Pensel, or brush/pencil in Swedish, is the device the user interfaces with to control
the robotic arms. It is this sub-component that I will first tackle to make the whole
system. The design as it stands is as follows:
There will be one unified design to control the iron, solder, and/or wire/components.
As such, there must be a generic control methodology built into the Pensel. The
Pensel will have as follows:
- A three position toggle switch for the user to indicate what mode the Pensel is
operating in (Soldering iron, solder, or wire/component).
- One push button to indicate that we are actively moving and want the robot to respond
- Another push button to do the action supported by the mode. For example:
- Feed solder
- Feed wire
- release component
- ARM® Cortex®-M4
- CAN, I²C, IrDA, LIN, SPI, UART/USART, USB
- DMA, I²S, POR, PWM, WDT
- One LSM303DLHC with accelerometer and magnetometer for orientation and movement detection
- A button to trigger “active” mode
- An auxiliary button to generate an action
- A three position switch to indicate the active mode
- A thumbwheel potentiometer to control sensitivity
Below is an overview of all of the modules in the system.
Below is an overview of the control and call structure of the system.