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5/28/2017 Assembly | Hardware Guide | 6.302.

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MITx: 6.302.0x Introduction to Control System Design A First Help


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Assembly
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Overall our system circuit is the following:

R2 = (brown-black-brown),

R3 = (green-black-silver, and larger).

R1 = R4 = R5 = (orange-orange-red),

R7* = R8* = (blue-grey-red) and used for Teensy Only!!

Now don't freak out if you've never built anything before from a schematic. We have plenty of
pictures and we've tried to make the design as simple as possible so that if you want to go
ahead and build it from schematic you totally can, but if you want to copy our wiring from the
pictures that's totally great too! As a combination you can use the way we wired it and the
schematic to maybe get some practice with some good breadboarding techniques (keeping
short wires, making your connections as direct as possible especially on high-current pathways,
etc...)

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There are two microcontrollers we are actively supporting this time on 6.302.0x, the Arduino
Uno and the Teensy 3.2.

This Assembly Video starting at 10 s

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The next part we need to prep is the potentiometer, which we'll use as an angle sensor.

Assembly Video at 1:41


Assembly Video at 5:29

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As shown in the assembly video, using a pair of scissors and periodic manual size comparison
of the potentiometer drill out a hole in the short end of the box about two-thirds of the way
from the bottom of the box between two of the notch-slots.

Right at 9:59 in the Assembly Video Jacob takes a wire and connects the node called pwmIn to the
5V supply. What this does is manually turn on the NPN transistor, which subsequently turns on
the PNP power transistor which then drives the propeller motor! You can see in the video Jacob
is tapping the connecting wire to the back of the power jack which is at 5V to achieve this

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5/28/2017 Assembly | Hardware Guide | 6.302.0x Courseware | edX

The next part we need to prep is the potentiometer, which we'll use as an angle sensor.

Assembly Video at 2:18

As shown in the assembly video, using a pair of scissors and periodic manual size comparison
of the potentiometer drill out a hole in the short end of the box about two-thirds of the way
from the bottom of the box between two of the notch-slots.

Attach three Female-to-Male wires to the potentiometer and twist them like shown. It is very
important to tightly twist the three wires together. By doing so, any noise will be picked up by all
three wires in the same way, leading to at least partial cancellation.

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5/28/2017 Assembly | Hardware Guide | 6.302.0x Courseware | edX

The last remaining part in our assembly journey is interfacing our circuit with the
microcontroller of choice. The following nodes in our circuit need to be wired up to it

Based on what your microcontroller is (Arduino Uno or Teensy 3.2), move onto the next section
to discuss wiring for the specic board.

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