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I
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I
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4864
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ed
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o
ltag
e
f
o
r
m
o
s
t
A
r
d
u
i
n
o
m
o
d
els is
b
et
w
ee
n
6
an
d
1
2
Vo
lts
2
.
3
.
2
.
P
I
NS (
5
V,
4
.
4
V,
G
ND,
Ana
lo
g
,
Dig
it
a
l,
P
W
M
,
AREF)
T
h
e
p
in
s
o
n
y
o
u
r
A
r
d
u
i
n
o
ar
e
th
e
p
lace
s
w
h
er
e
y
o
u
co
n
n
ec
t
w
ir
es
to
co
n
s
tr
u
c
t
a
cir
cu
it
p
r
o
b
ab
ly
in
co
n
j
u
n
ctio
n
w
it
h
a
b
r
ea
d
b
o
ar
d
an
d
s
o
m
e
w
ir
e
.
T
h
e
y
u
s
u
all
y
h
a
v
e
b
lac
k
p
last
ic
‘
h
ea
d
er
s
’
t
h
at
allo
w
y
o
u
to
j
u
s
t
p
lu
g
a
w
ir
e
r
ig
h
t
i
n
to
th
e
b
o
ar
d
.
T
h
e
A
r
d
u
i
n
o
h
as
s
ev
er
al
d
if
f
er
e
n
t
k
i
n
d
s
o
f
p
i
n
s
,
ea
ch
o
f
w
h
ic
h
is
lab
eled
o
n
th
e
b
o
ar
d
an
d
u
s
ed
f
o
r
d
if
f
er
en
t f
u
n
c
tio
n
s
.
a.
GND
:
Sh
o
r
t
f
o
r
‘
Gr
o
u
n
d
’
.
T
h
er
e
ar
e
s
ev
er
al
GND
p
in
s
o
n
th
e
A
r
d
u
in
o
,
an
y
o
f
w
h
ic
h
ca
n
b
e
u
s
ed
to
g
r
o
u
n
d
y
o
u
r
cir
cu
it.
b.
5
V
&
4
.
4
V
:
A
s
y
o
u
m
i
g
h
t
g
u
ess
,
th
e
5
V
p
in
s
u
p
p
lies
5
v
o
l
ts
o
f
p
o
w
er
,
an
d
th
e
4
.
4
V
p
in
s
u
p
p
lies
4
.
4
v
o
lts
o
f
p
o
w
er
.
Mo
s
t o
f
th
e
s
i
m
p
le
co
m
p
o
n
e
n
ts
u
s
ed
w
it
h
th
e
A
r
d
u
i
n
o
r
u
n
h
ap
p
il
y
o
f
f
o
f
5
o
r
4
.
4
v
o
lts
.
c.
An
alo
g
(
5
)
:
T
h
e
ar
ea
o
f
p
in
s
u
n
d
er
th
e
‘
An
alo
g
I
n
’
lab
el
(
A
0
th
r
o
u
g
h
A
5
o
n
th
e
UN
O
)
ar
e
A
n
alo
g
I
n
p
in
s
.
T
h
ese
p
in
s
ca
n
r
ea
d
t
h
e
s
ig
n
al
f
r
o
m
a
n
a
n
alo
g
s
e
n
s
o
r
(
lik
e
a
te
m
p
er
atu
r
e
s
en
s
o
r
)
an
d
co
n
v
er
t
i
t
in
to
a
d
ig
ital
v
al
u
e
th
at
w
e
ca
n
r
ea
d
.
d.
Dig
ital
(
4
)
:
A
cr
o
s
s
f
r
o
m
t
h
e
a
n
alo
g
p
i
n
s
ar
e
th
e
d
i
g
ital
p
in
s
(
0
th
r
o
u
g
h
1
4
o
n
t
h
e
U
NO)
.
T
h
ese
p
i
n
s
ca
n
b
e
u
s
ed
f
o
r
b
o
th
d
ig
ital
i
n
p
u
t
(
lik
e
te
lli
n
g
if
a
b
u
t
to
n
i
s
p
u
s
h
ed
)
an
d
d
i
g
ital
o
u
tp
u
t
(
li
k
e
p
o
w
er
in
g
a
n
L
E
D)
.
e.
P
W
M
:
Yo
u
m
a
y
h
a
v
e
n
o
tice
d
th
e
ti
ld
e
(
~)
n
e
x
t
to
s
o
m
e
o
f
t
h
e
d
ig
ital
p
i
n
s
(
4
,
5
,
6
,
9
,
1
0
,
an
d
1
1
o
n
th
e
UNO)
.
T
h
ese
p
i
n
s
ac
t
a
s
n
o
r
m
al
d
i
g
ital
p
in
s
,
b
u
t
ca
n
als
o
b
e
u
s
ed
f
o
r
s
o
m
eth
i
n
g
ca
lle
d
P
u
ls
e
-
W
id
th
M
o
d
u
latio
n
(
P
W
M)
.
W
e
h
a
v
e
a
tu
to
r
ial
o
n
P
W
M
,
b
u
t
f
o
r
n
o
w
,
t
h
i
n
k
o
f
t
h
ese
p
i
n
s
as
b
ein
g
ab
le
to
s
i
m
u
late
a
n
alo
g
o
u
tp
u
t (
li
k
e
f
a
d
in
g
a
n
L
E
D
i
n
a
n
d
o
u
t)
.
f.
AR
E
F
:
Stan
d
s
f
o
r
A
n
a
lo
g
R
e
f
er
e
n
ce
.
Mo
s
t
o
f
t
h
e
ti
m
e
y
o
u
ca
n
lea
v
e
t
h
is
p
i
n
alo
n
e.
I
t
is
s
o
m
e
ti
m
es
u
s
ed
to
s
e
t
an
ex
ter
n
al
r
e
f
er
en
ce
v
o
lta
g
e
(
b
et
w
ee
n
0
an
d
5
Vo
lts
)
as
t
h
e
u
p
p
er
li
m
it
f
o
r
th
e
an
alo
g
in
p
u
t p
i
n
s
.
2
.
3
.
3
.
HC
-
SR0
4
UL
T
RASO
NIC DI
ST
A
NCE
SE
N
SO
R
HC
-
SR
0
4
Ultr
aso
n
ic
Di
s
ta
n
ce
Sen
s
o
r
is
a
p
o
p
u
lar
a
n
d
lo
w
co
s
t
s
o
l
u
tio
n
f
o
r
n
o
n
-
co
n
tac
t
d
is
ta
n
ce
m
ea
s
u
r
e
m
e
n
t
f
u
n
c
tio
n
.
I
t
is
a
b
le
to
m
ea
s
u
r
e
d
is
tan
ce
s
f
r
o
m
4
cm
to
4
0
0
cm
w
i
th
a
n
ac
c
u
r
ac
y
o
f
ab
o
u
t
4
m
m
.
T
h
is
m
o
d
u
le
i
n
clu
d
e
s
u
ltra
s
o
n
ic
tr
an
s
m
itter
,
u
ltra
s
o
n
ic
r
ec
ei
v
er
an
d
its
co
n
tr
o
l c
ir
cu
it.
HC
-
SR
0
4
m
o
d
u
le
h
a
s
4
p
in
s
:
VC
C
–
5
V,
+iv
e
o
f
t
h
e
p
o
w
er
s
u
p
p
l
y
T
R
I
G
–
T
r
ig
g
er
P
in
E
C
HO
–
E
ch
o
P
in
GND
–
-
iv
e
o
f
th
e
p
o
w
er
s
u
p
p
l
y
T
R
I
G
an
d
E
C
HO
p
in
s
ca
n
b
e
u
s
ed
to
in
ter
f
ac
e
t
h
i
s
m
o
d
u
le
w
ith
a
m
icr
o
co
n
tr
o
ller
u
n
it.
T
h
ese
ar
e
T
T
L
(
0
–
5
V)
in
p
u
t o
u
tp
u
t p
in
s
.
HC
-
S
R
0
4
u
ltra
s
o
n
ic
d
is
tan
c
e
s
en
s
o
r
as s
h
o
w
n
i
n
Fi
g
u
r
e
5.
Fig
u
r
e
5
.
HC
-
SR
0
4
u
ltra
s
o
n
ic
d
is
tan
ce
s
e
n
s
o
r
2.
3
.
4
.
HC
-
SR0
4
ultr
a
s
o
nic
m
o
d
ule w
o
rk
ing
Ultr
aso
n
ic
s
e
n
s
o
r
s
w
o
r
k
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n
a
p
r
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i
m
ilar
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o
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ar
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ich
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tes
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o
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m
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n
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tiv
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y
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Ul
tr
aso
n
ic
s
e
n
s
o
r
s
g
e
n
er
ate
h
i
g
h
f
r
eq
u
en
c
y
s
o
u
n
d
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h
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ti
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v
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t
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n
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at
l
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h
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el
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p
u
ls
e.
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h
e
m
o
d
u
le
w
i
ll a
u
to
m
atica
l
l
y
tr
an
s
m
i
t e
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t 4
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ic
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r
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tacle
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ill r
e
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lect
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u
ltra
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f
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t 4
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u
r
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6
.
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o
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k
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o
f
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C
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ltra
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4
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ea
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ef
er
s
to
a
co
m
b
in
at
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n
o
f
a
m
o
to
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p
lu
s
a
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ea
r
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h
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ar
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o
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ed
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e
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p
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e
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o
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it
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esp
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e.
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r
r
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s
r
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g
e
f
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3
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0
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.
A
s
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all
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atio
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li
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h
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s
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ea
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h
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le
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lar
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e
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eq
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ir
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a
s
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ies
o
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r
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ed
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ctio
n
s
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s
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d
th
u
s
m
o
r
e
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ea
r
s
.
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h
er
e
ar
e
a
lo
t
o
f
d
i
f
f
er
en
t
k
i
n
d
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o
f
g
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r
r
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ctio
n
.
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n
th
e
ca
s
e
o
f
a
s
m
all
tr
a
n
s
m
i
s
s
io
n
r
atio
N,
th
e
u
n
i
t
m
a
y
b
e
b
ac
k
d
r
iv
ab
le,
m
ea
n
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n
g
y
o
u
ca
n
t
u
r
n
t
h
e
o
u
tp
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t
s
h
a
f
t,
p
er
h
ap
s
b
y
h
an
d
,
at
an
g
u
lar
v
elo
cit
y
w
an
d
ca
u
s
e
t
h
e
m
o
to
r
to
r
o
tate
at
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g
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lar
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elo
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y
N
w
.
A
lar
g
er
tr
an
s
m
is
s
io
n
r
ati
o
N
m
a
y
m
a
k
e
t
h
e
u
n
i
t
n
o
n
-
b
ac
k
d
r
iv
ab
le.
E
ac
h
h
as
ad
v
a
n
tag
e
s
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ed
a
1
2
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3
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R
P
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r
m
o
to
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o
r
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e
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o
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.
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2
v
DC
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r
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as sh
o
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n
in
F
ig
u
r
e
7
.
Fig
u
r
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1
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v
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g
ca
n
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s
y
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to
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h
t
b
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et
w
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n
s
p
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d
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d
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u
e.
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h
ey
ar
e
ab
le
to
co
n
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er
t
a
h
ig
h
s
p
ee
d
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e
m
o
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s
u
c
h
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DC
m
o
to
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)
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to
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s
p
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d
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ig
h
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e
o
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t
(
o
r
v
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a)
.
A
g
o
o
d
an
alo
g
y
in
elec
tr
ical
en
g
i
n
ee
r
in
g
is
t
h
e
tr
an
s
f
o
r
m
er
-
j
u
s
t
r
e
p
lace
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o
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e
w
it
h
to
r
q
u
e
an
d
c
u
r
r
en
t
w
it
h
s
p
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d
.
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r
s
w
ill
allo
w
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o
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to
c
a
r
r
y
f
ar
m
o
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a
s
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r
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g
.
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b
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e
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m
es
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th
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s
p
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d
.
2
.
5
.
DC
m
o
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r
d
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i
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1
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r
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cir
cu
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(
IC
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2
.
5
.
1
.
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L
2
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3
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k
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e.
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en
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en
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.
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in
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ap
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licatio
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s
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tatio
n
]
I
n
a
v
er
y
s
i
m
ilar
w
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y
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e
m
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to
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ca
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also
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p
er
ate
ac
r
o
s
s
in
p
u
t p
i
n
1
5
,
1
0
f
o
r
m
o
t
o
r
o
n
th
e
r
ig
h
t
h
a
n
d
s
id
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
A
r
d
u
in
o
co
n
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o
ller
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a
s
ed
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o
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w
ell
ch
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r
escu
e
s
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tem
(
S.
P
r
a
ka
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h
)
139
Fig
u
r
e
9
.
C
ir
cu
it Dia
g
r
a
m
Fo
r
l2
9
3
d
m
o
to
r
d
r
iv
er
I
C
co
n
tr
o
ller
.
2
.
5
.
3
.
Dig
it
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l
w
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m
er
a
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id
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er
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e
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tr
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es
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ag
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ch
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all
an
alo
g
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t
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er
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o
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ar
e
d
ig
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g
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er
as
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u
ce
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i
g
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al
s
t
h
at
ca
n
b
e
d
is
p
la
y
ed
w
i
th
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a
lo
g
telev
i
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io
n
s
.
T
h
e
s
i
g
n
als
ca
n
b
e
s
h
o
w
n
at
t
h
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e,
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ca
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e
s
to
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in
an
an
alo
g
f
o
r
m
at
o
n
m
a
g
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etic
tap
e.
Dig
it
al
v
id
eo
ca
m
er
as p
r
o
d
u
ce
d
ig
it
al
i
m
a
g
es.
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w
eb
ca
m
i
s
a
v
id
eo
ca
m
er
a
th
at
f
ee
d
s
o
r
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tr
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m
s
it
s
i
m
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e
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r
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o
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th
r
o
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g
h
a
co
m
p
u
ter
to
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m
p
u
ter
n
et
w
o
r
k
.
W
h
e
n
"
c
ap
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r
ed
"
b
y
th
e
co
m
p
u
ter
,
th
e
v
id
eo
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tr
ea
m
m
a
y
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e
s
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,
v
i
e
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r
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t
o
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et
w
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k
s
v
ia
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s
te
m
s
s
u
c
h
a
s
t
h
e
i
n
ter
n
e
t,
an
d
e
m
ailed
as
a
n
attac
h
m
e
n
t.
W
h
e
n
s
e
n
t
to
a
r
e
m
o
te
lo
ca
tio
n
,
th
e
v
id
eo
s
tr
ea
m
m
a
y
b
e
s
a
v
ed
,
v
ie
w
ed
o
r
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n
s
en
t
th
er
e.
Un
li
k
e
an
I
P
ca
m
er
a
(
w
h
ich
co
n
n
ec
t
s
u
s
i
n
g
E
th
er
n
et
o
r
W
i
-
Fi),
a
w
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ca
m
is
g
e
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er
all
y
co
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ec
ted
b
y
a
U
SB
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m
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lar
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o
r
b
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ilt
i
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to
co
m
p
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ter
h
ar
d
w
ar
e,
s
u
ch
a
s
lap
to
p
s
.
T
h
e
ter
m
"
w
eb
ca
m
"
(
a
clip
p
e
d
co
m
p
o
u
n
d
)
m
a
y
also
b
e
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s
e
d
in
its
o
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ig
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l
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en
s
e
o
f
a
v
id
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er
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ec
ted
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h
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W
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o
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s
l
y
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o
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ite
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e
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ath
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o
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en
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its
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ag
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th
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I
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ter
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et.
So
m
e
o
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th
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m
,
f
o
r
ex
a
m
p
le
,
th
o
s
e
u
s
ed
as
o
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l
in
e
tr
a
f
f
ic
ca
m
er
as,
ar
e
ex
p
en
s
i
v
e,
r
u
g
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ed
p
r
o
f
ess
io
n
al
v
id
eo
ca
m
er
a
s
.
W
eb
ca
m
er
a
as
s
h
o
w
n
in
F
ig
u
r
e
10.
Fig
u
r
e
1
0
.
W
eb
ca
m
er
a
2
.
5
.
4
.
Wo
rk
ing
o
f
a
dig
it
a
l v
ideo
ca
m
er
a
J
u
s
t
li
k
e
an
a
lo
g
v
id
eo
ca
m
er
as
,
d
ig
ital
v
id
eo
ca
m
er
as
ca
n
b
e
o
p
er
ated
w
it
h
t
h
e
b
asic
co
n
tr
o
ls
r
ec
o
r
d
,
p
lay
,
p
a
u
s
e,
r
e
w
i
n
d
an
d
f
o
r
war
d
.
Mo
s
t
d
ig
ital
v
id
eo
ca
m
er
as
ar
e
s
m
al
ler
th
a
n
an
alo
g
v
i
d
eo
ca
m
er
as
w
h
ic
h
m
ak
e
s
h
a
n
d
lin
g
t
h
e
m
ea
s
ier
.
T
h
e
f
u
s
s
o
f
i
n
s
talli
n
g
f
i
l
m
i
n
th
e
v
id
eo
ca
m
er
a
h
as
b
ee
n
el
i
m
i
n
ated
.
I
n
u
s
in
g
a
d
ig
ital
v
id
eo
ca
m
er
a,
all
y
o
u
n
ee
d
is
to
p
o
w
er
it
o
n
a
n
d
p
u
s
h
t
h
e
r
ec
o
r
d
b
u
tto
n
.
Yo
u
ca
n
also
p
r
ev
ie
w
y
o
u
r
ca
p
tu
r
ed
v
id
eo
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m
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g
es
w
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o
u
t
p
r
o
ce
s
s
in
g
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y
k
i
n
d
o
f
f
il
m
o
r
m
ed
ia
s
to
r
a
g
e.
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f
y
o
u
d
o
n
'
t
lik
e
w
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at
y
o
u
s
ee
,
y
o
u
ca
n
i
m
m
ed
iatel
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r
e
-
ca
p
t
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r
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th
e
v
id
eo
i
m
a
g
e
s
o
f
y
o
u
r
s
u
b
j
ec
t a
g
ain
o
n
th
e
s
p
o
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
89
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
ly
2
0
2
0
:
1
3
3
–
1
4
0
140
3.
M
E
T
H
O
DO
L
O
G
Y
T
h
e
m
ec
h
an
ical
s
u
p
p
o
r
t
s
tr
u
ct
u
r
e
w
i
th
f
o
u
r
leg
s
in
f
ir
s
t
p
lac
ed
o
v
er
th
e
b
o
r
e
w
e
ll
o
p
en
i
n
g
.
T
h
is
s
u
p
p
o
r
t
s
tr
u
ct
u
r
e
h
a
s
a
m
o
to
r
f
i
x
ed
o
n
it
w
it
h
p
u
l
le
y
a
s
s
e
m
b
l
y
t
h
en
t
h
e
r
o
b
o
tic
ar
m
s
et
u
p
is
tied
u
p
to
a
ca
b
le
o
r
r
o
p
e
w
it
h
d
es
ir
ed
len
g
th
an
d
i
s
t
h
e
n
co
u
p
led
to
t
h
e
p
u
lle
y
o
f
t
h
e
u
p
d
o
w
n
m
o
tio
n
co
n
tr
o
l
m
o
t
o
r
th
is
i
s
t
h
e
i
n
itial
s
tep
.
No
w
t
h
e
s
y
s
te
m
is
r
ea
d
y
f
o
r
r
esc
u
e.
W
h
e
n
th
e
p
o
w
e
r
in
tu
r
n
ed
o
n
t
h
e
eq
u
ip
m
e
n
t
p
r
esen
t
in
t
h
e
ar
m
tu
r
n
s
o
n
alo
n
g
w
it
h
th
is
a
h
i
g
h
b
r
ig
h
tn
e
s
s
L
E
D
is
al
s
o
p
lace
d
in
it
f
o
r
illu
m
i
n
atio
n
p
u
r
p
o
s
e
n
o
w
t
h
e
d
ep
th
o
f
th
e
v
ic
ti
m
s
lo
ca
tio
n
i
s
d
is
p
la
y
ed
o
n
th
e
co
n
tr
o
l p
an
el
an
d
t
h
e
v
id
eo
is
s
ee
n
i
n
a
lap
to
p
m
o
n
ito
r
.
B
y
o
p
er
atin
g
t
h
e
ap
p
r
o
p
r
iate
b
u
tto
n
s
o
n
t
h
e
co
n
tr
o
l
p
an
el
t
h
e
ar
m
i
s
lo
w
er
ed
in
to
t
h
e
well
as
it
m
o
v
e
d
ee
p
er
an
d
d
ee
p
er
th
e
d
ep
th
o
n
th
e
L
C
D
s
cr
ee
n
d
ec
r
ea
s
es
an
d
as
th
e
ar
m
r
ea
ch
es
t
h
e
v
icti
m
t
h
e
v
al
u
e
b
ec
o
m
e
s
ze
r
o
in
d
icat
in
g
t
h
at
th
e
ar
m
h
as
r
ea
ch
ed
v
icti
m
.
No
w
t
h
e
r
o
b
o
tic
ar
m
w
h
ic
h
I
alr
ea
d
y
i
n
o
p
en
p
o
s
itio
n
is
clo
s
ed
in
o
r
d
er
to
g
r
ab
th
e
v
icti
m
.
W
e
ca
n
tak
e
d
ec
is
io
n
s
b
ased
o
n
th
e
v
id
eo
f
ee
d
.
T
h
en
ar
m
i
s
s
lo
w
l
y
p
u
lled
u
p
an
d
f
i
n
all
y
th
e
ch
ild
g
et
s
r
escu
ed
.
Har
d
w
ar
e
a
s
s
e
m
b
l
y
o
f
t
h
e
r
esc
u
e
s
y
s
te
m
a
s
s
h
o
w
n
in
Fig
u
r
e
11.
Fig
u
r
e
1
1
.
Har
d
w
ar
e
as
s
e
m
b
l
y
o
f
th
e
r
esc
u
e
s
y
s
te
m
T
h
e
m
ed
ical
tea
m
w
h
o
ar
e
k
ep
t
in
s
ta
n
d
b
y
w
il
l
b
e
ab
le
to
g
iv
e
f
ir
s
t
aid
an
d
to
p
r
ep
ar
e
f
o
r
th
e
tr
ea
t
m
e
n
t
d
ep
en
d
in
g
o
n
th
e
v
icti
m
s
m
ed
ical
co
n
d
itio
n
s
.
W
h
en
th
e
r
o
b
o
t
is
p
u
lled
o
u
t,
th
e
r
o
p
e
is
cu
t
o
f
f
.
T
h
e
r
o
b
o
t
is
tak
en
o
u
t
s
id
e
ca
r
ef
u
ll
y
f
r
o
m
t
h
e
s
ta
n
d
.
T
h
e
ar
m
s
ar
e
o
p
en
ed
b
y
t
h
e
co
n
tr
o
l
p
an
el
an
d
th
e
v
icti
m
is
tak
e
n
f
o
r
tr
ea
t
m
en
t.
4.
CO
NCLU
SI
O
N
T
h
u
s
a
b
o
r
e
w
ell
r
ec
u
e
s
y
s
te
m
w
a
s
p
r
o
p
o
s
ed
an
d
t
h
e
p
r
o
to
t
y
p
e
o
f
t
h
e
s
y
s
te
m
w
as
i
m
p
le
m
en
ted
an
d
test
ed
.
Fro
m
th
e
r
es
u
lt
it
is
p
r
o
v
en
th
at
t
h
is
s
y
s
te
m
ca
n
b
e
im
p
le
m
e
n
ted
in
t
h
is
k
in
d
o
f
cr
u
cial
r
escu
e
o
p
er
atio
n
s
.
C
u
r
r
en
t
d
esi
g
n
o
f
b
o
r
e
w
el
l
ch
i
ld
r
escu
e
s
y
s
te
m
h
as
b
ee
n
m
ad
e
to
s
u
it
e
v
e
r
y
t
y
p
e
o
f
p
o
s
s
ib
le
s
itu
a
tio
n
.
T
h
e
s
tr
u
c
tu
r
e
i
s
m
a
d
e
s
tr
o
n
g
e
n
o
u
g
h
to
s
u
s
tai
n
all
p
o
s
s
ib
le
lo
ad
s
,
th
o
u
g
h
it
i
s
m
ad
e
f
lex
ib
le
to
w
id
er
r
an
g
e
o
f
b
o
r
e
d
iam
eter
.
B
y
u
s
i
n
g
t
h
e
p
r
o
p
o
s
ed
co
n
ce
p
t
th
e
tid
ies
j
o
b
o
f
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