Arduino microcontrollers are inexpensive and easy to program, making them very popular among hobbyists and “makers”. Arduinos are also surprisingly capable when it comes to creating real-time feedback control systems. This paper investigates several facets of using Arduino microcontrollers to teach students to create real-time control systems. A simplified approach to enforcing the real-time execution of a control law is introduced based on the delayMicroseconds function and its accuracy is compared to the standard timer interrupt approach. Initial assessment data is presented on whether or not the delayMicroseconds approach is easier for students to understand. The accuracy of the Arduino’s built-in timing function micros is also investigated.
- Dynamic Systems and Control Division
Teaching Real-Time Control Using Arduino: Timer ISR vs delayMicroseconds
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Krauss, RW. "Teaching Real-Time Control Using Arduino: Timer ISR vs delayMicroseconds." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems. Tysons, Virginia, USA. October 11–13, 2017. V003T31A003. ASME. https://doi.org/10.1115/DSCC2017-5140
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