Arduino IV: DIY Robots: 3D Printing, Instrumentation, and Control

Preface
	Approach of The Book
	Acknowledgments
Contents
About the Authors
1 Getting Started
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	1.1 Overview
	1.2 The Big Picture
	1.3 Arduino Quickstart
		1.3.1 Quick Start Guide
		1.3.2 Arduino Development Environment Overview
		1.3.3 Sketchbook Concept
		1.3.4 Arduino Software, Libraries, and Language References
		1.3.5 Writing an Arduino Sketch
	1.4 Application: Robot IR Sensor
	1.5 Application: External Interrupts
	1.6 Arduino UNO R3 Processing Board
	1.7 Advanced: Arduino UNO R3 Host Processor–The ATmega328
		1.7.1 Arduino UNO R3/ATmega328 Hardware Features
		1.7.2 ATmega328 Memory
		1.7.3 ATmega328 Port System
		1.7.4 ATmega328 Internal Systems
	1.8 Arduino UNO R3 Open Source Schematic
	1.9 Arduino Mega 2560 R3 Processing Board
	1.10 Advanced: Arduino Mega 2560 Host Processor–The ATmega2560
		1.10.1 Arduino Mega 2560 /ATmega2560 Hardware Features
		1.10.2 ATmega2560 Memory
		1.10.3 ATmega2560 Port System
		1.10.4 ATmega2560 Internal Systems
	1.11 Arduino Mega 2560 Open Source Schematic
	1.12 Extending the Hardware Features of the Arduino Platform
	1.13 Application: Dagu Rover 5 Robot
		1.13.1 Requirements
		1.13.2 Circuit Diagram–Arduino UNO
		1.13.3 Structure Chart
		1.13.4 UML Activity Diagrams
		1.13.5 Microcontroller Code–Arduino UNO
	1.14 Application: Tinkerkit Braccio
	1.15 Summary
	1.16 Problems
2 Introduction to Low-Cost 3D Printing
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		2.1 3D Printing 101
			2.1.1 Overview
			2.1.2 What Is 3D Printing?
			2.1.3 Common Categories of 3D Printing
			2.1.4 Best Uses of 3D Printing
		2.2 FDM 3D Printing
			2.2.1 How FDM 3D Print Works
			2.2.2 Variations in FDM 3D Printer Designs
			2.2.3 Common Cartesian Printer Anatomy
		2.3 Affordable Desktop 3D Printers
			2.3.1 Popular Brands
			2.3.2 Getting Started with Prusa
		2.4 Materials
			2.4.1 PLA (Polylactic Acid)
			2.4.2 ABS (Acetonitrile Butadiene Styrene)
			2.4.3 PETG (Glycol Modified Polyethylene Terephthalate)
			2.4.4 TPU (Thermoplastic Polyurethane)
			2.4.5 Exotics/Specialty Filaments and Their Applications
		2.5 Slicers
			2.5.1 What Are Slicers?
			2.5.2 Where to Find 3D Models
			2.5.3 CAD Models
			2.5.4 Popular Slicers and How to Get Started
			2.5.5 Common Slicer Settings
		2.6 Preparing to Print
			2.6.1 General Overview
			2.6.2 Best Practices
		2.7 Application: 3D Printed Arduino Robot
			2.7.1 3D Printing the Otto robot.stl Files
			2.7.2 Assembling and Coding Otto
		2.8 Summary
		2.9 Problems
3 Robotic Concepts and Sensors
	3.1 Overview
	3.2 GPS: Robot Localization on the Earth's Surface
		3.2.1 GPS Logger Shield
	3.3 Steering and Odometry
		3.3.1 Steering
	3.4 Motor Direction and Speed Control
	3.5 Odometry
		3.5.1 Single Channel Odometry
		3.5.2 Dual–Channel, Quadrature Odometry
	3.6 Vision and Obstacle Avoidance
		3.6.1 Infrared Sensor
		3.6.2 Ultrasound Sensor
		3.6.3 LIDAR
	3.7 Aside: TFT Display
	3.8 Robot Status
		3.8.1 Advanced: Quaternions
	3.9 Environmental Sensors
	3.10 Application: Dagu Rover 5–2, Two Motors, Two Encoders, with Wheels
		3.10.1 Microcontroller Code–Arduino UNO
	3.11 Summary
	3.12 Problems
4 Motor Control and Actuators
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	4.1 Overview Concepts
	4.2 DC Motor
		4.2.1 DC Motor Ratings
		4.2.2 Unidirectional DC Motor Control
		4.2.3 DC Motor Speed Control–Pulse Width Modulation (PWM)
		4.2.4 Bidirectional Motor Control with an H–bridge
	4.3 Servo Motor Control
	4.4 Stepper Motor Control
	4.5 Linear Motor/Actuator
	4.6 Application–4WD Platform with H–bridge
	4.7 Summary
	4.8 Problems
5 Power Sources
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	5.1 Overview
	5.2 Project Requirements
	5.3 Battery Basics
		5.3.1 Ratings
		5.3.2 Types
	5.4 Voltage Regulators
	5.5 Power Supply System Design
		5.5.1 Arduino Power Requirements
		5.5.2 AC Operation via an Umbilical Cable
		5.5.3 Powering the Arduino from Batteries
		5.5.4 Robot Payload Power Sources
	5.6 Application
	5.7 Summary
	5.8 Problems
6 Applications
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	6.1 Overview
	6.2 Mountain Maze Navigating Robot
		6.2.1 Description
		6.2.2 Requirements
		6.2.3 Circuit Diagram
		6.2.4 Structure Chart
		6.2.5 UML Activity Diagrams
		6.2.6 Robot Construction
		6.2.7 Robot Chassis–Earth Roamer
		6.2.8 Mountain Maze
		6.2.9 Project Extensions
	6.3 Summary
	6.4 Problems
Index