{"id":4678,"date":"2021-12-17T03:12:24","date_gmt":"2021-12-17T03:12:24","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=4678"},"modified":"2021-12-17T14:57:14","modified_gmt":"2021-12-17T14:57:14","slug":"you-have-the-control-estacion-de-carga-de-gamepads-motorizada","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/you-have-the-control-estacion-de-carga-de-gamepads-motorizada\/","title":{"rendered":"You Have the Control &#8211; Estaci\u00f3n de carga de gamepads motorizada"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/crop.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"969\" height=\"987\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/crop.jpg\" alt=\"\" class=\"wp-image-4679\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/crop.jpg 969w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/crop-295x300.jpg 295w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/crop-768x782.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/crop-80x80.jpg 80w\" sizes=\"auto, (max-width: 969px) 100vw, 969px\" \/><\/a><\/figure>\n\n\n\n<p>Proyecto realizado por <strong>Grupo 3: Sahar Yousefi<\/strong> para la asignatura de Dise\u00f1o de Sistemas Empotrados.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Proyecto<\/h2>\n\n\n\n<p><strong>You Have the Control<\/strong> es una estaci\u00f3n de carga motorizada para gamepads.<\/p>\n\n\n\n<p>Al acercarse el usuario, los mandos se mueven para poder ser recogidos con mayor facilidad. Al colocarlos de vuelta, las plataformas que sujetan los mandos se retraen y los cables de carga magn\u00e9ticos se conectan autom\u00e1ticamente a los mandos.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif.com-gif-maker-1.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"228\" height=\"362\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif.com-gif-maker-1.gif\" alt=\"\" data-id=\"4683\" class=\"wp-image-4683\" \/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif.com-gif-maker2.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"446\" height=\"480\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif.com-gif-maker2.gif\" alt=\"\" data-id=\"4705\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif.com-gif-maker2.gif\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4705\" class=\"wp-image-4705\" \/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Materiales<\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>Arduino Uno R3<\/strong><\/td><td>11,50\u20ac<\/td><\/tr><tr><td><strong>Cables<\/strong><\/td><td>2\u20ac<\/td><\/tr><tr><td><strong>2 servos SG90<\/strong><\/td><td>5\u20ac<\/td><\/tr><tr><td><strong>4 pulsadores switch<\/strong><\/td><td>2\u20ac<\/td><\/tr><tr><td><strong>Registro de desplazamiento 74HC595<\/strong><strong>&nbsp;<\/strong><\/td><td>0,32\u20ac<\/td><\/tr><tr><td><strong>Mini placa de prototipo<\/strong><\/td><td>1,30\u20ac<\/td><\/tr><tr><td><strong>8 LEDs<\/strong><\/td><td>0,40\u20ac<\/td><\/tr><tr><td><strong>Sensor ultras\u00f3nico SR04<\/strong><\/td><td>2,70\u20ac<\/td><\/tr><tr><td><strong>Filamento PETG y PLA<\/strong><\/td><td>10\u20ac<\/td><\/tr><tr><td><strong>12 resistencias<\/strong><\/td><td>0,45\u20ac<\/td><\/tr><tr><td><strong>TOTAL<\/strong><\/td><td><strong>35,67\u20ac<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Dise\u00f1o de hardware<\/h2>\n\n\n\n<p>Todo el dise\u00f1o es original, dise\u00f1ado desde cero para el proyecto.<\/p>\n\n\n\n<p>El prototipo inicial y simulaci\u00f3n del circuito se realiz\u00f3 en TinkerCad antes de ser implementado con componentes reales.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"672\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40-1024x672.png\" alt=\"\" class=\"wp-image-4684\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40-1024x672.png 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40-300x197.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40-768x504.png 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-40.png 1035w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>Los servos est\u00e1n conectados a la placa Arduino Uno directamente, al usar s\u00f3lo dos servos no hace falta una placa driver dedicada. Se utilizan dos pulsadores como detectores de fin de carrera para cada servo, con resistencias para obtener se\u00f1ales HIGH y LOW que pudiera leer el Arduino y poder ser utilizadas en el c\u00f3digo de control.<\/p>\n\n\n\n<p>El medidor de ultrasonidos se encarga de detectar objetos a menos de 25cm delante de la plataforma para activar los servos.<\/p>\n\n\n\n<p>Para la iluminaci\u00f3n, hizo falta utilizar un registro de desplazamiento conectado a trav\u00e9s de una mini placa de prototipo. Al tener que manejar 8 LEDs, los pines disponibles en el Arduino no eran suficientes. Los LEDs est\u00e1n cableados en paralelo para poder activarlos de forma individual a trav\u00e9s del registro de desplazamiento. El registro de desplazamiento y todo el cableado de los leds se externaliz\u00f3 en una mini placa de prototipo conectada al Arduino y se ocult\u00f3 bajo la base.<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41-1024x768.png\" alt=\"\" class=\"wp-image-4685\" width=\"544\" height=\"408\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41-1024x768.png 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41-300x225.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41-768x576.png 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/image-41.png 1035w\" sizes=\"auto, (max-width: 544px) 100vw, 544px\" \/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif-4-6970bf9f8e.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"338\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/ezgif-4-6970bf9f8e.gif\" alt=\"\" class=\"wp-image-4710\" \/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Dise\u00f1o de piezas<\/h2>\n\n\n\n<p>Todas las piezas han sido impresas con impresora 3D.<\/p>\n\n\n\n<p>Se ha utilizado el siguiente modelo de actuador lineal basado en servo de Thingiverse:<\/p>\n\n\n\n<p><a href=\"https:\/\/www.thingiverse.com\/thing:3170748\">https:\/\/www.thingiverse.com\/thing:3170748<\/a><\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-3 is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/serbobracket.png\"><img loading=\"lazy\" decoding=\"async\" width=\"627\" height=\"583\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/serbobracket.png\" alt=\"\" data-id=\"4698\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/serbobracket.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4698\" class=\"wp-image-4698\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/serbobracket.png 627w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/serbobracket-300x279.png 300w\" sizes=\"auto, (max-width: 627px) 100vw, 627px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Arn\u00e9s para servo<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/gear.png\"><img loading=\"lazy\" decoding=\"async\" width=\"458\" height=\"377\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/gear.png\" alt=\"\" data-id=\"4699\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/gear.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4699\" class=\"wp-image-4699\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/gear.png 458w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/gear-300x247.png 300w\" sizes=\"auto, (max-width: 458px) 100vw, 458px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Pi\u00f1\u00f3n<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher.png\"><img loading=\"lazy\" decoding=\"async\" width=\"977\" height=\"466\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher.png\" alt=\"\" data-id=\"4700\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4700\" class=\"wp-image-4700\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher.png 977w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher-300x143.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher-768x366.png 768w\" sizes=\"auto, (max-width: 977px) 100vw, 977px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Cremallera<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>El resto de piezas han sido dise\u00f1adas desde cero en Microsoft 3D Builder.<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-3 is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/base.png\"><img loading=\"lazy\" decoding=\"async\" width=\"937\" height=\"802\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/base.png\" alt=\"\" data-id=\"4692\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/base.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4692\" class=\"wp-image-4692\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/base.png 937w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/base-300x257.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/base-768x657.png 768w\" sizes=\"auto, (max-width: 937px) 100vw, 937px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Base<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder.png\"><img loading=\"lazy\" decoding=\"async\" width=\"898\" height=\"487\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder.png\" alt=\"\" data-id=\"4694\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4694\" class=\"wp-image-4694\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder.png 898w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder-300x163.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/controllerholder-768x416.png 768w\" sizes=\"auto, (max-width: 898px) 100vw, 898px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Plataforma para gamepad<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/diagonalstopper.png\"><img loading=\"lazy\" decoding=\"async\" width=\"525\" height=\"475\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/diagonalstopper.png\" alt=\"\" data-id=\"4695\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/diagonalstopper.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4695\" class=\"wp-image-4695\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/diagonalstopper.png 525w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/diagonalstopper-300x271.png 300w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Endstop diagonal<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/horzontalstopper.png\"><img loading=\"lazy\" decoding=\"async\" width=\"537\" height=\"348\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/horzontalstopper.png\" alt=\"\" data-id=\"4696\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/horzontalstopper.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4696\" class=\"wp-image-4696\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/horzontalstopper.png 537w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/horzontalstopper-300x194.png 300w\" sizes=\"auto, (max-width: 537px) 100vw, 537px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Endstop horizontal<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/legs.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"439\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/legs-1024x439.png\" alt=\"\" data-id=\"4697\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/legs.png\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4697\" class=\"wp-image-4697\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/legs-1024x439.png 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/legs-300x129.png 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/legs-768x329.png 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/legs.png 1228w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Patas<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\">Problemas encontrados<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Servos sin rotaci\u00f3n continua<\/h2>\n\n\n\n<p>El primer problema fue que los servos s\u00f3lo giran 180 grados, y necesitamos que giren de forma continua para poder usarlos como actuadores lineales.<\/p>\n\n\n\n<p>Los servos de rotaci\u00f3n continua son m\u00e1s caros y dif\u00edciles de conseguir, as\u00ed que se decidi\u00f3 modificar los servos SG90 para convertirlos en rotaci\u00f3n continua.<\/p>\n\n\n\n<p>Para ello, hay que abrir el servo y cortar la punta del eje que entra en el potenci\u00f3metro. As\u00ed el servo no recibe informaci\u00f3n sobre su posici\u00f3n, y girar\u00e1 continuamente dependiendo del \u00e1ngulo que se env\u00ede.<\/p>\n\n\n\n<p>Una vez hecha la modificaci\u00f3n, hay que encontrar el \u00e1ngulo neutro del servo. Suele estar en los 90 grados, pero cada servo tiene una calibraci\u00f3n un poco diferente. Para ello, se hizo un peque\u00f1o programa que fuese mandando \u00e1ngulos de 0 a 180 y as\u00ed poder encontrar el \u00e1ngulo en el que el servo deja de moverse.<\/p>\n\n\n\n<p>Para controlar la velocidad de rotaci\u00f3n, cuanto m\u00e1s cercano sea el \u00e1ngulo al neutro, m\u00e1s despacio se mover\u00e1 el servo. Por ejemplo, si el \u00e1ngulo neutro es 90, enviando 91 el servo se mover\u00e1 muy despacio, 92 m\u00e1s r\u00e1pido, y normalmente mandando 95 en adelante se mueve a la m\u00e1xima velocidad.<\/p>\n\n\n\n<p>Para que el servo gire en direcci\u00f3n contraria, se env\u00edan \u00e1ngulos por debajo del \u00e1ngulo neutro.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Sistema de parada de servos<\/h2>\n\n\n\n<p>Al convertir los servos a rotaci\u00f3n continua, no tenemos informaci\u00f3n sobre la posici\u00f3n del servo, as\u00ed que hizo falta pensar una manera de saber cu\u00e1ndo el servo deb\u00eda parar al terminar el recorrido de cada plataforma.<\/p>\n\n\n\n<p>Se decidi\u00f3 utilizar pulsadores como detectores de fin de carrera, con resistencias para conseguir se\u00f1alas altas y bajas como inputs.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<figure class=\"wp-block-image size-medium\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher-animation.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"1043\" height=\"839\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/pusher-animation.gif\" alt=\"\" class=\"wp-image-4718\" \/><\/a><\/figure>\n<\/div>\n<\/div>\n<\/div><\/div>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Resistencia de materiales<\/h2>\n\n\n\n<p>La mayor\u00eda de las piezas han sido impresas en pl\u00e1stico PETG, pero una vez montado, se descubri\u00f3 que las cremalleras eran demasiado flexibles, por lo que se doblaban al estar extendidas con el peso de los mandos. Se decidi\u00f3 imprimir de nuevo las cremalleras en pl\u00e1stico PLA, que es m\u00e1s r\u00edgido, solucionando as\u00ed el problema.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Errores de detecci\u00f3n de objetos<\/h2>\n\n\n\n<p>Durante las pruebas del medidor de ultrasonidos, se obten\u00edan mediciones muy err\u00e1ticas de la distancia, que dificultaba poder detectar un objeto frente a la plataforma de forma consistente.<\/p>\n\n\n\n<p>Investigando posibles soluciones, se encontr\u00f3 la librer\u00eda NewPing <a href=\"https:\/\/bitbucket.org\/teckel12\/arduino-new-ping\/wiki\/Home\">https:\/\/bitbucket.org\/teckel12\/arduino-new-ping\/wiki\/Home<\/a> que soluciona la mayor\u00eda de problemas con los sensores de ultrasonidos baratos.<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Mejoras futuras<\/h1>\n\n\n\n<p>La idea original era que los mandos estuviesen custodiados por un drag\u00f3n, que abriese las alas a la vez que los mandos se movieran. Pero no hubo tiempo para dise\u00f1ar el modelo 3D del drag\u00f3n, imprimirlo y montarlo.<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"718\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2-1024x718.jpg\" alt=\"\" data-id=\"4703\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2.jpg\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4703\" class=\"wp-image-4703\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2-1024x718.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2-300x210.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2-768x539.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon2.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"698\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1-1024x698.jpg\" alt=\"\" data-id=\"4702\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1.jpg\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4702\" class=\"wp-image-4702\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1-1024x698.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1-300x204.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1-768x523.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/dragon1.jpg 1280w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">C\u00f3digo<\/h2>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"cpp\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include &lt;Servo.h&gt;\n#include &lt;NewPing.h&gt;\n\n\/\/ servos\n#define BOTTOM_SERVO_PIN 8;\n#define BOTTOM_SERVO_STOP_ANGLE 87;\n#define BOTTOM_SERVO_FORWARD_ANGLE 92;\n#define BOTTOM_SERVO_BACKWARD_ANGLE 84;\nServo bottomServo;\n\n#define TOP_SERVO_PIN 12;\n#define TOP_SERVO_STOP_ANGLE 89;\n#define TOP_SERVO_FORWARD_ANGLE 85;\n#define TOP_SERVO_BACKWARD_ANGLE 93;\nServo topServo;\n\n\/\/ ultrasonic\n#define ULTRASONIC_TRIG_PING = 9;\n#define ULTRASONIC_ECHO_PING = 10;\nunsigned int distance = 0;\nboolean objectDetected = false;\nNewPing sonar(ULTRASONIC_TRIG_PING, ULTRASONIC_ECHO_PING, 150);\n\n\/\/ buttons\n#define BOTTOM_SERVO_RETRACTED_BUTTON_PIN 2;\n#define BOTTOM_SERVO_EXTENDED_BUTTON_PIN 3;\nboolean bottomServoRetracted = false;\nboolean bottomServoExtended = false;\n#define TOP_SERVO_RETRACTED_BUTTON_PIN 4;\n#define TOP_SERVO_EXTENDED_BUTTON_PIN 5;\nboolean topServoRetracted = false;\nboolean topServoExtended = false;\n\n\/\/ lights\n#define SHIFT_REGISTER_DATA_PIN 7;\n#define SHIFT_REGISTER_LATCH_PIN 6;\n#define SHIFT_REGISTER_CLOCK_PIN 13;\n#define LIGHT_DELAY 100\nunsigned int currentLight = 0;\nboolean enableLights = false;\nboolean reverseLightDirection = false;\n\nvoid ledWrite(int Led)\n{\n  shiftOut(SHIFT_REGISTER_DATA_PIN, SHIFT_REGISTER_CLOCK_PIN, LSBFIRST, Led);\n  digitalWrite(SHIFT_REGISTER_LATCH_PIN, HIGH);\n  digitalWrite(SHIFT_REGISTER_LATCH_PIN, LOW);\n}\n\nvoid setup()\n{\n  Serial.begin(115200);\n  bottomServo.attach(BOTTOM_SERVO_PIN);\n  topServo.attach(TOP_SERVO_PIN);\n  bottomServo.write(BOTTOM_SERVO_STOP_ANGLE);\n  topServo.write(TOP_SERVO_STOP_ANGLE);\n\n  pinMode(BOTTOM_SERVO_RETRACTED_BUTTON_PIN, INPUT);\n  pinMode(BOTTOM_SERVO_EXTENDED_BUTTON_PIN, INPUT);\n  pinMode(TOP_SERVO_RETRACTED_BUTTON_PIN, INPUT);\n  pinMode(TOP_SERVO_EXTENDED_BUTTON_PIN, INPUT);\n\n  pinMode(ULTRASONIC_TRIG_PING, OUTPUT);\n  pinMode(ULTRASONIC_ECHO_PING, INPUT);\n\n  pinMode(SHIFT_REGISTER_DATA_PIN, OUTPUT);\n  pinMode(SHIFT_REGISTER_LATCH_PIN, OUTPUT);\n  pinMode(SHIFT_REGISTER_CLOCK_PIN, OUTPUT);\n}\n\nvoid loop()\n{\n  delay(50);\n  distance = sonar.ping_cm();\n  bottomServoRetracted = digitalRead(BOTTOM_SERVO_RETRACTED_BUTTON_PIN) == HIGH;\n  bottomServoExtended = digitalRead(BOTTOM_SERVO_EXTENDED_BUTTON_PIN) == HIGH;\n  topServoRetracted = digitalRead(TOP_SERVO_RETRACTED_BUTTON_PIN) == HIGH;\n  topServoExtended = digitalRead(TOP_SERVO_EXTENDED_BUTTON_PIN) == HIGH;\n\n  \/\/ only check for objects when servo is not moving\n  if (bottomServoRetracted || bottomServoExtended)\n  {\n    if (25 &gt; distance &amp;&amp; distance != 0)\n    {\n      objectDetected = true;\n    }\n    else if (distance != 0)\n    {\n      objectDetected = false;\n    }\n  }\n\n  \/\/ bottom servo control\n  if (!bottomServoExtended &amp;&amp; objectDetected == true)\n  {\n    bottomServo.write(BOTTOM_SERVO_FORWARD_ANGLE);\n    reverseLightDirection = false;\n    enableLights = true;\n  }\n  else if (bottomServoExtended &amp;&amp; objectDetected == true)\n  {\n    \/\/ wait 4 seconds when extended to let user pick up gamepads\n    \/\/ also turn on all the lights\n    ledWrite(B11111111);\n    currentLight = 0;\n    delay(4000);\n  }\n  else if (!bottomServoRetracted &amp;&amp; objectDetected == false)\n  {\n    bottomServo.write(BOTTOM_SERVO_FORWARD_ANGLE);\n    \/\/ lights go in reverse direction when retracting\n    reverseLightDirection = true;\n    enableLights = true;\n  }\n  else\n  {\n    bottomServo.write(BOTTOM_SERVO_STOP_ANGLE);\n    \/\/ restart the lights and turn off\n    currentLight = 0;\n    enableLights = false;\n  }\n\n  \/\/ top servo control\n  if (!topServoExtended &amp;&amp; objectDetected == true)\n  {\n    topServo.write(TOP_SERVO_FORWARD_ANGLE);\n  }\n  else if (!topServoRetracted &amp;&amp; objectDetected == false)\n  {\n    topServo.write(TOP_SERVO_BACKWARD_ANGLE);\n  }\n  else\n  {\n    topServo.write(TOP_SERVO_STOP_ANGLE);\n  }\n\n  \/\/ light control\n  if (enableLights == true)\n  {\n    if (reverseLightDirection)\n    {\n      ledWrite(B11000000 &gt;&gt; currentLight);\n    }\n    else\n    {\n      ledWrite(B00000011 &lt;&lt; currentLight);\n    }\n\n    delay(LIGHT_DELAY);\n\n    currentLight++;\n\n    if (currentLight &gt; 8)\n      currentLight = 0;\n  }\n  else\n  {\n    ledWrite(B00000000);\n  }\n}\n<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">V\u00eddeo explicativo<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"video-container\"><iframe loading=\"lazy\" title=\"You Have The Control\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/_aea7sp-sVs?feature=oembed&#038;wmode=opaque\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/div>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Memoria<\/h2>\n\n\n\n<div class=\"wp-block-file\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/MemoriaGrupo3SaharYousefi.pdf\">MemoriaGrupo3SaharYousefi<\/a><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/12\/MemoriaGrupo3SaharYousefi.pdf\" class=\"wp-block-file__button\" download>Descarga<\/a><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Proyecto realizado por Grupo 3: Sahar Yousefi para la asignatura de Dise\u00f1o de Sistemas Empotrados. Proyecto You Have the Control es una estaci\u00f3n de carga motorizada para gamepads. Al acercarse el usuario, los mandos&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":4679,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-4678","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-proyectos"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>You Have the Control - Estaci\u00f3n de carga de gamepads motorizada - 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\/you-have-the-control-estacion-de-carga-de-gamepads-motorizada\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"You Have the Control - Estaci\u00f3n de carga de gamepads motorizada - Proyectos con Arduino.\" \/>\n<meta property=\"og:description\" content=\"Proyecto realizado por Grupo 3: Sahar Yousefi para la asignatura de Dise\u00f1o de Sistemas Empotrados. Proyecto You Have the Control es una estaci\u00f3n de carga motorizada para gamepads. Al acercarse el usuario, los mandos&#046;&#046;&#046;\" \/>\n<meta property=\"og:url\" content=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/you-have-the-control-estacion-de-carga-de-gamepads-motorizada\/\" \/>\n<meta property=\"og:site_name\" content=\"Proyectos con Arduino.\" \/>\n<meta property=\"article:published_time\" content=\"2021-12-17T03:12:24+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2021-12-17T14:57:14+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/12\/crop.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"969\" \/>\n\t<meta property=\"og:image:height\" content=\"987\" \/>\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=\"9 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\\\/you-have-the-control-estacion-de-carga-de-gamepads-motorizada\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/you-have-the-control-estacion-de-carga-de-gamepads-motorizada\\\/\"},\"author\":{\"name\":\"Administrador de la red\",\"@id\":\"https:\\\/\\\/blogs.etsii.urjc.es\\\/dseytr\\\/#\\\/schema\\\/person\\\/bdc38fea664f13638d2a51f4d2fc7211\"},\"headline\":\"You Have the Control &#8211; 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