{"id":115,"date":"2017-04-26T12:50:00","date_gmt":"2017-04-26T12:50:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=115"},"modified":"2019-05-04T11:10:50","modified_gmt":"2019-05-04T11:10:50","slug":"seytrgiimostoles2016-17grupo-11-robo","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/","title":{"rendered":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn"},"content":{"rendered":"

El siguiente enlace contiene todo el material pedido: memoria, c\u00f3digo fuente, v\u00eddeo, etc.<\/p>\n

\nhttps:\/\/drive.google.com\/open?id=0Bz4oBtpHYTQiYTFDZWlMSEZGZzA<\/a><\/div>\n
\n<\/div>\n
\n<\/p>\n
\n
\n
\nRobot
\nBalanc\u00edn<\/span><\/b><\/div>\n
\nSistemas Empotrados y de
\nTiempo Real<\/span>
\n
<\/span><\/p>\n
\n<\/a><\/div>\n

<\/div>\n<\/div>\n

\n<\/div>\n
\n<\/div>\n
\nSergio Mart\u00edn Vaquero<\/span><\/div>\n
\nJavier Prieto Pereira<\/span><\/div>\n
\nBairon Steven Garc\u00eda Sarria<\/span><\/div>\n
\n<\/div>\n
\nGrado Ingenier\u00eda Inform\u00e1tica (M\u00f3stoles)<\/span><\/div>\n
\n
\n<\/div>\n<\/div>\n
\n<\/div>\n
\n
\nProyecto.                                                                              <\/span>(P\u00e1gina 2)<\/span><\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n
\nComponentes.                                                                     <\/span>(P\u00e1gina 2)<\/span><\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n
\nPresupuesto.                                                                        <\/span>(P\u00e1gina 4)<\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n
\nConexiones.                                                                         <\/span>(P\u00e1gina 5)<\/span><\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n
\nMontaje.                                                                               <\/span>(P\u00e1gina 6)<\/span><\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n
\nC\u00f3digo.                                                                                 <\/span>(P\u00e1gina 8)<\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n<\/div>\n
\n
\nProblemas y mejoras.                                                <\/span>(P\u00e1gina 9)<\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n<\/div>\n
\n
\nProyecto.<\/span><\/span><\/div>\n<\/div>\n
\nLa idea principal era construir un robot que
\napoyado sobre sus dos ruedas mantuviese el equilibrio por medio de Arduino as\u00ed
\ncomo poder ser dirigido a trav\u00e9s de un dispositivo m\u00f3vil mediante una conexi\u00f3n
\nBluetooth.<\/span><\/div>\n
\n<\/div>\n
\n
\nComponentes.<\/span><\/div>\n<\/div>\n
\n\u2022     
\n<\/span><\/span>1xPlaca Arduino<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xMotor Shield<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>2xMotores <\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xGiroscopio<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xM\u00f3dulo Bluetooth<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xPlaca Protoboard<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xPila 9V<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>1xFuente de 
\nalimentaci\u00f3n 5V<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>2xRuedas<\/span><\/div>\n
\n\u2022     
\n<\/span><\/span>Cables, resistencias, madera,\u2026<\/span><\/div>\n
\n<\/span>                                           <\/span><\/span>     <\/span><\/div>\n
\n<\/div>\n
\n
\nPresupuesto.<\/span><\/div>\n<\/div>\n
\n<\/div>\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
\nProducto<\/b><\/div>\n<\/td>\n
\n
\nModelo<\/b><\/div>\n<\/td>\n
\n
\nPrecio<\/b><\/div>\n<\/td>\n<\/tr>\n
\n
\nPlaca Protoboard<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n<\/tr>\n
\n
\nPlaca de  Arduino<\/div>\n<\/td>\n
\n
\nM\u00f3dulo Arduino Uno Rev3<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n<\/tr>\n
\n
\nMotor Shield <\/div>\n<\/td>\n
\n
\nMotor Shield Rev3<\/div>\n<\/td>\n
\n
\n28.25<\/div>\n<\/td>\n<\/tr>\n
\n
\nMotores <\/div>\n<\/td>\n
\n
\n2xMotor con reductora 6V-100:1<\/div>\n<\/td>\n
\n
\n18.36<\/div>\n<\/td>\n<\/tr>\n
\n
\nGiroscopio<\/div>\n<\/td>\n
\n
\nM\u00f3dulo MPU6050<\/div>\n<\/td>\n
\n
\n5.00<\/div>\n<\/td>\n<\/tr>\n
\n
\nM\u00f3dulo Bluetooth<\/div>\n<\/td>\n
\n
\nM\u00f3dulo HC-05<\/div>\n<\/td>\n
\n
\n8.70<\/div>\n<\/td>\n<\/tr>\n
\n
\nPila<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n
\n
\n3.00<\/div>\n<\/td>\n<\/tr>\n
\n
\nRuedas<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n
\n
\n—<\/div>\n<\/td>\n<\/tr>\n
\n
\nTotal<\/div>\n<\/td>\n
\n
\n63.31<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n<\/div>\n
\nA la suma total del presupuesto a\u00f1adir\u00edamos tambi\u00e9n los 2
\nmotores paso a paso que pedimos por internet pero que no nos han llegado
\ntodav\u00eda y el aceler\u00f3metro que compramos en sustituci\u00f3n del giroscopio, que
\ntampoco nos ha llegado.<\/div>\n
\n<\/div>\n
\n<\/span><\/span><\/div>\n
\n<\/div>\n
\n<\/span><\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\n
\nMontaje.<\/span><\/div>\n<\/div>\n
\n<\/div>\n
\n<\/span><\/span><\/div>\n
\nPrimero hay que
\nconectar el Motor Shield sobre la placa de Arduino. Esta conexi\u00f3n es muy
\nsencilla dado a los pines que incluye el Motor Shield. Al unir el Motor Shield
\ncon Arduino se realizan las siguientes conexiones:<\/span><\/div>\n
\nMotor Shield GND > Arduino GND<\/span><\/div>\n
\nMotor Shield VIn > Arduino VIn<\/span><\/div>\n
\n         <\/span>DIR A
\n> Ardunio Dig. 12<\/span><\/div>\n
\nDIR B
\n> Ardunio Dig. 13<\/span><\/div>\n
\nPWN A
\n> Arduino Dig. 3<\/span><\/div>\n
\nPWN B
\n> Arduino Dig. 11<\/span><\/div>\n
\nBRAKE A
\n> Arduino Dig. 9<\/span><\/div>\n
\n            <\/span>BRAKE A
\n> Arduino Dig. 8<\/span><\/span><\/div>\n
\nA continuaci\u00f3n se
\nllevan a cabo las importantes conexiones por cable entre la placa Arduino y el
\nMPU6050, que se encuentra sobre la placa Protoboard. Las conexiones son las
\nsiguientes: <\/span><\/div>\n
\n            <\/span>MPU6050 GND > Arduino GND<\/span><\/div>\n
\nMPU6050
\nVIn > Arduino 5V+<\/span><\/div>\n
\nMPU6050
\nSCL > Arduino Analog. A5<\/span><\/div>\n
\nMPU6050
\nSDA > Arduino Analog. A4<\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\nEn la imagen
\nsuperior est\u00e1 conectado el aceler\u00f3metro MMA7455 ya que es el componente que
\nten\u00edamos, las conexiones son las mismas que las del MPU6050<\/span><\/div>\n
\nPosteriormente
\nhabr\u00eda que realizar la conexi\u00f3n entre el Motor Shield a los motores para poder
\ncontrolarlos. Para ello hay que unir el polo negativo y positivo de cada motor
\ncon los dos pares de polos positivos y negativos de nuestro Motor Shield.<\/span><\/div>\n
\n<\/div>\n
\n<\/span><\/span><\/div>\n
\nFinalmente
\nconectamos los motores a las ruedas y colocamos las placas y el resto de
\nmaterial dentro del cuerpo de madera del robot, a excepci\u00f3n de las ruedas.<\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\nA continuaci\u00f3n se
\nencuentra el enlace al v\u00eddeo de prueba del proyecto:<\/span><\/div>\n
\nhttps:\/\/youtu.be\/BtA112gB0QM<\/a><\/span><\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n
\nC\u00f3digo.<\/span><\/div>\n<\/div>\n
\n\u2022      <\/span><\/span>Obtenci\u00f3n del \u00e1ngulo del robot respecto del
\nsuelo. Esto se conseguir\u00e1 a trav\u00e9s de la mediciones realizadas por la
\nMPU6050  tanto del aceler\u00f3metro y del
\ngiroscopio (ambos integrados en la IMU). La manera de usar  ambas mediciones ser\u00e1 fusion\u00e1ndolas mediante
\nel filtro complementario implementado en la IMU<\/span><\/div>\n
\n\u2022      <\/span><\/span>Filtro Khalman: El filtro Khalman ser\u00eda otra
\nopci\u00f3n de fusionar ambas lecturas. Este filtro es uno de los m\u00e1s utilizados<\/span><\/div>\n
\n\u2022      <\/span><\/span>Control PID. El control PID en realidad son tres
\ncontroladores que se encargar\u00e1n de calcular 
\nla velocidad a la que deben moverse 
\nlos motores para corregir la posici\u00f3n del \u00e1ngulo. El proporcional al
\nerror, el integral del error que es una suma 
\nde los errores y el control derivativo del error con respecto al tiempo.
\nCada uno de estos controladores posee una constante que nosotros debemos
\nintroducir y la \u00fanica manera ser\u00e1  a
\ntrav\u00e9s de prueba y error. Se comenzar\u00e1 con la constante del proporcional y una
\nvez que el robot empiece a oscilar se seguir\u00e1 con la del integras a esta
\nestabilizarlo y para finalizar con la constante 
\ndel derivativo para estabilizarlo del 
\ntodo.<\/span><\/div>\n
\n\u2022      <\/span><\/span>Interrupciones. Por \u00faltimo hemos escogido las
\ninterrupciones de Arduino para conseguir 
\nmodificar la velocidad de los motores. Para ello hacemos uso de dos de
\nlos tres timers que tiene Arduino ser\u00edan el 1y el 2 ya que el 0 implementa
\nfunciones que utilizamos como delay().<\/span><\/div>\n
\n\u2022      <\/span><\/span>Resto de funciones. Por \u00faltimo el  resto de funciones corresponden a la parte
\nbluetooth de nuestro robot, es decir, para poder moverse seg\u00fan las
\ninstrucciones recibidas a trav\u00e9s de nuestro dispositivo m\u00f3vil. Tambi\u00e9n tenemos
\notro control PID que utilizaremos para controlar al robot cuando est\u00e9 en
\nmovimiento que funcionar\u00e1 en cascada con el otro controlador PID.<\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n
\nProblemas y mejoras.<\/span><\/div>\n<\/div>\n
\n\u2022      
\n<\/span><\/span>Problemas: \n<\/div>\n
\n1-Chasis.
\nHemos encontrado problemas para construir el chasis ya que los dos primeros modelos
\nno fueron  funcionales.<\/div>\n
\n2-Motores y
\nPotencia. El principal problema con los motores es que no nos han llegado los
\nmotores que pedimos y tuvimos que suplirlos con otros dos que ten\u00edan demasiada
\npotencia.<\/div>\n
\n3-Giroscopio.
\nAl igual que con los motores no nos lleg\u00f3 el MPU6050 y lo intentamos suplir con
\nun aceler\u00f3metro MMA7455 pero sus lecturas no eran muy precisas con lo cual
\nnuestro robot no era  funcional.<\/div>\n
\n                4-Librer\u00edas<\/div>\n
\n\u2022      
\n<\/span><\/span>Mejoras: <\/div>\n
\n1 -En 
\ncaso de caerse conseguir que el robot se levantase por ejemplo con un
\nbrazo que lo impulsase hacia arriba<\/div>\n
\n2-Que funcione con bater\u00eda. En nuestro
\ncaso alimentamos nuestro Arduino a trav\u00e9s de una toma de corriente por lo cual
\nno es un robot ideal para ser teledirigido con lo cual su soluci\u00f3n ser\u00eda tan
\nsimple como alimentar la placa de Arduino con una bater\u00eda.<\/div>\n
\n<\/div>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

El siguiente enlace contiene todo el material pedido: memoria, c\u00f3digo fuente, v\u00eddeo, etc. https:\/\/drive.google.com\/open?id=0Bz4oBtpHYTQiYTFDZWlMSEZGZzA Robot Balanc\u00edn Sistemas Empotrados y de Tiempo Real Sergio Mart\u00edn Vaquero Javier Prieto Pereira Bairon Steven Garc\u00eda Sarria Grado Ingenier\u00eda...<\/p>\n","protected":false},"author":1,"featured_media":1173,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[17],"class_list":["post-115","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-proyectos","tag-seytr_gii_mostoles_2016-17"],"yoast_head":"\nSEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.\" \/>\n<meta property=\"og:description\" content=\"El siguiente enlace contiene todo el material pedido: memoria, c\u00f3digo fuente, v\u00eddeo, etc. https:\/\/drive.google.com\/open?id=0Bz4oBtpHYTQiYTFDZWlMSEZGZzA Robot Balanc\u00edn Sistemas Empotrados y de Tiempo Real Sergio Mart\u00edn Vaquero Javier Prieto Pereira Bairon Steven Garc\u00eda Sarria Grado Ingenier\u00eda...\" \/>\n<meta property=\"og:url\" content=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/\" \/>\n<meta property=\"og:site_name\" content=\"Proyectos con Arduino.\" \/>\n<meta property=\"article:published_time\" content=\"2017-04-26T12:50:00+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2019-05-04T11:10:50+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"854\" \/>\n\t<meta property=\"og:image:height\" content=\"481\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"Administrador de la red\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Escrito por\" \/>\n\t<meta name=\"twitter:data1\" content=\"Administrador de la red\" \/>\n\t<meta name=\"twitter:label2\" content=\"Tiempo de lectura\" \/>\n\t<meta name=\"twitter:data2\" content=\"8 minutos\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/\"},\"author\":{\"name\":\"Administrador de la red\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#\\\/schema\\\/person\\\/bdc38fea664f13638d2a51f4d2fc7211\"},\"headline\":\"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn\",\"datePublished\":\"2017-04-26T12:50:00+00:00\",\"dateModified\":\"2019-05-04T11:10:50+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/\"},\"wordCount\":1620,\"commentCount\":0,\"publisher\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#organization\"},\"image\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2017\\\/04\\\/arduino.jpg\",\"keywords\":[\"SEyTR_GII_Mostoles_2016-17\"],\"articleSection\":[\"Proyectos\"],\"inLanguage\":\"es\",\"potentialAction\":[{\"@type\":\"CommentAction\",\"name\":\"Comment\",\"target\":[\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#respond\"]}]},{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/\",\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/\",\"name\":\"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#primaryimage\"},\"image\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2017\\\/04\\\/arduino.jpg\",\"datePublished\":\"2017-04-26T12:50:00+00:00\",\"dateModified\":\"2019-05-04T11:10:50+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#breadcrumb\"},\"inLanguage\":\"es\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"es\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#primaryimage\",\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2017\\\/04\\\/arduino.jpg\",\"contentUrl\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2017\\\/04\\\/arduino.jpg\",\"width\":854,\"height\":481},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/seytrgiimostoles2016-17grupo-11-robo\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Portada\",\"item\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#website\",\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/\",\"name\":\"Proyectos con Arduino.\",\"description\":\"Blog de proyectos de Arduino de alumnos de la URJC\",\"publisher\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"es\"},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#organization\",\"name\":\"Universidad Rey Juan Carlos\",\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"es\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#\\\/schema\\\/logo\\\/image\\\/\",\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2022\\\/05\\\/logourjc-1.jpg\",\"contentUrl\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/wp-content\\\/uploads\\\/sites\\\/8\\\/2022\\\/05\\\/logourjc-1.jpg\",\"width\":745,\"height\":288,\"caption\":\"Universidad Rey Juan Carlos\"},\"image\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#\\\/schema\\\/logo\\\/image\\\/\"}},{\"@type\":\"Person\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#\\\/schema\\\/person\\\/bdc38fea664f13638d2a51f4d2fc7211\",\"name\":\"Administrador de la red\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"es\",\"@id\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g\",\"url\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g\",\"contentUrl\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g\",\"caption\":\"Administrador de la red\"},\"sameAs\":[\"https:\\\/\\\/blogs.etsii.urjc.es\"],\"url\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/author\\\/etsiiadmin\\\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/","og_locale":"es_ES","og_type":"article","og_title":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.","og_description":"El siguiente enlace contiene todo el material pedido: memoria, c\u00f3digo fuente, v\u00eddeo, etc. https:\/\/drive.google.com\/open?id=0Bz4oBtpHYTQiYTFDZWlMSEZGZzA Robot Balanc\u00edn Sistemas Empotrados y de Tiempo Real Sergio Mart\u00edn Vaquero Javier Prieto Pereira Bairon Steven Garc\u00eda Sarria Grado Ingenier\u00eda...","og_url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/","og_site_name":"Proyectos con Arduino.","article_published_time":"2017-04-26T12:50:00+00:00","article_modified_time":"2019-05-04T11:10:50+00:00","og_image":[{"width":854,"height":481,"url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg","type":"image\/jpeg"}],"author":"Administrador de la red","twitter_card":"summary_large_image","twitter_misc":{"Escrito por":"Administrador de la red","Tiempo de lectura":"8 minutos"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#article","isPartOf":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/"},"author":{"name":"Administrador de la red","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#\/schema\/person\/bdc38fea664f13638d2a51f4d2fc7211"},"headline":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn","datePublished":"2017-04-26T12:50:00+00:00","dateModified":"2019-05-04T11:10:50+00:00","mainEntityOfPage":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/"},"wordCount":1620,"commentCount":0,"publisher":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#organization"},"image":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#primaryimage"},"thumbnailUrl":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg","keywords":["SEyTR_GII_Mostoles_2016-17"],"articleSection":["Proyectos"],"inLanguage":"es","potentialAction":[{"@type":"CommentAction","name":"Comment","target":["https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#respond"]}]},{"@type":"WebPage","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/","url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/","name":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn - Proyectos con Arduino.","isPartOf":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#website"},"primaryImageOfPage":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#primaryimage"},"image":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#primaryimage"},"thumbnailUrl":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg","datePublished":"2017-04-26T12:50:00+00:00","dateModified":"2019-05-04T11:10:50+00:00","breadcrumb":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#breadcrumb"},"inLanguage":"es","potentialAction":[{"@type":"ReadAction","target":["https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/"]}]},{"@type":"ImageObject","inLanguage":"es","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#primaryimage","url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg","contentUrl":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2017\/04\/arduino.jpg","width":854,"height":481},{"@type":"BreadcrumbList","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/seytrgiimostoles2016-17grupo-11-robo\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Portada","item":"https:\/\/blogs.etsii.urjc.es\/dseytr\/"},{"@type":"ListItem","position":2,"name":"SEyTR_GII_Mostoles_2016-17,Grupo 11, Robot Balanc\u00edn"}]},{"@type":"WebSite","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#website","url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/","name":"Proyectos con Arduino.","description":"Blog de proyectos de Arduino de alumnos de la URJC","publisher":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"es"},{"@type":"Organization","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#organization","name":"Universidad Rey Juan Carlos","url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/","logo":{"@type":"ImageObject","inLanguage":"es","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#\/schema\/logo\/image\/","url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2022\/05\/logourjc-1.jpg","contentUrl":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2022\/05\/logourjc-1.jpg","width":745,"height":288,"caption":"Universidad Rey Juan Carlos"},"image":{"@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#\/schema\/logo\/image\/"}},{"@type":"Person","@id":"https:\/\/blogs.etsii.urjc.es\/dseytr\/#\/schema\/person\/bdc38fea664f13638d2a51f4d2fc7211","name":"Administrador de la red","image":{"@type":"ImageObject","inLanguage":"es","@id":"https:\/\/secure.gravatar.com\/avatar\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g","url":"https:\/\/secure.gravatar.com\/avatar\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/e8e366128f81a82735b0b00fe6d280414b4bad087e380fa9fee9694454b8a6fa?s=96&d=mm&r=g","caption":"Administrador de la red"},"sameAs":["https:\/\/blogs.etsii.urjc.es"],"url":"https:\/\/blogs.etsii.urjc.es\/dseytr\/author\/etsiiadmin\/"}]}},"_links":{"self":[{"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/posts\/115","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/comments?post=115"}],"version-history":[{"count":1,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/posts\/115\/revisions"}],"predecessor-version":[{"id":1174,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/posts\/115\/revisions\/1174"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/media\/1173"}],"wp:attachment":[{"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/media?parent=115"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/categories?post=115"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-json\/wp\/v2\/tags?post=115"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}