EE192: Mechatronics Design Lab, DRAFT Spring 2021

Course/Lab Schedule (check for updates- version 1-18-2021)

Week	Lecture and Quizzes	Discussion	Checkoff	Misc. Deadlines
1 18 Jan	Intro to mechatronics Project description MCU platform overview Administrivia (slides) (Thrun JFR 2006)	Administrivia Huzzah32 board tool chain intro PWM intro (slides)	C0: Team formation
2 25 Jan	Project proposal Software Architecture IOs and peripherals ESP32 Memory (slides)	Hardware overview Wiring MC PWM Motor drive demo More git (slides)	C1: Hello world, PWM LED, instruction timing
3 1 Feb	Line Camera I Memory, UDP Commands Line camera datasheet Sharp GP2S60 optical detector (slides)	Oscilloscope basics Command interface AD2 demo! (slides)	C2: PWM generation for ESC and steering
4 8 Feb	Line Camera II/Velocity Sensing Line detection Optical encoder Velocity sensing Battery model (latchup) (HW1: line detection) (slides)	Linescan strategies Linescan camera demo! (slides)	C3: integrated motor & steering control from user interface (car on blocks)	Tues 2/9 5 pm: Project proposal
5 15 Feb	Motor control &modelling Velocity control DT control example (slides) Quiz 1: Line Camera	Velocity sensing Encoder demo (slides)	C4: open loop figure 8 and line camera readout
6 22 Feb	Motor & Steer Control I motor worksheet + soln Bicycle model (slides)	Dynamical systems Control response Control demo (slides)	C5 Benchtop velocity sensing and control	Lec: HW1 (line detection) due Tues 2/23 4:59PM (before lecture) on Bcourses
7 1 Mar	Motor & Steer Control II H-bridge circuit PWM control notes Steering control II Embedded Issues (slides)	Office hours!	no official checkpoint. Catch up week. Work on basic steering and velocity control.
8 8 Mar	Power, Steering RC servo slew rate deadlock in multi-thread HW2: steering sim Quiz 2: Motor model (slides)	GDB debugging (slides)	C6: closed loop figure 8 with velocity control
9 15 Mar	Power Systems & Control III MOSFETs worksheet soln Prog. Report. (slides)	Sim/VRep pointers System ID (slides)	C7: step response with telemetry
23 Mar	Spring Break	N/A	Enjoy your break
10 29 Mar	Power&Control Quiz 3: MOSFET&Motor Drive Motor flyback diode control notes Feedforward (slides)	Vehicle Dynamics & Mechanical Tuning (slides)		Fri 4/2: HW2: steering sim due
11 5 Apr	Control&Robustness (PD example) problem(soln) Software robustness Supervisor systems (slides)	Track Memorization (slides)	C8: Stopping	Fri 4/9: Prog. Report due 8 pm
12 12 Apr	Advanced steering Quiz 4 Steering control (Pilutti et al. ACC 1995.) (more steering references) (slides)	Hardware tips & AGC (slides)
13 19 Apr	Race 1 in class (sim) Mechatronics Examples (slides)	(J. Yim learning)	Race 1! 4/20 (V-Rep)]
14 26 Apr	Race 2 in class Mechatronics examples (slides)	Sp 2021: effective oral presentations	Race 2! 4/27 (physical)]	Fri: Lab cleaned
15 3 May	Oral Reports in class Sp98 soln andSp99 soln Sp98 final andSp 99 final	NA	Oral reports: Tues 54, Wed 5/5, time TBD
16 10 May	Final Exam Fri May 14 1130-230 pm.