Schedule

8/16	Introduction, take role, rules
8/18	Microcontrollers, embedded systems, development tools
8/20	More development tools, project 1
8/23	Binary digital input and output
8/25	Transition detection, debouncing
8/27	More software debouncing techniques, project 2
8/30	Timer device, concepts and configuration
9/1	Interrupt service routines (in general), timer ISR
9/3	Applications of timer ISR as a timing basis
9/8	Stepper motors, stepper motor driver, basic stepping concepts
9/10	Stepper motor motion control, trapezoid profile, physics formulae
9/13	Stepper motor control implementation, frequency division, project 3
9/15	Acceleration logic, distance control logic, code organization
9/17	Practice exam 1
9/20	More code organization for stepper motor control, project 4
9/22	Exam 1
9/24	Differential steering, ccncept, angular and linear components
9/27	Implementation of differential steering, combination of speed control profiles, project 5
9/29	Phototransistors as sensors, advanced techniques
10/1	External interrupts, edge sensing
10/4	Analog to digital convertor (ADC), configuration
10/6	ADC ISRs, techniques to scan multiple channels, software layer separation
10/8	Triangulation sensors (GP2D12), noise problems, glitch filtering
10/11	More filtering, averaging noise, circular buffers, project 5
10/13	DC motors, concept of pulse-width modulation (PWM), configuration of hardware-based PWM
10/15	More on PWM, R/C servo control, problems with PWM
10/18	Rotation encoding, quadrature encoding, software techniques
10/20	Quadrature encoder interface techniques, filtering, project 6
10/22	Practice exam 2
10/25	Partial Integral Differential (PID) control loop, concepts
10/27	Exam 2
10/29	PID implementation issues, bit-width resolution, fixed-point computation
11/1	PID constant tuning, introduction to Micromouse competitions, project 7
11/3	Basic robot design issues, configuration, component selection
11/5	More on Micromouse design issues
11/8	Maze exploration and mapping algorithms, depth-first search
11/10	More mapping algorithms, floodfill, project 8
11/15	Map representation, set representation and implementation
11/17	Floodfill algorithm implementation
11/19	Introduction to micromouse simulator, interface description, project 9
11/22	Introduction to real-time kernel (RTK), basic threading
11/24	Multithreading concepts, round robin, priority queue, scheduling
11/29	Utilizing an RTK, thread coordination, semaphores
12/1	More RTK concepts, relationship of ISR and RTK, coordination of ISR and RTK
12/3	Application of RTK to robotics, such as Micromouse
12/6	Practice final exam
12/8	Student presentations
12/13	Final exam 1015-1215