Introduction to Microcontrollers (Summer 2010)
Introduction to Microcontrollers was a course taught to incoming DASL students during the Summer 2010 term at Drexel University. The primary focus of the course was to introduce incoming DASL students to concepts in electrical engineering, circuit design, and programming, including:

The goal of the course was to familiarize incoming DASL students with tools and techniques used to construct and program autonomous robots and allow students to work and interact with members of DASL. The course used the Arduino Duemilanove microcontroller board to interface with circuit components and create analog and digital circuits.

Introduction to Microcontrollers Syllabus (Summer 2010)

Week 1 (06/24/2010) Lecture Files Homework
Week 2 (07/01/2010) Lecture Files Homework
Week 3 (07/08/2010) Lecture Files Homework
Week 4 (07/15/2010) Lecture Files Homework
Week 5 (07/22/2010) Midterm - -

Class Project: Hubo Neck Joint
The project that the students were tasked with was the construction and control of a 3 degree-of-freedom (DOF) neck joint to replace the existing 2DOF neck joint used on the Hubo2 KHR-4 at DASL. Students worked in groups of three to design, construct, and program a custom-built Arduino board which interfaced with three Robotis Dynamixel RX-28 serial servos to control the rotation of the neck joint. The project was intended for students to work collaboratively on a project involving mechanical and electrical design, as well as embedded programming.


Embedded Control (Summer 2011)
Embedded Control was a course taught to incoming DASL students during the Summer 2011 term at Drexel University. This course focused primarily on topics covered in introductory college-level physics courses (PHYS 102) and elements of electrical engineering such as:

The goal of the course was to familiarize incoming DASL students with tools and techniques used to construct and program autonomous robots and allow students to work and interact with members of DASL. The course used the LEGO NXT and HiTechnic Solderless Prototype Board to interface with circuit components and create analog and digital circuits.

Embedded Control Syllabus (Summer 2011)

Week 1 (06/29/2011) Lecture Files Homework
Week 2 (07/06/2011) Lecture Files Homework
Week 3 (07/13/2011) Lecture Files Homework
Week 4 (07/20/2011) Lecture Files Homework
Week 5 (07/27/2011) Midterm - -
Week 6 (08/03/2011) Lecture Files Homework
Week 7 (08/10/2011) Lecture Files Homework
Week 8 (08/17/2011) Lecture Files Homework

Class Project: GPS Challenge
The project that the students focused on during the last several weeks of the term was the autonomous navigation of a LEGO NXT Tribot equipped with a HiTechnic Compass Sensor and a Dexter Industries dGPS Module, both of which were used to aid in the robot's navigation to a desired GPS waypoint. The project was intended to teach students the principles of PID control, sensor integration and sources of error, and programming LEGO NXT microcontrollers. Testing took place in the Drexel University Quad, which provided adequate GPS reception and a smooth, level pathway for robot movement.

GPS Waypoints