Embedded Computing
for Mechanical Engineers
This page contains the Embedded Computing for Mechanical Engineers manuscript, which is used as the text for the course MME 577 and EE/ME 477.
For corresponding source code (C, Matlab, Python, etc.), see the source page.
Single file
A single pdf with all lectures can be downloaded here.
Individual lecture files
Click the thumbnails on the notes below to get a pdf version.
000.00 Orientation
00.00 Introduction to embedded computing
00.01 Embedded control of mechanical systems
00.02 Computer architectures
00.03 Numeral systems
00.04 Binary and hexadecimal arithmetic
00.05 Exploring C building a sandbox
00.06 Exercises for Chapter 00
00.07 Lab Exercise 00 Getting started
00.08 Resource R1 High level embedded system
01.00 Memory
01.01 Processing
01.02 A CPU programming model
01.03 Exercises for Chapter 01
01.04 Lab Exercise 01 High level io drivers
01.05 Exploring C and mid level io
02.00 A paper computer
02.01 Exploring C operators
02.02 Exploring C constants
02.03 Exploring C pointers
02.04 Exercises for Chapter 02
02.05 Lab Exercise 02 Keypad mid level primitives
02.06 Digital com. and io
03.00 Digital communication
03.01 UARTs
03.02 Digital signals
03.03 Exploring C structures
03.04 Lab Exercise 03 Low level character io
03.05 Timing Threads and Finite State Machines
04.00 Pulse width modulation
04.01 DC motor driving
04.02 Measuring motor velocity
04.03 Finite state machines
04.04 Exercises for Chapter 04
04.05 Lab Exercise 04 FSM motor control
04.06 Resource R9 Saving myRIO C data to a Matlab file
05.00 Processing threads
05.01 Interrupts
05.02 Boolean algebra on digital signals
05.03 Debouncing switches
05.04 Lab Exercise 05 Introduction to interrupts
05.05 Resource R11 Interrupt functions documentation
06.00 ADC and DAC
06.01 Difference equations
06.02 Discrete transfer functions
06.03 The biquad cascade
06.04 Resource R12 Timer interrupts
06.05 Resource R13 Discrete time controllers
07.00 DC motor velocity control
07.01 Designing a PI controller
07.02 Exercises for Chapter 07
07.03 Lab Exercise 07 DC motor velocity control
07.04 Resource R15 A table editor for the myRIO
08.00 Path planning
08.01 Designing a PID controller
08.02 Exercises for Chapter 08
08.03 Lab Exercise 08 DC motor position control
08.04 Resource R16 C function Sramps for position path planning
A.00 Resources
B.00 Bibliography
R10.00 Threads and interrupts
R11.00 Feedback Control of Mechanical Systems
R12.00 Lab Exercise 06 Transfer function generator
R13.00 Resource R14 Analog input and output
R14.00 Closed loop control
R15.00 Path planning
R16.00 Resource R17 Matlab function sos2header for converting controllers to C
R17.00 Embedded Computing Laboratory
R1.00 Resource R2 Embedded computer and development environment subsystem
R2.00 Resource R3 User interface hardware subsystem
R3.00 Resource R4 Motor driver subsystem
R4.00 Resource R5 Motor and mechanical apparatus subsystem
R5.00 Resource R6 Sourcing and costs
R6.00 Resource R7 Setting up the C Development Tool for myRIO
R7.00 Resource R8 Suggested reading
R8.00 The User Interface
R9.00 Resource R10 Copley 412 analog amplifier setup
\contentsline.00 Contents
{chapter.00 Preface