MinSeg!

New: Arduino Library, Curriculum and all files and demos are available here:

http://homepages.rpi.edu/~hurstj2/

NOTE: We are updating files and libraries -  Some downloads may be temporarily unavailable.  Please contact us if you need something.

For the MinSeg kit  simply:

1. download the files
2. connect the USB cable
3. open the simulink diagram, specify the COM port
4. press control+B to build, program, and run the code 

• Simulink Arduino Library Installation Instructions: PDF
• Rensselaer Arduino Support Package, Curriculum and Demos

• Sending Float and Int data: Creating a Byte Stream with a SFunction using a Union
  • These example SFunctions create byte stream from float and int to send data from Arduino with the supported serial transmit block.  It includes an example m-file to reconstruct the data on the PC side.
  • Byte_Stream_SFunctions_Float_int16.zip

• Combined HMC5883L and MPU6050 IMU SFunction
  
  • sf_HMC5883L_MPU6050_IMU.zip

• Magnetometer Data from HMC5883L
  
  • HMC5883L_SFunction.zip

• Quadrature decoding of a rotary encoder
  • Download and unzip Quadrature Encoder files and open Matlab in this folder
  • Open MPU6050_SFunction.slx, select Tools -> Run on Target Hardware -> Run
    
  • This file uses interrupts on pins 2, and 3.  A uno can only use pins 2 and 3.  A mega can use 2, 3, 18, 19, 20, and 21.  If you change the pin numbers the SFunciton must be compiled. instructions are provided in the README provided

• Driving a DC Motor with PWM: Sine Wave Test with SN754410 driver
  
  • Download Motor_Test_Sine_Wave.slx and open Matlab in the same directory
  • Open Motor_Test_Sine_Wave.slx, select Tools -> Run on Target Hardware -> Run
  • The motor should oscillate back and forth at with a period of 3 seconds

• Reading accelerometer and gyroscope data from MPU6050 with I2C.
  • Download and unzip MPU6050 files and open Matlab in this folder
  • Open MPU6050_SFunction.slx, select Tools -> Run on Target Hardware -> Run
  • To change accelerometer or gyro range, implement low pass filters, or other capabilities of the MPU6050 the SFunction must be compiled - instructions are provided in the README provided

• Reading distance data from HC-SR04 ultrasonic sensor.
  
• Download and unzip HC-SR04  files and open Matlab in this folder
• Open HCSR04_SFunction.slx, select Tools -> Run on Target Hardware -> Run
  • The current SFunction is hard coded with pin 6 the trigger pin and pin 7 the echo pin.  To change the pins the SFunciton has to be compiled.  Instructions to compile the SFunction are provided in the README. 
  • The current version blocks the code when it is computing the distance causing the code to overrun for fast sample times (5ms - MinSeg still balances).  We are working on improving this - stay tuned!

• Reading gyroscope data from a L3GD20 with I2C (The MinSeg does not use this sensor anymore - it uses the MPU6050):
  • L3GD20 files

• Bluetooth Send and Recieve