creating a pcb for lcd touch screen in stock

We worked with the client to determine what they wanted to have the touch-screen display do and what it should look like.  We then picked an appropriate touch-screen based on the size, resolution, and availability.

As the electronics were being designed, we also started work on the software. This is where the software commands to control the display as well as the client"s graphical interface were created.

In addition to the previous steps, we also needed to create a mounting system for the display. Since the display we chose had no mounting holes of its own, we had to design in Solidworks a cradle that both held the display and the driver board to come. This cradle would then attach to the project case. Because we have two 3D printers in-house, we were able to quickly iterate plastic prototypes until we had the ideal cradle.

Once the cradle was designed, we then worked out what hardware was needed to mount everything together. Also, we needed to create a rubber gasket based on the design parameters of the cradle and the display. This was all done in Solidworks by creating a virtual assembly of the entire project.

The cradle design dictated the size of the circuit board driver for the display. With that information now determined, the circuit board was designed.

And lastly, the display was built in-house using our surface-mount machinery and skilled technicians. Once assembled, the driver board was programmed with the custom software and tested.

Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION

Breadboards are great for prototyping circuits, but they aren’t so good for actually using the thing you’re building. At some point, you’ll probably want to make a project more permanent. The best way to do that is to put it on a PCB.

In this tutorial, I’ll walk you through the process of designing a PCB layout and getting it printed by a custom PCB manufacturer. The performance of your circuit will depend greatly on how it’s laid out on the PCB, so I’ll give you lots of tips on how to optimize your design.

You can always etch PCBs at home with a process that’s similar to developing prints from photographic film. But that method is messy and it uses a lot of chemicals. It’s much easier (and cheaper) to get your PCB made by a professional manufacturer. To demonstrate the process, I’ll use an online service called EasyEDA to design a PCB layout for an LM386 audio amplifier, then I’ll have it manufactured and show you the results. Their free online design software is easy to use and the rates are very affordable.

Before you start designing your PCB, it’s a good idea to make a schematic of your circuit. The schematic will serve as a blueprint for laying out the traces and placing the components on the PCB. Plus, the PCB editing software can import all of the components, footprints, and wires into the PCB file, which will make the design process easier (more on this later).

It’s best to place all of your schematic symbols on the canvas before drawing any wires. In EasyEDA, schematic symbols are located in “Libraries”. The default EasyEDA library has most of the common symbols, but there are also “User Generated Libraries” with lots of other symbols:

Each schematic symbol you use needs to have a PCB footprint associated with it. The PCB footprint will define the component’s physical dimensions and placement of the copper pads or through holes. Now is a good time to decide which components you’ll be using.

The schematic symbols in the EasyEDA library already have footprints associated with them, but they can be changed if your’re using a different size or style:

To change the footprint associated with a schematic symbol, search in the “User Generated” libraries for a footprint that matches the component you’re using. Once you find it, click on the heart icon to “Favorite” it:

Now click on the symbol in the schematic editor, and paste the name of the new footprint into the “package” field in the right sidebar menu (watch the video below for a demonstration):

Once all of your symbols are placed on the schematic and you’ve assigned footprints to each symbol, it’s time to start drawing the wires. Rather than explain the details of all that in this article, I’ve made a video so you can watch me draw the schematic for my LM386 audio amplifier:

After all the wiring is done, it’s a good idea to label the symbols. The labels will be transferred over to the PCB layout and eventually be printed on the finished PCB. Each symbol has a name (R1, R2, C1, C2 etc.) and value (10 μF, 100 Ω, etc.) that can be edited by clicking on the label.

The next step is to import the schematic into the PCB editor, but before we do that, let’s talk about some things to keep in mind when designing your PCB.

Identify what each part of your circuit does, and divide the circuit into sections according to function. For example, my LM386 audio amplifier circuit has four main sections: a power supply, an audio input, the LM386, and an audio output. It might help to draw some diagrams at this point to help you visualize the design before you start laying it out.

Keep the components in each section grouped together in the same area of the PCB to keep the conductive traces short. Long traces can pick up electromagnetic radiation from other sources, which can cause interference and noise.

The different sections of your circuit should be arranged so the path of electrical current is as linear as possible. The signals in your circuit should flow in a direct path from one section to another, which will keep the traces shorter.

Each section of the circuit should be supplied power with separate traces of equal length. This is called a star configuration, and it ensures that each section gets an equal supply voltage. If sections are connected in a daisy-chain configuration, the current drawn from sections closer to the supply will create a voltage drop and result in lower voltages at sections further from the supply:

It’s not uncommon to see round, triangular, or other interesting PCB shapes. Most PCBs are designed to be as small as possible, but that’s not necessary if your application doesn’t require it.

If you plan on putting the PCB into an enclosure, the dimensions may be limited by the size of the housing.  In that case, you’ll need to know the enclosure’s dimensions before laying out the PCB so that everything fits inside.

The components you use will also have an effect on the size of the finished PCB. For instance, surface mounted components are small and have a low profile, so you’ll be able to make the PCB smaller. Through hole components are larger, but they’re often easier to find and easier to solder.

The location of components like power connections, potentiometers, LEDs, and audio jacks in your finished project will affect how your PCB is laid out. Do you need an LED near a power switch to indicate that it’s on? Or do you need to put a volume potentiometer next to a gain potentiometer? For the best user experience you might have to make some compromises and design the rest of your PCB around the locations of these components.

Larger circuits can be difficult to design on a single layer PCB because it’s hard to route the traces without intersecting one another. You might need to use two copper layers, with traces routed on both sides of the PCB.

The traces on one layer can be connected to the other layer with a via. A via is a copper plated hole in the PCB that electrically connects the top layer to the bottom layer. You can also connect top and bottom traces at a component’s through hole:

Some double layer PCBs have a ground layer, where the entire bottom layer is covered with a copper plane connected to ground. The positive traces are routed on top and connections to ground are made with through holes or vias. Ground layers are good for circuits that are prone to interference, because the large area of copper acts as a shield against electromagnetic fields. They also help dissipate the heat generated by the components.

Most PCB manufacturers will let you order different layer thicknesses. Copper weight is the term manufacturers use to describe the layer thickness, and it’s measured in ounces. The thickness of a layer will affect how much current can flow through the circuit without damaging the traces. Trace width is another factor that affects how much current can safely flow through the circuit (discussed below).  To determine safe values for width and thickness, you need to know the amperage that will flow through the trace in question. Use an online trace width calculator to determine the ideal trace thickness and width for a given amperage.

If you look at a professionally designed PCB, you’ll probably notice that most of the copper traces bend at 45° angles. One reason for this is that 45° angles shorten the electrical path between components compared to 90° angles. Another reason is that high speed logic signals can get reflected off the back of the angle, causing interference:

If your project uses digital logic or high speed communication protocols above 200 MHz, you should probably avoid 90° angles and vias in your traces. For slower speed circuits, 90° traces won’t have much of an effect on the performance of your circuit.

The proximity of traces to components and adjacent traces will also determine how wide your traces can be. If you’re designing a small PCB with lots of traces and components, you might need to make the traces narrow for everything to fit.

Notice the thin blue lines connecting the components. These are called ratsnest lines. Ratsnest lines are virtual wires that represent the connections between components. They show you where you need to route the traces according to the wiring connections you created in your schematic:

Now you can start arranging the components, keeping in mind the design tips mentioned above. You might want to do some research to find out if there are any special design requirements for your circuit. Some circuits perform better with certain components in specific locations. For example, in an LM386 amplifier circuit the power supply decoupling capacitors need to be placed close to the chip to reduce noise.

After you’ve arranged all of the components, it’s time to start drawing the traces. Use the ratsnest wires as a rough guide for routing each trace. However, they won’t always show you the best way to route the traces, so it’s a good idea to refer back to your schematic to verify the correct connections.

Traces can also be routed automatically using the software’s auto-router. For complicated circuits, it’s generally better to route traces manually, but try the auto-router on simpler designs and see what it comes up with. You can always adjust individual traces later.

The last thing to do before placing the order is to run a design rule check. A design rule check will tell you if any components overlap or if traces are routed too close together. The design rule check can be found by clicking the “Design Manager” button in the right side window:

Items that fail the design rule check will be listed below the “DRC Errors” folder. If you click on one of the errors, the problem trace or component will be highlighted in the PCB view:

You can specify your own settings for the design rule check by clicking the drop down menu in the upper right hand corner and going to Miscellaneous > Design Rule Settings:

At this point it’s a good idea to double check your PCB layout against your schematic to make sure that everything is connected properly. If you’re satisfied with the result, the next step is to order the PCB. EasyEDA makes this part really easy…

You can select the number of PCBs you want to order, the number of copper layers, the PCB thickness, copper weight, and even the PCB color. After you’ve made your selections, click “Save to Cart” and you’ll be taken to a page where you can enter your shipping address and billing information.

Gerber files are a set of image files that contain the patterns used to manufacture your PCB. All of the files are compressed into a single .zip file. There is a separate file for the copper traces, silk screen, and locations of drill holes and vias:

I ordered 15 PCBs for my LM386 audio amplifier circuit and the cost came out to about $15 USD. Manufacturing and shipping took about two weeks. The PCBs were well made, and I couldn’t find any defects. After I soldered on the components and tested the amplifier, it worked great. You can clone my LM386 amplifier schematic and PCB here if you want.

Making your own custom PCB is a lot of fun, and the results can be very rewarding. Hopefully this article will help you get your prototype circuit onto a PCB. Let us know in the comments if you have any questions, and let us know what PCB design projects you have planned. If you liked this tutorial and want to get more like it, be sure to subscribe!

Antigua and Barbuda, Aruba, Australia, Austria, Bahamas, Bahrain, Bangladesh, Barbados, Belgium, Belize, Bermuda, Bolivia, Brunei Darussalam, Bulgaria, Cambodia, Canada, Cayman Islands, Chile, Colombia, Costa Rica, Cyprus, Czech Republic, Denmark, Dominica, Dominican Republic, Egypt, El Salvador, Estonia, Finland, France, French Guiana, Germany, Gibraltar, Greece, Grenada, Guadeloupe, Guatemala, Guernsey, Honduras, Hungary, Iceland, Indonesia, Ireland, Israel, Italy, Jamaica, Japan, Jersey, Jordan, Kuwait, Latvia, Liechtenstein, Lithuania, Luxembourg, Macau, Malaysia, Maldives, Malta, Martinique, Mexico, Monaco, Montserrat, Netherlands, New Zealand, Nicaragua, Norway, Oman, Pakistan, Panama, Paraguay, Philippines, Poland, Portugal, Qatar, Republic of Croatia, Reunion, Romania, Saint Kitts-Nevis, Saint Lucia, Saudi Arabia, Singapore, Slovakia, Slovenia, South Africa, South Korea, Spain, Sri Lanka, Sweden, Switzerland, Taiwan, Trinidad and Tobago, Turks and Caicos Islands, United Arab Emirates, United Kingdom, United States

This website is using a security service to protect itself from online attacks. The action you just performed triggered the security solution. There are several actions that could trigger this block including submitting a certain word or phrase, a SQL command or malformed data.

In the pursuit of quality, our company"s products have won unanimous praise from customers at home and abroad, and is in a leading position in the industry of 17 Touch Screen Open Frame Monitor, Mall Advertising Lcd Display, Android Pos Terminal With Printer. We will follow the tenet of "owner first, abide by the contract, high quality service", and the enterprise spirit of "unity and cooperation, rigorous and realistic, high quality and high efficiency, innovation" and meticulously create excellent projects to provide satisfaction to new and old customers service. We try our best to build a modern enterprise with unique and quality products.

Since establishment, we have become the leader of Bluetooth Android PCB Board for Car LCD Display Media Player Tablet industry in China through constant pursuit of perfection, professional management team, most competitive price and excellent service. Customers" benefit and satisfaction are always our biggest goal. The products has a good reputation with competitive price, unique creation, leading the industry trends.

A PCB is sort of like a layer cake or lasagna- there are alternating layers of different materials which are laminated together with heat and adhesive such that the result is a single object.

The base material, or substrate, is usually fiberglass. Historically, the most common designator for this fiberglass is "FR4". This solid core gives the PCB its rigidity and thickness. There are also flexible PCBs built on flexible high-temperature plastic (Kapton or the equivalent).

You will find many different thickness PCBs; the most common thickness for SparkFun products is 1.6mm (0.063"). Some of our products- LilyPad boards and Arudino Pro Micro boards- use a 0.8mm thick board.

Cheaper PCBs and perf boards (shown above) will be made with other materials such as epoxies or phenolics which lack the durability of FR4 but are much less expensive. You will know you are working with this type of PCB when you solder to it - they have a very distictive bad smell. These types of substrates are also typically found in low-end consumer electronics. Phenolics have a low thermal decomposition temperature which causes them to delaminate, smoke and char when the soldering iron is held too long on the board.

The next layer is a thin copper foil, which is laminated to the board with heat and adhesive. On common, double sided PCBs, copper is applied to both sides of the substrate. In lower cost electronic gadgets the PCB may have copper on only one side. When we refer to a double sided or 2-layer board we are referring to the number of copper layers (2) in our lasagna. This can be as few as 1 layer or as many as 16 layers or more.

The copper thickness can vary and is specified by weight, in ounces per square foot. The vast majority of PCBs have 1 ounce of copper per square foot but some PCBs that handle very high power may use 2 or 3 ounce copper. Each ounce per square translates to about 35 micrometers or 1.4 thousandths of an inch of thickness of copper.

The layer on top of the copper foil is called the soldermask layer. This layer gives the PCB its green (or, at SparkFun, red) color. It is overlaid onto the copper layer to insulate the copper traces from accidental contact with other metal, solder, or conductive bits. This layer helps the user to solder to the correct places and prevent solder jumpers.

In the example below, the green solder mask is applied to the majority of the PCB, covering up the small traces but leaving the silver rings and SMD pads exposed so they can be soldered to.

Soldermask is most commonly green in color but nearly any color is possible. We use red for almost all the SparkFun boards, white for the IOIO board, and purple for the LilyPad boards.

The white silkscreen layer is applied on top of the soldermask layer. The silkscreen adds letters, numbers, and symbols to the PCB that allow for easier assembly and indicators for humans to better understand the board. We often use silkscreen labels to indicate what the function of each pin or LED.

Silkscreen is most commonly white but any ink color can be used. Black, gray, red, and even yellow silkscreen colors are widely available; it is, however, uncommon to see more than one color on a single board.

Responsible for performing installations and repairs (motors, starters, fuses, electrical power to machine etc.) for industrial equipment and machines in order to support the achievement of Nelson-Miller’s business goals and objectives:

• Perform highly diversified duties to install and maintain electrical apparatus on production machines and any other facility equipment (Screen Print, Punch Press, Steel Rule Die, Automated Machines, Turret, Laser Cutting Machines, etc.).

• Provide electrical emergency/unscheduled diagnostics, repairs of production equipment during production and performs scheduled electrical maintenance repairs of production equipment during machine service.

RF2G8A3MY–Printed circuit board connected by flexible flat cable to LCD panel. Closeup of electronic components - micro chip, inductor or capacitor on green PCB.

RF2D74NJ6–Vector realistic TV led screen isolated on transparent background. Modern stylish lcd panel. Computer monitor display mockup. Blank television graphic

RFK8P262–Realistic TV screen hanging on the wall. Modern stylish TV lcd panel isolated. Large led computer monitor display mockup. Vector illustration

RF2D74NFN–Vector realistic TV led screen isolated on dark transparent background. Modern stylish lcd panel. Computer monitor display mockup. Blank television gr

RF2M2CMJ6–computer and handphone equipment image graphic icon logo design abstract concept vector stock. Can be used as a symbol associated with tech internet

RF2BGEP3B–Empty tv frame with reflection and transparency screen isolated. Lcd monitor vector illustration. Lcd display screen, tv digital panel plasma

RMW6KMNM–Chinese workers labor at the Xianyang High-tech Industrial Development Zone for CEC¤Xianyang 8.6-generation LCD panel production line project in Xiany

RF2D74NFX–Vector realistic TV led screen isolated on dark transparent background. Modern stylish lcd panel. Computer monitor display mockup. Blank television gr

RMDHJ99T–Flat panel 40" (diagonal) LCD television in room setting with photographers own copyright image inserted onto TV (see Alamy additional info panel)

RF2F0T8JC–Orange flexible circuit board in human hand detail. Electrotechnic engineer with plastic flex PCB for data signal parallel transmission to LCD panel.

RMW6KPKF–Chinese workers labor at the Xianyang High-tech Industrial Development Zone for CEC¤Xianyang 8.6-generation LCD panel production line project in Xiany

RF2D74NP2–Vector realistic light TV led screen isolated on white background. Modern lcd panel. Computer monitor display mockup. Blank television graphic design

RF2F8F25R–The backlight inverter in the LCD TV. it is a device for starting and stable operation of fluorescent lamps of the LCD panel backlight. Isolated on a

RFHRCPND–Interior car lever - button, design, dashboard, cluster instruments, lcd panel, door handle, climatronic function, sport steering wheel, Honda Civic

RF2F7EWC6–Detail of a LED or LCD panel for screen on concerts or different displays. Focus on a centre row of LED lights, others in soft focus. Array of LED RGB

RMW6KMFW–Chinese workers labor at the Xianyang High-tech Industrial Development Zone for CEC¤Xianyang 8.6-generation LCD panel production line project in Xiany

RF2D74NJ3–Vector realistic white TV led screen isolated on transparent background. Modern lcd panel. Computer monitor display mockup. Blank television graphic d

RF2BJCHHG–Black pocket game console blank screen edge, corner, display closeup, handheld gaming abstract background, copy space. Portable gaming device

RFHRCPNC–Interior car lever - button, design, dashboard, cluster instruments, lcd panel, door handle, climatronic function, sport steering wheel, Honda Civic

RF2F7EWCF–Detail of a LED or LCD panel for screen on concerts or different displays. Focus on a centre row of LED lights, others in soft focus. Array of LED RGB

RF2E9B613–Tv Screen Display. Black Monitor Design. Digital Lcd Panel. Wall Led Equipment. Modern Plasma Vector Mockup. Flat Technology High Definition Device. E

RMW6KN9M–Chinese workers labor at the Xianyang High-tech Industrial Development Zone for CEC¤Xianyang 8.6-generation LCD panel production line project in Xiany

RF2BWNCRM–Man tapping, interacting with an lcd touch screen display on a single board microcontroller Progamming open source hardware micro controller apps tech

RF2H89M17–Electronic components on circuit board with printed multi wire connections in assembly with bent flexible part. Plastic FPC interface for a LCD device.

RF2G8A3MY–Printed circuit board connected by flexible flat cable to LCD panel. Closeup of electronic components - micro chip, inductor or capacitor on green PCB.

RF2E2367W–Green flexible circuit board floating on black background. Small bent plastic flex PCB for signals transmission in LCD screens of electronic devices.

RF2F0T96P–Detail of green printed circuit board in engineer hand. PCB with microchips and some electronic components in silicone paste for humidity protection.

RF2EKFGF2–Orange flex circuit board with white connector and reflection on black background. Artistic still life with bent plastic PCB detail. Electronic device.

RFRE713J–Close-up of technician hand taking off cracked smartphone screen for preparing to repair or replace new screen on blurred smartphone component backgro

By continuing to use AliExpress you accept our use of cookies (view more on our Privacy Policy). You can adjust your Cookie Preferences at the bottom of this page.

In this Arduino touch screen tutorial we will learn how to use TFT LCD Touch Screen with Arduino. You can watch the following video or read the written tutorial below.

For this tutorial I composed three examples. The first example is distance measurement using ultrasonic sensor. The output from the sensor, or the distance is printed on the screen and using the touch screen we can select the units, either centimeters or inches.

The next example is controlling an RGB LED using these three RGB sliders. For example if we start to slide the blue slider, the LED will light up in blue and increase the light as we would go to the maximum value. So the sliders can move from 0 to 255 and with their combination we can set any color to the RGB LED,  but just keep in mind that the LED cannot represent the colors that much accurate.

The third example is a game. Actually it’s a replica of the popular Flappy Bird game for smartphones. We can play the game using the push button or even using the touch screen itself.

As an example I am using a 3.2” TFT Touch Screen in a combination with a TFT LCD Arduino Mega Shield. We need a shield because the TFT Touch screen works at 3.3V and the Arduino Mega outputs are 5 V. For the first example I have the HC-SR04 ultrasonic sensor, then for the second example an RGB LED with three resistors and a push button for the game example. Also I had to make a custom made pin header like this, by soldering pin headers and bend on of them so I could insert them in between the Arduino Board and the TFT Shield.

Here’s the circuit schematic. We will use the GND pin, the digital pins from 8 to 13, as well as the pin number 14. As the 5V pins are already used by the TFT Screen I will use the pin number 13 as VCC, by setting it right away high in the setup section of code.

As the code is a bit longer and for better understanding I will post the source code of the program in sections with description for each section. And at the end of this article I will post the complete source code.

I will use the UTFT and URTouch libraries made by Henning Karlsen. Here I would like to say thanks to him for the incredible work he has done. The libraries enable really easy use of the TFT Screens, and they work with many different TFT screens sizes, shields and controllers. You can download these libraries from his website, RinkyDinkElectronics.com and also find a lot of demo examples and detailed documentation of how to use them.

After we include the libraries we need to create UTFT and URTouch objects. The parameters of these objects depends on the model of the TFT Screen and Shield and these details can be also found in the documentation of the libraries.

Next we need to define the fonts that are coming with the libraries and also define some variables needed for the program. In the setup section we need to initiate the screen and the touch, define the pin modes for the connected sensor, the led and the button, and initially call the drawHomeSreen() custom function, which will draw the home screen of the program.

So now I will explain how we can make the home screen of the program. With the setBackColor() function we need to set the background color of the text, black one in our case. Then we need to set the color to white, set the big font and using the print() function, we will print the string “Arduino TFT Tutorial” at the center of the screen and 10 pixels  down the Y – Axis of the screen. Next we will set the color to red and draw the red line below the text. After that we need to set the color back to white, and print the two other strings, “by HowToMechatronics.com” using the small font and “Select Example” using the big font.

Next is the distance sensor button. First we need to set the color and then using the fillRoundRect() function we will draw the rounded rectangle. Then we will set the color back to white and using the drawRoundRect() function we will draw another rounded rectangle on top of the previous one, but this one will be without a fill so the overall appearance of the button looks like it has a frame. On top of the button we will print the text using the big font and the same background color as the fill of the button. The same procedure goes for the two other buttons.

Now we need to make the buttons functional so that when we press them they would send us to the appropriate example. In the setup section we set the character ‘0’ to the currentPage variable, which will indicate that we are at the home screen. So if that’s true, and if we press on the screen this if statement would become true and using these lines here we will get the X and Y coordinates where the screen has been pressed. If that’s the area that covers the first button we will call the drawDistanceSensor() custom function which will activate the distance sensor example. Also we will set the character ‘1’ to the variable currentPage which will indicate that we are at the first example. The drawFrame() custom function is used for highlighting the button when it’s pressed. The same procedure goes for the two other buttons.

drawDistanceSensor(); // It is called only once, because in the next iteration of the loop, this above if statement will be false so this funtion won"t be called. This function will draw the graphics of the first example.

getDistance(); // Gets distance from the sensor and this function is repeatedly called while we are at the first example in order to print the lasest results from the distance sensor

So the drawDistanceSensor() custom function needs to be called only once when the button is pressed in order to draw all the graphics of this example in similar way as we described for the home screen. However, the getDistance() custom function needs to be called repeatedly in order to print the latest results of the distance measured by the sensor.

Here’s that function which uses the ultrasonic sensor to calculate the distance and print the values with SevenSegNum font in green color, either in centimeters or inches. If you need more details how the ultrasonic sensor works you can check my particular tutorialfor that. Back in the loop section we can see what happens when we press the select unit buttons as well as the back button.

Ok next is the RGB LED Control example. If we press the second button, the drawLedControl() custom function will be called only once for drawing the graphic of that example and the setLedColor() custom function will be repeatedly called. In this function we use the touch screen to set the values of the 3 sliders from 0 to 255. With the if statements we confine the area of each slider and get the X value o