others: random numbers, character manipulations, communications, bit &

byte manipulations, etc. See: https://www.arduino.cc/reference/en/#functions
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Control structures
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• Loop keeps on doing operations until the Arduino is

stopped – great if I, say, want to continually monitor
temperature.
• What if I want to do an operation just 10 times – e.g. turn
a motor through 10 revolutions – and then go on to do
something else?
• We use control structures for this (see Arduino Reference)
• The main control structures are:
• if (if some condition is met, do this)
• else if (else if a different condition is met, do something else)
• for (typically, for a certain number of times, do this)
• while (while the condition inside the brackets is true, keep
doing this)
An ‘if’ example
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byte x = 0; // declare variable x outside of

// void – to be used everywhere
void setup (){
pinMode(13, OUTPUT); // enable pin 13 as digital output
}
void loop (){
delay(1000); // delay for 1 second
if(x == 5){ // if x is equal to 5, do the
// following steps
digitalWrite(13, HIGH); // set pin 13 to HIGH
delay(100); // delay for 100 ms
digitalWrite(13, LOW); // set pin 13 to LOW
x = 0; // reset x to 0
}
x++; // increases x by one (this is shorthand for x = x + 1)
}
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if, else if, else

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• If () and else if() have conditionals, however else does not.

• Structure of if/else:

if(// first condition is true // ){

// do code between these curly brackets only
}
else if(// second condition is true //){
// do code between these curly brackets only
}
else{ // neither first or second condition were true
// do code between these curly brackets only
}
// end of if statement

• Note: as many else if statements can be included as necessary. If no else

statement is included, the code will continue from the next line after the if
statement if the conditional is false.
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while
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int i = 0; // initiate i as an int that is equal to 0;

while(i <= 10) { // while (condition){} code is repeated
// until condition is no longer true
i++ ; // increment (i++) must be performed
//inside the loop
}

• What will happen if i++ is not included somewhere inside

the loop?

• Always modify the conditional variable inside the loop or

the condition will never become false and the loop will
never end
Structure of a ‘for’ loop
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• for and while loops have slightly different structures or

‘syntax’. It is important to take note of these differences,
as using the incorrect structure will result in errors.

for(i = 0; i <= 10; i++) {

do what’s inside the curly brackets
} until the condition is no longer true
initiation
condition
increment

• What will the value of i be for each loop?

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Comparison & Boolean Operators

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The result of a conditional is either true (1) or false (0)

any integer value over 1 is true, e.g. 2 is true
• == equal to e.g. (2 == 2) true
• != not equal to e.g. (3 != 1) true
• < less than e.g. (1 < 1) false
• > greater than
• <= less than or equal to
• >= greater than or equal to
• && and e.g. (2 == 2) && (1 < 1) false
• || or e.g. (2 == 2) || (1 < 1) true
• ! not e.g. !(2 == 2) false
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Connecting the pins

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Our software (‘sketches’) communicate with hardware

(motors and sensors) through pins.
Examples: if a small motor is connected to
pins D3 and D13 to which PWM
if a LED is connected to digital
is written, the motor will spin
pin 13, and pin 13 goes HIGH,
then the LED will illuminate.
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Worksheets
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Do the Worksheets
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• This lecture only intended 0. getting started

to give an overview. 1. LEDs & Blink
• Find the worksheets in 2. variables & control
‘Toolbox’. They will give structures
you time to work through 3. digital inputs
examples.
4. analog inputs
5. analog input and output
6. subroutines & conditions
7. motors
8. servo motors
9. stepper motors