diff --git a/docs/_/js/search-ui.js b/docs/_/js/search-ui.js
index 0c964e1..7a2e5e2 100644
--- a/docs/_/js/search-ui.js
+++ b/docs/_/js/search-ui.js
@@ -133,14 +133,9 @@
     document.head.appendChild(link);
   }
 
-  function highlightPageTitle (title, terms) {
-    const positions = getTermPosition(title, terms);
-    return buildHighlightedText(title, positions, snippetLength)
-  }
-
   function highlightSectionTitle (sectionTitle, terms) {
     if (sectionTitle) {
-      const text = sectionTitle.text;
+      const text = sectionTitle.title ?? sectionTitle.text;
       const positions = getTermPosition(text, terms);
       return buildHighlightedText(text, positions, snippetLength)
     }
@@ -156,8 +151,7 @@
     return []
   }
 
-  function highlightText (doc, terms) {
-    const text = doc.text;
+  function highlightText (text, terms) {
     const positions = getTermPosition(text, terms);
     return buildHighlightedText(text, positions, snippetLength)
   }
@@ -183,9 +177,12 @@
       }
     }
     return {
-      pageTitleNodes: highlightPageTitle(doc.title, terms.title || []),
+      pageTitleNodes: highlightText(doc.title, terms.title || []),
       sectionTitleNodes: highlightSectionTitle(sectionTitle, terms.title || []),
-      pageContentNodes: highlightText(doc, terms.text || []),
+      pageContentNodes: highlightText(
+        sectionTitle?.title && sectionTitle.text ? sectionTitle.text : doc.text,
+        terms.text || []
+      ),
       pageKeywordNodes: highlightKeyword(doc, terms.keyword || []),
     }
   }
@@ -199,12 +196,12 @@
       let sectionTitle;
       if (ids.length > 1) {
         const titleId = ids[1];
-        sectionTitle = doc.titles.filter(function (item) {
+        sectionTitle = doc.titles.find(function (item) {
           return String(item.id) === titleId
-        })[0];
+        });
       }
       const metadata = item.matchData.metadata;
-      const highlightingResult = highlightHit(metadata, sectionTitle, doc);
+      const highlightingResult = highlightHit(metadata, sectionTitle || doc, doc);
       const componentVersion = store.componentVersions[`${doc.component}/${doc.version}`];
       if (componentVersion !== undefined && currentComponent !== componentVersion) {
         const searchResultComponentHeader = document.createElement('div');
diff --git a/docs/atomvm/_images/components/motoresdc.jpg b/docs/atomvm/_images/components/motoresdc.jpg
new file mode 100644
index 0000000..37df340
Binary files /dev/null and b/docs/atomvm/_images/components/motoresdc.jpg differ
diff --git a/docs/atomvm/_images/components/servo.png b/docs/atomvm/_images/components/servo.png
new file mode 100644
index 0000000..c74bffc
Binary files /dev/null and b/docs/atomvm/_images/components/servo.png differ
diff --git a/docs/atomvm/components.html b/docs/atomvm/components.html
index e361baa..af357ef 100644
--- a/docs/atomvm/components.html
+++ b/docs/atomvm/components.html
@@ -238,6 +238,12 @@ <h2 id="motor-dc"><a class="anchor" href="#motor-dc"></a>Motor DC</h2>
 Se recomienda una alimentación de 9V separada de la placa de desarrollo para alimentar los motores
 y tengan una buena velocidad. Son ideales para las ruedas que dan movimiento al carro.</p>
 </div>
+<div class="imageblock">
+<div class="content">
+<img src="_images/components/motoresdc.jpg" alt="motoresdc">
+</div>
+<div class="title">Figure 1. Motores DC</div>
+</div>
 <div class="sect2">
 <h3 id="guía-de-conexiones"><a class="anchor" href="#guía-de-conexiones"></a>Guía de Conexiones</h3>
 <div class="paragraph">
@@ -365,6 +371,12 @@ <h2 id="servomotor"><a class="anchor" href="#servomotor"></a>Servomotor</h2>
 <p>A diferencia de un motor DC, el servomotor puede ser controlado con precisión, pero son más lentos.
 En este caso se utilizará un <a href="https://mcielectronics.cl/shop/product/micro-servo-motor-sg90-9g-25775/">Micro servo SG90</a>.</p>
 </div>
+<div class="imageblock">
+<div class="content">
+<img src="_images/components/servo.png" alt="servo">
+</div>
+<div class="title">Figure 2. Servomotor SG90</div>
+</div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-2"><a class="anchor" href="#guía-de-conexiones-2"></a>Guía de Conexiones</h3>
 <div class="paragraph">
@@ -483,7 +495,7 @@ <h2 id="evitar-obstáculos"><a class="anchor" href="#evitar-obstáculos"></a>Evi
 <div class="content">
 <img src="_images/components/obstacle.jpg" alt="obstacle">
 </div>
-<div class="title">Figure 1. Sensor de Obstáculos IR</div>
+<div class="title">Figure 3. Sensor de Obstáculos IR</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-3"><a class="anchor" href="#guía-de-conexiones-3"></a>Guía de Conexiones</h3>
@@ -577,7 +589,7 @@ <h2 id="sensor-de-temperatura-y-humedad"><a class="anchor" href="#sensor-de-temp
 <div class="content">
 <img src="_images/components/dht.webp" alt="dht">
 </div>
-<div class="title">Figure 2. Sensor DHT11</div>
+<div class="title">Figure 4. Sensor DHT11</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-4"><a class="anchor" href="#guía-de-conexiones-4"></a>Guía de Conexiones</h3>
@@ -674,7 +686,7 @@ <h2 id="sensor-de-movimiento"><a class="anchor" href="#sensor-de-movimiento"></a
 <div class="content">
 <img src="_images/components/pir.jpg" alt="pir">
 </div>
-<div class="title">Figure 3. Sensor PIR</div>
+<div class="title">Figure 5. Sensor PIR</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-5"><a class="anchor" href="#guía-de-conexiones-5"></a>Guía de Conexiones</h3>
@@ -753,7 +765,7 @@ <h2 id="fotoresistencia"><a class="anchor" href="#fotoresistencia"></a>Fotoresis
 <div class="content">
 <img src="_images/components/foto.jpg" alt="foto">
 </div>
-<div class="title">Figure 4. Módulo de Fotoresistencia</div>
+<div class="title">Figure 6. Módulo de Fotoresistencia</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-6"><a class="anchor" href="#guía-de-conexiones-6"></a>Guía de Conexiones</h3>
@@ -814,7 +826,7 @@ <h2 id="potenciometro"><a class="anchor" href="#potenciometro"></a>Potenciometro
 <div class="content">
 <img src="_images/components/potentiometer.jpg" alt="potentiometer">
 </div>
-<div class="title">Figure 5. Potenciómetro</div>
+<div class="title">Figure 7. Potenciómetro</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-7"><a class="anchor" href="#guía-de-conexiones-7"></a>Guía de Conexiones</h3>
@@ -904,7 +916,7 @@ <h2 id="zumbador-activo-y-pasivo"><a class="anchor" href="#zumbador-activo-y-pas
 <div class="content">
 <img src="_images/components/buzzer.webp" alt="buzzer">
 </div>
-<div class="title">Figure 6. Zumbador</div>
+<div class="title">Figure 8. Zumbador</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-8"><a class="anchor" href="#guía-de-conexiones-8"></a>Guía de Conexiones</h3>
@@ -989,7 +1001,7 @@ <h2 id="botones"><a class="anchor" href="#botones"></a>Botones</h2>
 <div class="content">
 <img src="_images/components/button.png" alt="button">
 </div>
-<div class="title">Figure 7. Botón</div>
+<div class="title">Figure 9. Botón</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-9"><a class="anchor" href="#guía-de-conexiones-9"></a>Guía de Conexiones</h3>
@@ -1158,7 +1170,7 @@ <h2 id="pantalla-oled"><a class="anchor" href="#pantalla-oled"></a>Pantalla OLED
 <div class="content">
 <img src="_images/components/ssd.jpg" alt="ssd">
 </div>
-<div class="title">Figure 8. Pantalla SSD1306</div>
+<div class="title">Figure 10. Pantalla SSD1306</div>
 </div>
 <div class="sect2">
 <h3 id="guía-de-conexiones-10"><a class="anchor" href="#guía-de-conexiones-10"></a>Guía de Conexiones</h3>
diff --git a/docs/fundamentals/_images/history/transistors.jpg b/docs/fundamentals/_images/history/transistors.jpg
deleted file mode 100644
index a8bc08f..0000000
Binary files a/docs/fundamentals/_images/history/transistors.jpg and /dev/null differ
diff --git a/docs/search-index.js b/docs/search-index.js
index f00270b..95f79ec 100644
--- a/docs/search-index.js
+++ b/docs/search-index.js
@@ -1 +1 @@
-antoraSearch.initSearch(lunr, 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este material se encuentran los contenidos necesarios para realizar proyectos relacionados con electrónica, robótica e IOT con enfoque en Elixir y AtomVM. Luego de ver los fundamentos de electrónica y electricidad, se da un vistazo general a las distintas herramientas disponibles para proyectos de electrónica, robótica e IOT. Finalmente se proporcionan proyectos prácticos utiizando ESP32 y AtomVM.","title":"Electrónica, Robótica e IOT con Elixir","component":"ROOT","version":"","name":"index","url":"/index.html","titles":[]},"2":{"id":2,"text":"Este proyecto tiene por objetivo la creación de un arcade clásico de los años 70 y principios de los 80 donde se utilizaban displays, pontenciómetros e interrupters en el gabinete para complementar el videojuego. En específico se utilizará el juego Speed Race (Taito, 1974) o Monaco GP (Sega, 1979) como principal inspiración. El proyecto consiste en usar los componentes de hardware cual estarán conectados via GPIO o Conexión Serial (ESP32) a una Raspberry PI o Computador con un videojuego creado en PICO8 (https://pico-8.fandom.com/wiki/GPIO) o TIC80 (https://tic80.com/play). Se debe crear o seleccionar un juego y habilitar controlarlo con los sensores. Además de mostrar información del juego en los displays segmentados. Table 1. Components de Arcade Posibles Componente Cantidad Descripción Potenciometro 1 Simula un manubrio de carreras. https://afel.cl/products/potenciometro-500k-ohm Display Segmentado de 4 dígitos 2 Muestra el High Score y el Score actual. https://afel.cl/products/display-7-segmentos-4-digitos Display Segmantado de 2 dígitos 1 Muestra el tiempo de juego actual. https://afel.cl/products/display-7-segmentos-2-digitos Interruptor MTS-102 3 pines 1 Simula una palanca de cambios. https://afel.cl/products/interruptor-mts-102-3-pines Placa de 4 botones 1 Simula los pedales de aceleración y fichas. https://afel.cl/products/placa-de-4-botones-independientes-micro-switch También se puede obtar por un Kit de componentes básicos como https://mcielectronics.cl/shop/product/kit-basico-de-inicio-de-componentes-electronicos-para-esp32-esp-32s/ Componentes del Kit 1 placa de desarrollo ESP32 1 x OLED de 0,96 pulgadas 1X Protoboard 830pts 1 X módulo para evitar obstáculos 1 módulo de fotorresistencia 1 X Módulo de temperatura y humedad DHT11 1 sensor de movimiento PIR de 2/2″ 1 potenciómetro X (10K) 1 cable micro USB 30X resistencias (220R/1K/10K) 1 zumbador pasivo 1 X zumbador activo 1 Módulo de relé de doble canal de 5V 6X interruptores de botón 10 x Cable DuPont 10 x cable DuPont de pulgadas 10 x Cable DuPont 5 x LED rojo 5 x LED amarillo 5 x LED verde 2 LEDs RGB TIC-80 si bien tiene mayor flexibilidad de que PICO-8 al ser de código libre, no tiene funcionalidades para leer o escribir datos en serial o GPIO. Por lo que la opción es lo siguiente: Se crea un projecto en ESP32 que lea todos los sensores Se comunica via serial a un demonio creado en un lenguaje de programación como Go o Python Este demonio gatilla eventos de teclado para simular presión de botones dentro de TIC-80. TIC-80 escribe en un archivo de texto serial el Score actual. El demonio lee el archivo y lo parsea para mostrar los datos en el display segmentado. Para poder ejecutar el juego y obtener los registros del log se puede ejecutar el siguiente comando: Comando para obtener los logs de un juego en TIC80 $ ./tic80 esp32.tic > out.log & El siguiente cartucho puede ser usado para probar Primero Creamos un cartucho de Lua > new lua Añadimos las funciones de debugging -- title: esp32 test cart -- author: ninjas.cl -- desc: A test cart for input/output to esp32 -- site: elixircl.github.io/elixir-robotics -- license: BSD License -- version: 0.1 -- script: lua t=0 x=96 y=24 function TIC() cls(13) if btn(0) then y=y-1 end if btn(1) then y=y+1 end if btn(2) then x=x-1 end if btn(3) then x=x+1 end if btn(4) then print(\"Player 1: A\", 90, 100) end if btn(5) then print(\"Player 1: B\", 90, 100) end if btn(6) then print(\"Player1: X\", 90, 100) end if btn(7) then print(\"Player1: Y\", 90, 100) end spr(1+t%60//30*2,x,y,14,3,0,0,2,2) print(\"ESP32 TEST\",84,84) t=t+1 if t > 999 then t = 0 end print(t, 0, 0) trace(\"stdout=time:\"..t) end -- <TILES> -- 001:eccccccccc888888caaaaaaaca888888cacccccccacc0ccccacc0ccccacc0ccc -- 002:ccccceee8888cceeaaaa0cee888a0ceeccca0ccc0cca0c0c0cca0c0c0cca0c0c -- 003:eccccccccc888888caaaaaaaca888888cacccccccacccccccacc0ccccacc0ccc -- 004:ccccceee8888cceeaaaa0cee888a0ceeccca0cccccca0c0c0cca0c0c0cca0c0c -- 017:cacccccccaaaaaaacaaacaaacaaaaccccaaaaaaac8888888cc000cccecccccec -- 018:ccca00ccaaaa0ccecaaa0ceeaaaa0ceeaaaa0cee8888ccee000cceeecccceeee -- 019:cacccccccaaaaaaacaaacaaacaaaaccccaaaaaaac8888888cc000cccecccccec -- 020:ccca00ccaaaa0ccecaaa0ceeaaaa0ceeaaaa0cee8888ccee000cceeecccceeee -- </TILES> -- <WAVES> -- 000:00000000ffffffff00000000ffffffff -- 001:0123456789abcdeffedcba9876543210 -- 002:0123456789abcdef0123456789abcdef -- </WAVES> -- <SFX> -- 000:000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000304000000000 -- </SFX> -- <PALETTE> -- 000:1a1c2c5d275db13e53ef7d57ffcd75a7f07038b76425717929366f3b5dc941a6f673eff7f4f4f494b0c2566c86333c57 -- </PALETTE> -- <TRACKS> -- 000:100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 -- </TRACKS> En el resto del proyecto, se utilizará el juego CAR ADVENTURE con una modificación en el código para enviar eventos a través del standard output. El código fuente de un juego se puede acceder después de ejecutarlo a través de TIC-80, al presionar la tecla ESC. En el editor de código ahora abierto, usa la función de búsqueda (CTRL+F) para modificar las siguientes secciones: Evento de puntaje (cerca de línea 175) ... print(\"Score:\"..math.ceil(player.score),5,128,COLRscore_2,true) print(\"Score:\"..math.ceil(player.score),4,127,COLRscore_1,true) --Score -- nuevo if player.score % 2500 <= 15 then trace(\"event:score_milestone\") end ... Evento de explosión del auto (cerca de línea 232) ... if player.IsCracked == true then PlayExplode()--Explosion!!! trace(\"event:explode\") -- nueva linea if Exp_stop == false then sfx(63,\"C-4\",30,3,15,7)--...And sound Exp_stop = true end end ... Luego de realizar las modificaciones, la nueva versión se puede guardar presionando CTRL+S. El Daemon es el encargado de comunicar el ESP32 con TIC-80. Este se ejecuta en el mismo computador al cual el ESP32 se conecta por USB y ejecuta el TIC-80. Este puede ser programado en Go o Python y debe comunicarse via serial con el ESP32 y leer el archivo out.log generado por TIC-80. Biblioteca de Keyboard para Python: https://github.com/boppreh/keyboard Biblioteca de Comunicación Serial para Python: https://pyserial.readthedocs.io/en/latest/index.html Biblioteca de Keyboard para Go: https://github.com/micmonay/keybd_event Biblioteca de Comunicación Serial para Go: https://github.com/bugst/go-serial Este ejemplo de Daemon en Go muestra cómo leer la entrada serial del ESP32, simular eventos de teclado para TIC-80, y cómo procesar comandos que representarían eventos del juego para enviar de vuelta al ESP32 (en este caso, para controlar el LED RGB). main.go package main import ( \"bufio\" \"io\" \"log\" \"os\" \"strconv\" \"strings\" \"time\" \"github.com/micmonay/keybd_event\" \"go.bug.st/serial\" ) type KeyAction struct { Key int Duration time.Duration // 0 = tap, >0 = hold for this duration } type State struct { prevPotValue int prevPotTime time.Time keyActionChan chan KeyAction } var appLogger = log.New(os.Stdout, \"[APP] \", log.LstdFlags|log.Lshortfile) func main() { portName := \"/dev/ttyUSB0\" baudRate := 115200 if len(os.Args) > 1 { portName = os.Args[1] } appLogger.Printf(\"Attempting to open serial port: %s at %d baud...\\n\", portName, baudRate) mode := &serial.Mode{ BaudRate: baudRate, } port, err := serial.Open(portName, mode) if err != nil { appLogger.Fatalf(\"Failed to open serial port %s: %v\\n\", portName, err) } defer func() { appLogger.Println(\"Closing serial port...\") if err := port.Close(); err != nil { appLogger.Printf(\"Error closing serial port: %v\\n\", err) } }() appLogger.Printf(\"Successfully opened serial port %s. Starting goroutines...\\n\", portName) keyActionChan := make(chan KeyAction, 10) serialWriteChan := make(chan []byte, 10) serialReadLinesChan := make(chan string, 100) state := State{ prevPotValue: -1, prevPotTime: time.Now(), keyActionChan: keyActionChan, } go keyboardWorker(keyActionChan) go serialReaderGoroutine(port, serialReadLinesChan) go serialWriterGoroutine(port, serialWriteChan) go stdinProcessorGoroutine(&state, serialWriteChan) go func() { var button1Pressed bool var button2Pressed bool for line := range serialReadLinesChan { appLogger.Printf(\"[Serial Data] Received: %s\\n\", line) action, newButton1Pressed, newButton2Pressed := getSerialKeyAction(&state, line, button1Pressed, button2Pressed) button1Pressed = newButton1Pressed button2Pressed = newButton2Pressed if action.Key != 0 { select { case state.keyActionChan <- action: default: appLogger.Printf(\"Warning: keyActionChan full, dropping action: %+v\", action) } } } appLogger.Println(\"[Serial Processor] Exiting.\") }() select {} } func serialReaderGoroutine(port serial.Port, outputChan chan<- string) { appLogger.Println(\"[Serial Reader] Starting to read from serial port...\") reader := bufio.NewReader(port) for { line, err := reader.ReadString('\\n') if err != nil { appLogger.Printf(\"[Serial Reader] Error reading from serial port: %v\\n\", err) if err == io.EOF || strings.Contains(err.Error(), \"device disconnected\") || strings.Contains(err.Error(), \"no such file\") { appLogger.Println(\"[Serial Reader] Device likely disconnected. Pausing for 5s before retrying read.\") time.Sleep(5 * time.Second) } else { time.Sleep(100 * time.Millisecond) } continue } line = strings.TrimSpace(line) if line == \"\" { continue } outputChan <- line } } func serialWriterGoroutine(port serial.Port, inputChan <-chan []byte) { appLogger.Println(\"[Serial Writer] Starting to write to serial port...\") for data := range inputChan { n, err := port.Write(data) if err != nil { appLogger.Printf(\"[Serial Writer] Error writing %q to serial: %v\\n\", data, err) } else { appLogger.Printf(\"[Serial Writer] Wrote %d bytes to serial: %q\\n\", n, data) } } appLogger.Println(\"[Serial Writer] Exiting.\") } func stdinProcessorGoroutine(state *State, serialWriteChan chan<- []byte) { appLogger.Println(\"[Stdin Processor] Reading from stdin. Type 'serial:<message>' to send to serial.\") appLogger.Println(\"[Stdin Processor] Example: serial:AT\\\\r\\\\n\") scanner := bufio.NewScanner(os.Stdin) for scanner.Scan() { line := scanner.Text() appLogger.Printf(\"[Stdin Processor] Received from stdin: %q\\n\", line) processStdinCommand(state, line, serialWriteChan) } if err := scanner.Err(); err != nil { appLogger.Printf(\"[Stdin Processor] Error reading stdin: %v\\n\", err) } appLogger.Println(\"[Stdin Processor] Stdin closed or error. Exiting.\") } func processStdinCommand(state *State, input string, serialWriteChan chan<- []byte) { if after, ok := strings.CutPrefix(input, \">event:\"); ok { switch after { case \"explode\": msgBytes := []byte(\"red\") select { case serialWriteChan <- msgBytes: appLogger.Printf(\"[Stdin Cmd] Queued message for serial: %q\\n\", msgBytes) default: appLogger.Println(\"[Stdin Cmd] Serial write channel full, dropping message.\") } case \"score_milestone\": msgBytes := []byte(\"blue\") select { case serialWriteChan <- msgBytes: appLogger.Printf(\"[Stdin Cmd] Queued message for serial: %q\\n\", msgBytes) default: appLogger.Println(\"[Stdin Cmd] Serial write channel full, dropping message.\") } } } else { appLogger.Printf(\"[Stdin Cmd] Unrecognized stdin command: %q\\n\", input) } } func getSerialKeyAction(state *State, input string, button1Pressed bool, button2Pressed bool) (KeyAction, bool, bool) { if strings.Contains(input, \"Button 1:\") { if strings.Contains(input, \"pressed\") && !button1Pressed { appLogger.Println(\"[Serial Data] Button 1 pressed.\") return KeyAction{Key: keybd_event.VK_X, Duration: 0}, true, button2Pressed } else if strings.Contains(input, \"released\") { appLogger.Println(\"[Serial Data] Button 1 released.\") return KeyAction{}, false, button2Pressed } return KeyAction{}, button1Pressed, button2Pressed } if strings.Contains(input, \"Button 2:\") { if strings.Contains(input, \"pressed\") && !button2Pressed { appLogger.Println(\"[Serial Data] Button 2 pressed.\") return KeyAction{Key: keybd_event.VK_Z, Duration: 0}, button1Pressed, true } else if strings.Contains(input, \"released\") { appLogger.Println(\"[Serial Data] Button 2 released.\") return KeyAction{}, button1Pressed, false } return KeyAction{}, button1Pressed, button2Pressed } if strings.HasPrefix(input, \"Potentiometer:\") { parts := strings.Split(input, \" \") if len(parts) < 2 { return KeyAction{}, button1Pressed, button2Pressed } rawStr := strings.TrimPrefix(parts[1], \"raw=\") rawVal, err := strconv.Atoi(rawStr) if err != nil { return KeyAction{}, button1Pressed, button2Pressed } if state.prevPotValue == -1 { state.prevPotValue = rawVal state.prevPotTime = time.Now() return KeyAction{}, button1Pressed, button2Pressed } diff := rawVal - state.prevPotValue now := time.Now() if now.Sub(state.prevPotTime) <= 50*time.Millisecond { return KeyAction{}, button1Pressed, button2Pressed } var key int absDiff := diff if diff > 0 { key = keybd_event.VK_RIGHT } else if diff < 0 { key = keybd_event.VK_LEFT absDiff = -diff } else { return KeyAction{}, button1Pressed, button2Pressed } if absDiff < 50 { return KeyAction{}, button1Pressed, button2Pressed } duration := calculateDuration(absDiff) appLogger.Printf(\"[Serial Data] Potentiometer changed by %d. Sending key %v for %v.\\n\", diff, key, duration) state.prevPotValue = rawVal state.prevPotTime = now return KeyAction{Key: key, Duration: duration}, button1Pressed, button2Pressed } return KeyAction{}, button1Pressed, button2Pressed } func keyboardWorker(ch <-chan KeyAction) { appLogger.Println(\"[Keyboard Worker] Starting...\") kb, err := keybd_event.NewKeyBonding() if err != nil { appLogger.Fatalf(\"Fatal: failed to create KeyBonding in worker: %v\", err) return } for action := range ch { appLogger.Printf(\"[Keyboard Worker] Performing action: %+v\\n\", action) if action.Duration == 0 { kb.SetKeys(action.Key) kb.Launching() } else { kb.SetKeys(action.Key) kb.Press() time.Sleep(action.Duration) kb.Release() } } appLogger.Println(\"[Keyboard Worker] Exiting.\") } func calculateDuration(diff int) time.Duration { switch { case diff >= 1000: return 500 * time.Millisecond case diff >= 500: return 300 * time.Millisecond case diff >= 250: return 200 * time.Millisecond case diff >= 100: return 100 * time.Millisecond case diff >= 50: return 50 * time.Millisecond default: return 0 } } Este programa está diseñado para ejecutarse en un ESP32 utilizando AtomVM. Su función principal es leer el estado de los sensores de entrada (botones y potenciómetro) y enviar esta información por el puerto serial al Daemon en el computador. Adicionalmente, escucha el puerto serial para recibir comandos del Daemon (basados en eventos del juego TIC-80) y controlar el LED RGB. AtomVM Elixir defmodule Tic80 do @led_duty 1000 @rgb_duty 4000 @high_speed_timer 0 @led_r 22 @led_g 21 @led_b 23 @button_1_pin 26 @button_2_pin 25 @potentiometer_pin 32 def start do rgb_channels = setup_leds() setup_input(rgb_channels) LEDC.set_duty(LEDC.high_speed_mode(), 0, @led_duty) LEDC.update_duty(LEDC.high_speed_mode(), 0) spawn(fn -> button_monitor(@button_1_pin, \"Button 1\") end) spawn(fn -> button_monitor(@button_2_pin, \"Button 2\") end) spawn(fn -> potentiometer_monitor(@potentiometer_pin) end) Process.sleep(:infinity) end defp setup_leds() do ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_channel = [ [ {:channel, 1}, {:duty, 0}, {:gpio_num, @led_r}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 2}, {:duty, 0}, {:gpio_num, @led_g}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 3}, {:duty, 0}, {:gpio_num, @led_b}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) %{ red: Enum.at(ledc_channel, 0), green: Enum.at(ledc_channel, 1), blue: Enum.at(ledc_channel, 2) } end defp button_monitor(pin, name) do GPIO.set_pin_mode(pin, :input) GPIO.set_pin_pull(pin, :up) button_loop(pin, name, :released) end defp button_loop(pin, name, last_state) do current_state = case GPIO.digital_read(pin) do :low -> :pressed :high -> :released end if current_state != last_state do :io.format('~s: ~s~n', [name, current_state]) Process.sleep(50) button_loop(pin, name, current_state) else Process.sleep(100) button_loop(pin, name, last_state) end end defp potentiometer_monitor(pin) do :ok = :esp_adc.start(pin, bitwidth: :bit_max, atten: :db_12) pot_loop(pin, nil, nil) end defp pot_loop(pin, last_raw, last_mv) do case :esp_adc.read(pin, [:raw, :voltage, samples: 48]) do {:ok, {raw, mv}} -> if last_raw == nil || abs(raw - last_raw) > 50 do :io.format('Potentiometer: raw=~p mv=~p~n', [raw, mv]) Process.sleep(200) pot_loop(pin, raw, mv) else Process.sleep(200) pot_loop(pin, last_raw, last_mv) end error -> :io.format('ADC error: ~p~n', [error]) Process.sleep(500) pot_loop(pin, last_raw, last_mv) end end defp setup_input(rgb_channels) do uart = :uart.open(\"UART0\", rx: 3, tx: 1, speed: 115_200) :io.format('UART0 opened successfully. Sending and receiving on ~p~n', [uart]) spawn(fn -> loop_read(uart, rgb_channels) end) end defp loop_read(uart, rgb_channels) do data = :uart.read(uart) case data do '' -> Process.sleep(50) {:ok, string} -> :io.format('Received: ~p~n', [string]) process_command(string, rgb_channels) end loop_read(uart, rgb_channels) end defp process_command(<<\"red\">>, %{red: red_channel}) do apply_duty(red_channel, @rgb_duty) Process.sleep(1000) apply_duty(red_channel, 0) end defp process_command(<<\"green\">>, %{green: green_channel}) do apply_duty(green_channel, @rgb_duty) Process.sleep(1000) apply_duty(green_channel, 0) end defp process_command(<<\"blue\">>, %{blue: blue_channel}) do apply_duty(blue_channel, @rgb_duty) Process.sleep(1000) apply_duty(blue_channel, 0) end defp process_command(_, _), do: :io.format('Invalid input.~n') defp apply_duty(channel_config, duty) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, duty) :ok = LEDC.update_duty(speed_mode, channel) end end Luego de modificar el código fuente del juego, crear el proyecto de Go y flashear el programa al ESP32, el proyecto se puede ejecutar con el comando tic80 ./car_adventure.tic | sudo go run main.go. Esto conecta el stdout del juego TIC-80 con el Daemon de Go a través de una pipe. Para entender cómo todos los componentes interactúan, podemos seguir el flujo de datos y control a través del sistema: Entrada Física (Hardware - ESP32): El Potenciómetro y los Botones son manipulados por el jugador. El ESP32, ejecutando el programa Elixir, monitorea constantemente el estado de estos componentes. Lee el valor analógico del potenciómetro a través de un pin. Detecta los cambios de estado (presionado/liberado) de los botones a través de pines GPIO. Comunicación Serial (ESP32 a Computador): El programa del ESP32 imprime los valores y estados leídos (ej. Potentiometer: raw=XXXX, Button 1: pressed) a su output serial. Este output serial se envía al computador host a través de la conexión USB (que utiliza un puerto serial, típicamente /dev/ttyUSB0 en Linux). Procesamiento del Daemon (Computador): El Daemon Go se ejecuta en el computador host. La goroutine serialReaderGoroutine del Daemon lee continuamente los datos del puerto serial (provenientes del ESP32). La función getSerialKeyAction del Daemon procesa estas líneas. Por ejemplo, un cambio significativo en el potenciómetro se traduce en una acción de \"flecha derecha\" o \"flecha izquierda\", y una pulsación de botón en \"tecla X\" o \"tecla Z\". Estas acciones de teclado son enviadas a través del keyActionChan a la goroutine keyboardWorker. Control del Juego (Daemon a TIC-80): La goroutine keyboardWorker del Daemon utiliza la biblioteca keybd_event para simular pulsaciones de teclas en el sistema operativo. El juego TIC-80 (CAR ADVENTURE) está ejecutándose en el mismo computador y recibe estas pulsaciones de teclas como si un jugador estuviera interactuando directamente con el teclado. Esto permite controlar el auto, acelerar, etc. Eventos del Juego (TIC-80 a Daemon): Mientras el juego TIC-80 se ejecuta, las modificaciones hechas en su código (trace(\"event:score_milestone\"), trace(\"event:explode\")) envían eventos específicos a su salida estándar (stdout). La goroutine stdinProcessorGoroutine del Daemon (leyendo el stdout del proceso TIC-80) detecta estos eventos. Retroalimentación al Jugador (Daemon a ESP32 a Hardware): Cuando el Daemon detecta un evento (como \"explode\"), la función processStdinCommand envía un comando específico (ej. \"red\" para explosión, \"blue\" para hito de score) al serialWriteChan. La goroutine serialWriterGoroutine del Daemon envía estos comandos de vuelta al ESP32 a través del puerto serial. El programa del ESP32, en su loop_read y process_command, recibe e interpreta estos comandos. Finalmente, la función apply_duty del ESP32 controla el led RGB conectado a sus pines, encendiendo el color correspondiente (rojo para explosión, azul para score milestone) para dar retroalimentación visual al jugador. Your browser does not support the video tag.","title":"Proyecto: Videojuego Arcade","component":"ROOT","version":"","name":"arcade","url":"/atomvm/arcade.html","titles":[{"text":"Componentes del Proyecto","hash":"componentes-del-proyecto","id":1},{"text":"TIC-80","hash":"tic-80","id":2},{"text":"Modificación del codigo fuente","hash":"modificación-del-codigo-fuente","id":3},{"text":"Daemon","hash":"daemon","id":4},{"text":"Ejemplo de Daemon en Go","hash":"ejemplo-de-daemon-en-go","id":5},{"text":"Programa para ESP32 (Elixir/AtomVM)","hash":"programa-para-esp32-elixiratomvm","id":6},{"text":"Ejecución","hash":"ejecución","id":7},{"text":"Flujo de Datos y Control","hash":"flujo-de-datos-y-control","id":8},{"text":"Demo","hash":"demo","id":9}]},"3":{"id":3,"text":"AtomVM es una máquina virtual ligera que permite ejecutar bytecode de Erlang, Elixir y LFE (Lisp Flavored Erlang) en dispositivos incrustados con pocos recursos (como microcontroladores). Su objetivo es hacer posible usar lenguajes del ecosistema BEAM en hardware donde la máquina virtual de Erlang tradicional no puede correr por ser demasiado pesada. Permite usar lenguajes funcionales como Elixir en entornos de muy bajo nivel. Consume muy poca memoria (menos de 500 KB en muchos casos). Soporta concurrencia ligera y estructuras de datos funcionales. Ideal para el desarrollo de sistemas incrustados inteligentes y compactos AtomVM comenzó su desarrollo en el año 2018 por Pascal Gigler con el objetivo de llevar Elixir y Erlang a un hardware más pequeño. La comunidad fue creciendo, sumando desarrolladores que aportaron soporte para nuevos dispositivos y bibliotecas, llegando a poder realizarse proyectos industriales de IoT que necesitaban de un dispositivo con tolerancia a fallos, y concurrencia, las cuales tenia el dispositivo. Este ejemplo usa un sensor DHT11 conectado a un ESP32, leyendo temperatura y humedad usando Elixir sobre AtomVM. Requisitos: Microcontrolador ESP32 con AtomVM cargado. Sensor DHT11 conectado al pin GPIO 4 (puedes cambiarlo). Módulo nativo avm_dht disponible en el firmware de AtomVM. Código fuente en Elixir defmodule DHTReader do @dht_pin 4 def start do IO.puts(\"Iniciando lectura del sensor DHT11...\") loop() end defp loop do case :avm_dht.read(@dht_pin, :dht11) do {:ok, temperature, humidity} -> IO.puts(\"Temperatura: #{temperature} °C\") IO.puts(\"Humedad: #{humidity} %\") {:error, reason} -> IO.puts(\"Error al leer sensor: #{inspect(reason)}\") end :timer.sleep(5000) # Espera 5 segundos loop() end end DHTReader.start() Sensor DHT11 ESP32 VCC 3.3V DATA GPIO 4 GND GND Compila el archivo con elixirc dht_reader.ex. Sube el archivo .beam al ESP32 con las herramientas de AtomVM. Asegúrate de incluir el módulo nativo avm_dht en tu firmware. El ESP32 imprimirá por consola la temperatura y humedad cada 5 segundos. ESP32 sumado con Elixir Nerves permite crear sistemas más complejos, como sistemas de domotica, sistemas industriales, estaciones meteorológicas con panel, etc. AtomVM y Elixir Nerves permiten unir el mundo del hardware incrustado con la programación funcional moderna. Usarlos en conjunto puede llevar a soluciones más robustas, escalables y fáciles de mantener. Además, estas tecnologías permiten desarrollar soluciones completas de IoT, automatización y monitoreo sin depender de lenguajes más difíciles como C o C++, y aprovechando todo el ecosistema de Elixir. Atomvm. (n.d.). GitHub - atomvm/AtomVM: Tiny Erlang VM. GitHub. https://github.com/atomvm/AtomVM?utm_source=chatgpt.com atomvm.net. (n.d.). AtomVM. AtomVM. https://www.atomvm.net/ Sifoni, L. (2023, November 16). Lucas Sifoni - Hello AtomVM — Elixir & Erlang on ESP32. Lucas Sifoni. https://lucassifoni.info/blog/hello-atomvm/?utm_source=chatgpt.com Getting Started Guide — AtomVM 0.7.0-dev+git.65f16e87 documentation. (n.d.). https://www.atomvm.net/doc/master/getting-started-guide.html?utm_source=chatgpt.com","title":"AtomVM","component":"ROOT","version":"","name":"atomvm","url":"/atomvm/atomvm.html","titles":[{"text":"Características principales","hash":"características-principales","id":1},{"text":"Historia","hash":"historia","id":2},{"text":"Ejemplo práctico: Medición ambiental con AtomVM y DHT11","hash":"ejemplo-práctico-medición-ambiental-con-atomvm-y-dht11","id":3},{"text":"Conexiones del sensor DHT11 al ESP32","hash":"conexiones-del-sensor-dht11-al-esp32","id":4},{"text":"Instrucciones","hash":"instrucciones","id":5},{"text":"Referencias","hash":"referencias","id":6}]},"4":{"id":4,"text":"En esta sección se mostrará ejemplos de cómo conectar y utilizar distintos componentes de electrónica que podrían ser utilizados en los robots del coliseo atómico. El Motor DC requiere de una placa L298N para poder ser controlado desde la ESP32. Se recomienda una alimentación de 9V separada de la placa de desarrollo para alimentar los motores y tengan una buena velocidad. Son ideales para las ruedas que dan movimiento al carro. Para controlar un motor DC con una ESP32 y un driver L298N, se requiere de una fuente de alimentación externa para el motor, ya que la ESP32 no puede suministrar la corriente necesaria. El L298N actúa como un \"puente H\" que permite a la ESP32 controlar tanto la dirección como la velocidad del motor. Conexión a la ESP32: ESP32 GND → L298N GND (es importante que compartan tierra) ESP32 GPIO26 → L298N IN1 ESP32 GPIO27 → L298N IN2 ESP32 GPIO25 → L298N ENA (si se va a usar PWM) Conexión de la Fuente de Alimentación Externa: Fuente Externa Positivo (+) ` → `L298N V12 Fuente Externa Negativo (-) ` → `L298N GND Conexión del Motor DC: Motor Terminal 1 → L298N OUT1 Motor Terminal 2 → L298N OUT2 Notas sobre el pin ENA y el control de velocidad (PWM): El módulo L298N suele venir con un jumper de plástico preinstalado en el pin ENA (y ENB). Si este jumper está puesto, el motor estará siempre habilitado a máxima potencia y no podrás controlar su velocidad mediante software. Para poder controlar la velocidad del motor con la ESP32, se debe retirar el jumper del pin ENA y conectar un pin GPIO de la ESP32 (como GPIO25) a ENA. La ESP32 enviará una señal PWM (Pulse Width Modulation) a este pin ENA. El PWM permite simular un voltaje variable controlando el \"tiempo de encendido\" de la señal, lo que a su vez controla la velocidad efectiva del motor. En AtomVM, esto se gestiona mediante el módulo LEDC. defmodule MotorTest do @left_motor_pin_1 26 @left_motor_pin_2 27 def start() do :gpio.set_pin_mode(@left_motor_pin_1, :output) :gpio.set_pin_mode(@left_motor_pin_2, :output) :io.format('Setup de motor finalizado~n') loop() end defp loop() do :io.format('Moviendo hacia adelante~n') set_motor_direction(:forward) Process.sleep(3000) :io.format('Deteniendo motor~n') set_motor_direction(:stop) Process.sleep(2000) :io.format('Moviendo hacia atrás~n') set_motor_direction(:reverse) Process.sleep(3000) loop() end defp set_motor_direction(direction) do case direction do :forward -> :gpio.digital_write(@left_motor_pin_1, :high) :gpio.digital_write(@left_motor_pin_2, :low) :reverse -> :gpio.digital_write(@left_motor_pin_1, :low) :gpio.digital_write(@left_motor_pin_2, :high) :stop -> :gpio.digital_write(@left_motor_pin_1, :low) :gpio.digital_write(@left_motor_pin_2, :low) _ -> :io.format('Dirección de motor inválida: ~p~n', [direction]) end end end A diferencia de un motor DC, el servomotor puede ser controlado con precisión, pero son más lentos. En este caso se utilizará un Micro servo SG90. Para conectar un servomotor SG90 a la ESP32: Pines del servomotor SG90: Cable Rojo: VCC Cable Marrón: GND Cable Naranja: Señal PWM Conexión a la ESP32: VCC (Servo) → ESP32 3v3 GND (Servo) → ESP32 GND Signal (Servo) → ESP32 GPIO (Ej: GPIO13) defmodule ServoTest do @servomotor_pin 13 @servo_pwm_channel 0 # canal LEDC a usar para el servo @servo_pwm_timer 0 # timer LEDC a usar para el servo @servo_pwm_freq 50 # servos usan 50Hz @servo_pwm_resolution 10 # 10 bits de resolución (0-1023) # valores de duty cycle para ángulos comunes del SG90 # calculados para 10 bits de resolución (máx 1023) y 50Hz (periodo 20ms): # 1ms (0 grados) -> (1/20) * 1023 = ~51 # 1.5ms (90 grados) -> (1.5/20) * 1023 = ~77 # 2ms (180 grados) -> (2/20) * 1023 = ~102 @duty_0_degrees 51 @duty_90_degrees 77 @duty_180_degrees 100 def start() do set_up_servo() :io.format('Servo setup finished. Starting movement sequence...~n') set_servo_angle(@duty_0_degrees) Process.sleep(1500) set_servo_angle(@duty_90_degrees) Process.sleep(1500) set_servo_angle(@duty_180_degrees) Process.sleep(1500) :io.format('Movement sequence completed. Entering infinite sleep.~n') :timer.sleep(:infinity) end defp set_up_servo() do :ok = LEDC.timer_config( duty_resolution: @servo_pwm_resolution, freq_hz: @servo_pwm_freq, speed_mode: LEDC.high_speed_mode(), timer_num: @servo_pwm_timer ) :ok = LEDC.channel_config( channel: @servo_pwm_channel, duty: @duty_90_degrees, # iniciar el servo en una posición central gpio_num: @servomotor_pin, speed_mode: LEDC.high_speed_mode(), hpoint: 0, timer_sel: @servo_pwm_timer ) end defp set_servo_angle(duty_cycle_value) do :io.format('Setting servo duty to: ~p~n', [duty_cycle_value]) :ok = LEDC.set_duty(LEDC.high_speed_mode(), @servo_pwm_channel, duty_cycle_value) :ok = LEDC.update_duty(LEDC.high_speed_mode(), @servo_pwm_channel) end end El módulo de evitación de obstaulos utiliza un sensor infrarrojo para enviar una señal al detectar un obstáculo. Figure 1. Sensor de Obstáculos IR Para conectar un Sensor de Obstáculos IR a la ESP32: Pines del Sensor de Obstáculos IR: VCC: Alimentación GND: Tierra OUT: Salida digital Conexión a la ESP32: VCC (Sensor) → Pin 3V3 de la ESP32 GND (Sensor) → Pin GND de la ESP32 OUT (Sensor) → Pin GPIO de la ESP32 (Ej: GPIO33) Notas: Algunos módulos tienen un potenciómetro para ajustar la distancia de detección. La salida OUT es típicamente LOW cuando detecta un obstáculo y HIGH cuando no detecta nada. defmodule DetectTest do @led_pin 2 @detection_pin 33 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@detection_pin, :input) loop() end defp loop() do level = read_detection(@detection_pin) :gpio.digital_write(@led_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) result end end El módulo de DHT11 es un sensor digital que mide la temperatura ambiente y la humedad, usando un sensor de humedad capacitativo y un termistor, mostrando los datos a través de un pin digital. Requiere de un driver adicional: https://github.com/atomvm/atomvm_dht Figure 2. Sensor DHT11 Para conectar un sensor DHT11 a la ESP32: Pines del Sensor DHT: VCC (o +): Alimentación (3.3V) DATA (o SIG): Pin de datos GND (o -): Tierra (Nota: Algunos módulos DHT tienen 3 pines, otros tienen 4 y el pin no usado se deja flotante. Asegúrate de identificar VCC, DATA y GND correctamente). Conexión a la ESP32: VCC (DHT) → Pin 3V3 de la ESP32 GND (DHT) → Pin GND de la ESP32 DATA (DHT) → Pin GPIO de la ESP32 (Ej: GPIO21) defmodule DhtTest do @dht_pin 21 def start() do {:ok, dht} = :dht.start(%{pin: @dht_pin, device: :dht_11}) loop(dht) end defp loop(dht) do take_reading(dht) Process.sleep(5000) loop(dht) end defp take_reading(dht) do case :dht.take_reading(dht) do {:ok, {{temp, tempFractional}, {hum, humFractional}}} -> :io.format('Temperature: ~p.~pC Humidity: ~p.~p%~n', [ temp, tempFractional, hum, humFractional ]) error -> :io.format('Error taking reading: ~p~n', [error]) end end end mix.exs defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"}, {:dht, git: \"https://github.com/UncleGrumpy/atomvm_dht\"} ] end El sensor de movimiento PIR mide la luz infrarroja emitida en su campo de visión. Cada cuerpo libera energía térmica, lo que permite que el sensor los detecte. Figure 3. Sensor PIR Para conectar un Sensor de Movimiento PIR a la ESP32: Pines del Sensor PIR: VCC: Alimentación GND: Tierra OUT: Salida digital (HIGH cuando detecta movimiento, LOW en reposo) Conexión a la ESP32: VCC (PIR) → Pin 3V3 de la ESP32 GND (PIR) → Pin GND de la ESP32 OUT (PIR) → Pin GPIO de la ESP32 (Ej: GPIO26) defmodule SensorTest do @led_pin 2 @motion_pin 26 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@motion_pin, :input) loop() end defp loop() do level = read_detection(@motion_pin) :gpio.digital_write(@led_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) result end end La fotoresistencia son útiles para crear robots que sigan líneas o eviten obstáculos según el nivel de luz. Figure 4. Módulo de Fotoresistencia Para conectar un Módulo de Fotoresistencia a la ESP32: Pines del Módulo de Fotoresistencia: VCC: Alimentación GND: Tierra OUT (o DO): Salida digital Conexión a la ESP32: VCC → Pin 3V3 de la ESP32 GND → Pin GND de la ESP32 OUT → Pin GPIO de la ESP32 (Ej: GPIO26) Notas: Estos módulos suelen tener un potenciómetro para ajustar el umbral de luz que activa la salida digital. El ejemplo utilizado para el sensor de movimento también aplica para la fotoresistencia. Los pontenciómetros son útiles para configurar la intensidad de ciertas configuraciones. Figure 5. Potenciómetro Para conectar un Potenciómetro a la ESP32: Pines del Potenciómetro: Pin Exterior 1: VCC (Alimentación) Pin Exterior 2: GND (Tierra) Pin Central (Wiper): SIG (Salida de señal analógica) Conexión a la ESP32: Pin Exterior 1 → Pin 3V3 de la ESP32 Pin Exterior 2 → Pin GND de la ESP32 Pin Central → Pin ADC de la ESP32 (Ej: GPIO34) Notas: Los pines ADC de la ESP32 son específicos. GPIO32-39 son los más comunes para ADC1. La lectura del potenciómetro proporcionará un valor analógico que varía según la posición del eje. defmodule PotentiometerTest do @potentiometer_pin 34 def start do :ok = :esp_adc.start(@potentiometer_pin, bitwidth: :bit_max, atten: :db_12) loop() end def loop() do read_potentiometer(@potentiometer_pin) loop() end defp read_potentiometer(pin) do {:ok, {raw, mv}} = :esp_adc.read(pin, [:raw, :voltage, samples: 48]) :io.format('ADC pin ~p raw value=~p millivolts=~p~n', [pin, raw, mv]) end end Los zumbadores activos tienen un oscilador interno que produce un tono, lo que los hace fácil de usar. En cambio, los zumbadores pasivos requieren de una señal externa para generar un tono, ofreciendo mayor control a cambio de mayor complejidad. Figure 6. Zumbador Para conectar un Zumbador Activo a la ESP32: Pines del Zumbador Activo: Pin Positivo (+): Alimentación (pin más largo) Pin Negativo (-): Tierra (pin más corto) Conexión a la ESP32: Pin Positivo → Pin GPIO de la ESP32 (Ej: GPIO26) Pin Negativo → Pin GND de la ESP32 Notas: Un zumbador activo produce un tono fijo cuando se le aplica voltaje. No requiere una señal PWM para generar sonido. defmodule BuzzerTest do @led_pin 2 @detection_pin 33 @buzzer_pin 26 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@detection_pin, :input) :gpio.set_pin_mode(@buzzer_pin, :output) loop() end defp loop() do level = read_detection(@detection_pin) :gpio.digital_write(@led_pin, level) :gpio.digital_write(@buzzer_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = :gpio.digital_read(pin) :io.format('Result = ~pn', [result]) result end end Un botón pulsador táctil común de 4 pines tiene sus contactos internos configurados de manera que los dos pines en cada uno de sus lados largos están siempre eléctricamente conectados entre sí. Al presionar el botón, se establece temporalmente una conexión entre estos dos lados que de otro modo estarían separados, cerrando el circuito. Esta configuración interna significa que para cablear el botón, solo necesitas usar un pin de cada lado opuesto, ya que el otro pin en el mismo lado ofrece un punto de conexión idéntico. Figure 7. Botón En el ejemplo se utiliza un pull-up interno. Para conectar un Botón Pulsador a la ESP32 con pull-up interno: Pines del Botón Pulsador: Dos terminales Conexión a la ESP32: Terminal 1 del Botón → Pin GPIO de la ESP32 (Ej: GPIO33) Terminal 2 del Botón → Pin GND de la ESP32 Notas: Con esta configuración, el pin GPIO estará HIGH (3.3V) cuando el botón no esté presionado (gracias al pull-up interno). Cuando el botón es presionado, el pin GPIO se conecta a GND y su lectura será LOW. Esto elimina la necesidad de un resistor externo. defmodule ButtonTest do @test_duty 3000 @test_fade_time 2000 @high_speed_timer 0 @low_speed_timer 1 @led_1 2 @led_2 23 @button_pin 33 def start do GPIO.set_pin_mode(@button_pin, :input) GPIO.set_pin_pull(@button_pin, :up) ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_ls_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.low_speed_mode()}, {:timer_num, @low_speed_timer} ] :ok = LEDC.timer_config(ledc_ls_timer) ledc_channel = [ [ {:channel, 0}, {:duty, 0}, {:gpio_num, @led_1}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 1}, {:duty, 0}, {:gpio_num, @led_2}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) loop(ledc_channel) end def loop(ledc_channel) do if read_button(@button_pin) == :pressed do wait_for_release(@button_pin) end :io.format('1. LEDC fade up to duty = p~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_1(channel_config) end) Process.sleep(@test_fade_time) :io.format('2. LEDC fade down to duty = 0~n') Enum.each(ledc_channel, fn channel_config -> do_stage_2(channel_config) end) Process.sleep(@test_fade_time) loop(ledc_channel) end defp do_stage_1(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, @test_duty, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_2(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, 0, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp read_button(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) case result do :low -> :pressed :high -> :released end end defp wait_for_release(pin) do Process.sleep(50) if read_button(pin) == :pressed do wait_for_release(pin) else :ok end end end La pantalla OLED SSD1306 utiliza el protocolo de comunicación I2C para conectarse a la ESP32. Para la transmisión de datos, el pin SDA del display se conecta al pin de datos I2C de la ESP32 (generalmente GPIO21), y el pin SCL del display al pin de reloj I2C de la ESP32 (comúnmente GPIO22). Requiere de un driver adicional: https://github.com/atomvm/atomgl Figure 8. Pantalla SSD1306 Para conectar una Pantalla OLED (SSD1306 I2C) a la ESP32: Pines de la Pantalla OLED: VCC: Alimentación GND: Tierra SCL: Línea de reloj I2C SDA: Línea de datos I2C Conexión a la ESP32: VCC (OLED) → Pin 3V3 de la ESP32 GND (OLED) → Pin GND de la ESP32 SCL (OLED) → Pin GPIO22 de la ESP32 (Pin SCL I2C por defecto) SDA (OLED) → Pin GPIO21 de la ESP32 (Pin SDA I2C por defecto) defmodule SsdTest do @sda_pin 21 @scl_pin 22 def start do i2c_opts = [ sda: @sda_pin, scl: @scl_pin, clock_speed_hz: 40000, peripheral: \"i2c0\" ] i2c_host = :i2c.open(i2c_opts) display_opts = [ width: 128, height: 64, compatible: \"solomon-systech,ssd1306\", i2c_host: i2c_host, reset: 18 ] display = :erlang.open_port({:spawn, \"display\"}, display_opts) {:ok, pid} = HelloScene.start_link([], display_server: {:port, display} ) Process.sleep(:infinity) end end defmodule HelloScene do def start_link(args, opts) do :avm_scene.start_link(__MODULE__, args, opts) end def init(_args) do :erlang.send_after(100, self(), :update_display) {:ok, %{width: 320, height: 240}} end def handle_info(:update_display, %{width: width, height: height} = state) do items = [ {:text, 10, 20, :default16px, 0x000000, 0xFFFFFF, \"Hello, World!\"}, {:rect, 0, 0, width, height, 0xFFFFFF} ] {:noreply, state, [{:push, items}]} end end mix.exs defp deps do [ {:avm_scene, git: \"https://github.com/atomvm/avm_scene/\"}, {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"} ] end","title":"Componentes Electrónicos","component":"ROOT","version":"","name":"components","url":"/atomvm/components.html","titles":[{"text":"Motor DC","hash":"motor-dc","id":1},{"text":"Guía de Conexiones","hash":"guía-de-conexiones","id":2},{"text":"Código de Ejemplo","hash":"código-de-ejemplo","id":3},{"text":"Ejemplo de Funcionamiento","hash":"ejemplo-de-funcionamiento","id":4},{"text":"Servomotor","hash":"servomotor","id":5},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-2","id":6},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-2","id":7},{"text":"Ejemplo de Funcionamiento","hash":"ejemplo-de-funcionamiento-2","id":8},{"text":"Evitar Obstáculos","hash":"evitar-obstáculos","id":9},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-3","id":10},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-3","id":11},{"text":"Sensor de temperatura y humedad","hash":"sensor-de-temperatura-y-humedad","id":12},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-4","id":13},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-4","id":14},{"text":"Sensor de movimiento","hash":"sensor-de-movimiento","id":15},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-5","id":16},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-5","id":17},{"text":"Fotoresistencia","hash":"fotoresistencia","id":18},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-6","id":19},{"text":"Potenciometro","hash":"potenciometro","id":20},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-7","id":21},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-6","id":22},{"text":"Zumbador activo y pasivo","hash":"zumbador-activo-y-pasivo","id":23},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-8","id":24},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-7","id":25},{"text":"Botones","hash":"botones","id":26},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-9","id":27},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-8","id":28},{"text":"Pantalla OLED","hash":"pantalla-oled","id":29},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-10","id":30},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-9","id":31}]},"5":{"id":5,"text":"En esta sección se mostrará cómo configurar el entorno de desarrollo y compilar AtomVM para ser ejecutado en la ESP32 utilizando un sistema operativo Linux. Se recomienda usar Devenv para gestionar dependencias del sistema. El siguiente archivo devenv.nix define todas las dependencias necesarias para compilar un proyecto Elixir a avm, y luego flashear el resultado a un ESP32: devenv.nix { lib, pkgs, ... }: { languages.elixir.enable = true; packages = [ pkgs.inotify-tools pkgs.esptool pkgs.picocom ] ++ lib.optionals pkgs.stdenv.isDarwin [ # for ExUnit notifier pkgs.terminal-notifier # for package - file_system pkgs.darwin.apple_sdk.frameworks.CoreFoundation pkgs.darwin.apple_sdk.frameworks.CoreServices ]; scripts.flash.exec = '' mix atomvm.packbeam && sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 \\ write-flash 0x250000 serial_test.avm ''; scripts.monitor.exec = '' sudo picocom -b 115200 /dev/ttyUSB0 ''; scripts.format.exec = '' sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 erase-flash ''; } El entorno también incluye un alias para flashear el programa (flash) y un alias para monitorear la salida serial (monitor). Estos alias se pueden ejectuar directamente a través de la shell. Para entrar a la shell de devenv, se debe ejecutar el comando devenv shell. Se asume que la entrada de ESP32 se encuentra en /dev/ttyUSB0. En caso de no encontrarse ahí (se puede verificar con ls /dev/ttyUSB*), se debe cambiar en la definición de los scripts. También es una opción el utilizar la herramienta mise para la instalación de esptool. $ mise use -g pipx $ pipx --version $ mise use -g pipx:esptool $ esptool version Para Windows se recomienda la instalación de una máquina virtual con Linux o utilizar WSL. Para correr programas Elixir compilados a avm, es necesario primero flashear la imagen de AtomVM (con soporte para Elixir) en la ESP32. # eliminar memoria flash sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 erase-flash # flashear AtomVM (descarga en https://github.com/atomvm/AtomVM/releases) sudo esptool \\ --chip auto \\ --port /dev/ttyUSB0 --baud 921600 \\ --before default_reset --after hard_reset \\ write_flash -u \\ --flash_mode dio --flash_freq 40m --flash_size detect \\ 0x1000 \\ ./AtomVM-esp32-elixir-v0.6.6.img mix.exs defmodule LedTest.MixProject do use Mix.Project def project do [ app: :led_test, version: \"0.1.0\", elixir: \"~> 1.18\", start_permanent: Mix.env() == :prod, deps: deps(), atomvm: [ start: LedTest, flash_offset: 0x250000 ] ] end # Run \"mix help compile.app\" to learn about applications. def application do [ extra_applications: [:logger] ] end # Run \"mix help deps\" to learn about dependencies. defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"} ] end end lib/led_test.ex defmodule LedTest do @test_duty 3000 @test_fade_time 2000 @led_1 2 # led de ESP32 def start do ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_channel = [ [ {:channel, 0}, {:duty, 0}, {:gpio_num, @led_1}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) loop(ledc_channel) end def loop(ledc_channel) do :io.format('1. LEDC fade up to duty = ~p~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_1(channel_config) end) Process.sleep(@test_fade_time) :io.format('2. LEDC fade down to duty = 0~n') Enum.each(ledc_channel, fn channel_config -> do_stage_2(channel_config) end) Process.sleep(@test_fade_time) :io.format('3. LEDC set duty = ~p without fade~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_3(channel_config) end) Process.sleep(@test_fade_time) :io.format('4. LEDC set duty = 0 without fade~n') Enum.each(ledc_channel, fn channel_config -> do_stage_4(channel_config) end) Process.sleep(@test_fade_time) loop(ledc_channel) end defp do_stage_1(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, @test_duty, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_2(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, 0, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_3(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, @test_duty) :ok = LEDC.update_duty(speed_mode, channel) end defp do_stage_4(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, 0) :ok = LEDC.update_duty(speed_mode, channel) end end Luego, en una shell con devenv: flash Si logras ejecutar éste código y el Led prende. Exitosamente has configurado el entorno de desarrollo para AtomVM.","title":"Entorno de Desarrollo","component":"ROOT","version":"","name":"devenv","url":"/atomvm/devenv.html","titles":[{"text":"Linux/MacOS","hash":"linuxmacos","id":1},{"text":"Mise","hash":"mise","id":2},{"text":"Windows","hash":"windows","id":3},{"text":"Preparar ESP32","hash":"preparar-esp32","id":4},{"text":"Encender un LED con AtomVM","hash":"encender-un-led-con-atomvm","id":5}]},"6":{"id":6,"text":"En esta sección se verá como extender AtomVM para incorporar componentes y funcionalidades adicionales.","title":"Extender AtomVM","component":"ROOT","version":"","name":"extensions","url":"/atomvm/extensions.html","titles":[{"text":"Pantalla OLED","hash":"pantalla-oled","id":1}]},"7":{"id":7,"text":"En esta sección se mostrará como conectar un celular Android o iPhone al ESP32 y poner enviar comandos via Wi-fi Access Point. Es posible crear un Access Point directamente desde un ESP32 para facilitar su conexión a dispositivos. Esta funcionalidad permite que cualquier dispositivo conectado al Access Point pueda acceder al servidor hosteado en el ESP32 a través de navegador. Para obtener acceso a la librería httpd de Erlang, es necesario incluir atomvm_lib en el archivo mix.exs. mix.exs defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"}, {:atomvm_lib, git: \"https://github.com/atomvm/atomvm_lib/\"} ] end A continuación, se incluye un módulo de ejemplo que implementa httpd para servir archivos y una API desde un servidor hosteado en la ESP32. defmodule ApTest do @behaviour :httpd_api_handler @port 8080 def start() do ap_config = [ ssid: \"robot test\", psk: \"passpass\", ap_started: fn -> :io.format('Punto de acceso iniciado en 192.168.4.1~n') end ] {:ok, _network_pid} = :network.start(ap: ap_config) Process.sleep(1000) httpd_config = [ # handler para ruta /api {[<<\"api\">>], %{ handler: :httpd_api_handler, handler_config: %{ module: __MODULE__ } }}, # handler de archivos para ruta /, expone archivos en directorio /priv {[], %{ handler: :httpd_file_handler, handler_config: %{ app: :serial_test } }} ] {:ok, _httpd_pid} = :httpd.start_link(@port, httpd_config) :io.format('Servidor web iniciado en http://192.168.4.1:8080~n') :timer.sleep(:infinity) end def handle_api_request(:post, [<<\"move\">>], http_request, _args) do direction = http_request.body move_robot(direction) {:ok, %{status: \"ok\"}} end def handle_api_request(method, path, _http_request, _args) do :io.format('Petición no soportada: ~p ~p~n', [method, path]) :not_found end defp move_robot(direction) do :io.format('Comando de movimiento recibido: ~p~n', [direction]) # aqui iría el código para mover el robot end end También es necesario incluir un archivo index.html en el directorio /priv del proyecto (se debe crear si no existe), para acceder a la API a través de una interfaz. priv/index.html <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <meta name=\"viewport\" content=\"width=device-width, initial-scale=1\"> <style> :root { --bg: #0f1220; --panel: #1a1e35; --btn: #2a2f55; --btn-hover: #3a4090; --btn-active: #4c53c7; --text: #e8eaff; --danger: #c0392b; } body { margin: 0; min-height: 100vh; font-family: system-ui, sans-serif; background: radial-gradient(circle at top, #1a1e35, #0f1220); color: var(--text); display: flex; flex-direction: column; align-items: center; justify-content: center; } h1 { margin-bottom: 24px; font-weight: 600; } .controls { background: var(--panel); padding: 20px; border-radius: 20px; display: grid; grid-template-columns: repeat(3, 80px); gap: 12px; box-shadow: 0 10px 30px rgba(0,0,0,0.4); } .controls button { width: 80px; height: 80px; border-radius: 18px; border: none; background: linear-gradient(180deg, var(--btn), #1f2340); cursor: pointer; display: flex; align-items: center; justify-content: center; box-shadow: 0 6px 0 #14172b, 0 10px 20px rgba(0,0,0,0.4); transition: transform 0.05s ease, box-shadow 0.05s ease, background 0.15s; } .controls button:hover { background: linear-gradient(180deg, var(--btn-hover), #2b3090); } .controls button:active { transform: translateY(4px); box-shadow: 0 2px 0 #14172b, 0 4px 10px rgba(0,0,0,0.4); background: linear-gradient(180deg, var(--btn-active), #3a40b0); } .controls svg { width: 36px; height: 36px; fill: var(--text); } .forward { grid-column: 2; } .left { grid-column: 1; } .stop { grid-column: 2; background: linear-gradient(180deg, var(--danger), #8e1f17); } .right { grid-column: 3; } .back { grid-column: 2; } .stop:hover { background: linear-gradient(180deg, #e74c3c, #a93226); } .status { margin-top: 24px; font-size: 14px; opacity: 0.9; } </style> </head> <body> <h1>Control del Robot</h1> <div class=\"controls\"> <button class=\"forward\" onclick=\"moveRobot('forward')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M12 4l-8 8h5v8h6v-8h5z\"/> </svg> </button> <button class=\"left\" onclick=\"moveRobot('left')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M4 12l8 8v-5h8v-6h-8v-5z\"/> </svg> </button> <button class=\"stop\" onclick=\"moveRobot('stop')\"> <svg viewBox=\"0 0 24 24\"> <rect x=\"6\" y=\"6\" width=\"12\" height=\"12\"/> </svg> </button> <button class=\"right\" onclick=\"moveRobot('right')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M20 12l-8-8v5h-8v6h8v5z\"/> </svg> </button> <button class=\"back\" onclick=\"moveRobot('back')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M12 20l8-8h-5v-8h-6v8h-5z\"/> </svg> </button> </div> <div id=\"status\" class=\"status\">Estado: Listo</div> <script> function moveRobot(direction) { document.getElementById(\"status\").innerText = \"Estado: Enviando comando...\"\"; fetch(\"/api/move\", { method: \"POST\", headers: { \"Content-Type\": \"text/html\" }, body: direction }) .then(r => r.json()) .then(data => { document.getElementById(\"status\").innerText = \"Estado: \"\" + data.status; }) .catch(() => { document.getElementById(\"status\").innerText = \"Estado: Error de conexión\"; }); } </script> </body> </html> Para acceder a la API, el dispositivo primero se debe conectar a la red Wi-Fi llamada robot test, y luego acceder a 192.168.4.1:8080/index.html.","title":"Conexión Remota","component":"ROOT","version":"","name":"remote","url":"/atomvm/remote.html","titles":[{"text":"Conexión a través de Wi-Fi","hash":"conexión-a-través-de-wi-fi","id":1},{"text":"Dependencias de AtomVM","hash":"dependencias-de-atomvm","id":2},{"text":"Ejemplo","hash":"ejemplo","id":3}]},"8":{"id":8,"text":"","title":"Arduino","component":"ROOT","version":"","name":"arduino","url":"/controllers/arduino.html","titles":[]},"9":{"id":9,"text":"En 1997, Parallax produjo la Board of Education, un portaplacas de pruebas (breadboard) y placa de proyectos para el BASIC Stamp 2. Educadores de USA solicitaron rápidamente que se montara en un robot, y así se creó el Boe-Bot. Combinado con el libro de Andy Lindsay \"Robotics with the Boe-Bot\" y \"What’s a Microcontroller\", esta combinación de hardware y tutoriales se convirtió en un producto educativo popular. Hoy en día, PBASIC sigue siendo uno de los lenguajes favoritos de muchos educadores y aulas, y gran parte de la investigación educativa inicial sobre la eficacia de los sistemas de computación física para enseñar programación utilizó el BASIC Stamp. El Boe-Bot utiliza el lenguaje PBASIC. Los robots Boe-Bot se encuentran en escuelas secundarias y preparatorias, escuelas técnicas y universidades, clubes de robótica y en los hogares de aficionados. Son excelentes compañeros para aprender o enseñar tecnología, mecatrónica y programas STEM. Este kit de robot puede utilizarse como una asignatura optativa en muchas escuelas. Figure 1. Basic Stamp Boe-Bot El siguiente código de PBasic muestra cómo reproducir una canción utilizando el formato de música RTTL utilizado por teléfonos Nokia de principios de la década del 2000. Ejemplo de PBasic ' What's a Microcontroller - MicroMusicWithRtttl.bs2 ' Play Nokia RTTTL format ringtones using DATA. '{$STAMP BS2} '{$PBASIC 2.5} DEBUG \"Program Running!\" ' -----[ I/O Definitions ]------------------------------------------------- SpeakerPin PIN 9 ' Piezospeaker connected to P9. ' -----[ Variables ]------------------------------------------------------- counter VAR Word ' General purpose counter. char VAR Byte ' Variable stores characters. index VAR Word ' Index for pointing at data. noteLetter VAR Byte ' Stores note character. noteFreq VAR Word ' Stores note frequency. noteOctave VAR Word ' Stores note octave. duration VAR Word ' Stores note duration. tempo VAR Word ' Stores tempo. default_d VAR Byte ' Stores default duration. default_o VAR Byte ' Stores default octave. default_b VAR Word ' Stores default beats/min. ' -----[ EEPROM Data ]----------------------------------------------------- RTTTL_File DATA \"Reveille:d=4,o=7,b=140:8g6,8c,16e,16c,8g6,8e,\", \"8c,16e,16c,8g6,8e,8c,16e,16c,8a6,8c,e,8c,8g6,\", \"8c,16e,16c,8g6,8e,8c,16e,16c,8g6,8e,8c,16e,\", \"16c,8g6,8e,c,p,8e,8e,8e,8e,g,8e,8c,8e,8c,8e,8c,\", \"e,8c,8e,8e,8e,8e,8e,g,8e,8c,8e,8c,8g6,8g6,c.\" Done DATA \",q,\" Notes DATA \"p\", \"a\", \"#\", \"b\", \"c\", \"#\", \"d\", \"#\", \"e\", \"f\", \"#\", \"g\", \"#\" Octave8 DATA Word 0, Word 3520, Word 3729, Word 3951, Word 4186, Word 4435, Word 4699, Word 4978, Word 5274, Word 5588, Word 5920, Word 6272, Word 6645 ' -----[ Initialization ]-------------------------------------------------- counter = 0 ' Initialize counter. GOSUB FindEquals ' Find first '=' in file. GOSUB ProcessDuration ' Get default duration. GOSUB FindEquals ' Find next '='. GOSUB ProcessOctave ' Get default octave. GOSUB FindEquals ' Find last '='. GOSUB GetTempo ' Get default tempo. ' -----[ Program Code ]---------------------------------------------------- DO UNTIL char = \"q\" ' Loop until 'q' in DATA. GOSUB ProcessDuration ' Get note duration. GOSUB ProcessNote ' Get index value of note. GOSUB CheckForDot ' If dot, 3/2 duration. GOSUB ProcessOctave ' Get octave. GOSUB PlayNote ' Get freq, play note, next. LOOP ' End of main loop. END ' End of program. ' -----[ Subroutine - Find Equals Character ]----------------------------- FindEquals: ' Go through characters in ' RTTTL file looking for DO ' '='. Increment counter READ RTTTL_File + counter, char ' until '=' is found, then counter = counter + 1 ' return. LOOP UNTIL char = \"=\" RETURN ' -----[ Subroutine - Read Tempo from RTTTL Header ]---------------------- ' Each keyboard character has a unique number called an ASCII value. ' The characters 0, 1, 2,...9 have ASCII values of 48, 49, 50,...57. ' You can always convert from the character representing a digit to ' to its value by subtracting 48 from the variable storing the digit. ' You can examine this by comparing DEBUG DEC 49 and DEBUG 49. GetTempo: ' Parse RTTTL file for Tempo. ' Convert characters to default_b = 0 ' digits by subtracting 48 DO ' from each character's ASCII READ RTTTL_File + counter, char ' value. Iteratively multiply IF char = \":\" THEN ' each digit by 10 if there default_b = default_b / 10 ' is another digit, then add counter = counter + 1 ' the most recent digit to EXIT ' one's column. ENDIF ' For example, the string default_b = default_b + char - 48 ' \"120\" is (1 X 10 X 10) counter = counter + 1 ' + (2 X 10) + 0. The '1' default_b = default_b * 10 ' is converted first, then LOOP UNTIL char = \":\" ' multiplied by 10. The '2' ' is then converted/added. RETURN ' 0 is converted/added, done. ' -----[ Subroutine - Look up Octave ]------------------------------------ ProcessOctave: ' Octave may or may not be ' included in a given note READ RTTTL_File + counter, char ' because any note that is SELECT char ' played in the default CASE \"5\" TO \"8\" ' octave does not specify noteOctave = char - \"0\" ' the octave. If a char counter = counter + 1 ' from '5' to '8' then use CASE ELSE ' it, else use default_o. noteOctave = default_o ' Characters are converted ENDSELECT ' to digits by subtracting IF default_o = 0 THEN ' '0', which is the same as default_o = noteOctave ' subtracting 48. The first ENDIF ' time this subroutine is ' called, default_o is 0. RETURN ' If 0, then set default_o. ' -----[ Subroutine - Find Index of Note ]-------------------------------- ProcessNote: ' Set index value for lookup ' of note frequency based on READ RTTTL_File + counter, char ' note character. If 'p', SELECT char ' index is 0. If 'a' to 'g', CASE \"p\" ' read character values in index = 0 ' DATA table and find match. counter = counter + 1 ' Record index value when CASE \"a\" TO \"g\" ' match is found. If next FOR index = 1 TO 12 ' char is a sharp (#), add READ Notes + index, noteLetter ' 1 to the index value to IF noteLetter = char THEN EXIT ' increase the index (and NEXT ' frequency) by 1 notch. counter = counter + 1 ' As with other subroutines, READ RTTTL_File + counter, char ' increment counter for each SELECT char ' character that is processed. CASE \"#\" index = index + 1 counter = counter + 1 ENDSELECT ENDSELECT RETURN ' -----[ Subroutine - Determine Note Duration ]--------------------------- ProcessDuration: ' Check to see if characters ' form 1, 2, 4, 8, 16 or 32. READ RTTTL_File + counter, char ' If yes, then convert from ' ASCII character to a value SELECT char ' by subtracting 48. In the CASE \"1\", \"2\", \"3\", \"4\", \"8\" ' case of 16 or 32, multiply duration = char - 48 ' by 10 and add the next counter = counter + 1 ' digit to the ones column. READ RTTTL_File + counter, char SELECT char CASE \"6\", \"2\" duration = duration * 10 + char - 48 counter = counter + 1 ENDSELECT CASE ELSE ' If no duration, use duration = default_d ' use default. ENDSELECT IF default_d <> 0 THEN ' If default_d not defined duration = 60000/default_b/duration*3 ' (if default_d = 0), then ELSE ' set default_d = to the default_d = duration ' duration from the d=#. ENDIF RETURN ' -----[ Subroutine - Check For '.' Indicating 1.5 Duration ]------------- CheckForDot: ' Check for dot indicating ' multiply duration by 3/2. READ RTTTL_File + counter, char ' If dot found, multiply by SELECT char ' 3/2 and increment counter, CASE \".\" ' else, do nothing and duration = duration * 3 / 2 ' return. counter = counter + 1 ENDSELECT RETURN ' -----[ Subroutine - Find Comma and Play Note/Duration ]----------------- PlayNote: ' Find last comma in the ' current note entry. Then, READ RTTTL_File + counter, char ' fetch the note frequency SELECT char ' from data, and play it, or CASE \",\" ' pause if frequency = 0. counter = counter + 1 READ Octave8 + (index * 2), Word noteFreq noteOctave = 8 - noteOctave noteFreq = noteFreq / (DCD noteOctave) IF noteFreq = 0 THEN PAUSE duration ELSE FREQOUT SpeakerPin, duration, noteFreq ENDIF ENDSELECT RETURN Un Basic Stamp en Chile puede ser adquirido en Rambal Robots.","title":"Parallax Basic Stamp","component":"ROOT","version":"","name":"basicstamp","url":"/controllers/basicstamp.html","titles":[]},"10":{"id":10,"text":"ESP32 es un único chip combinado de Wi-Fi y Bluetooth de 2.4 GHz, diseñado con la tecnología de bajo consumo de 40 nm de TSMC. Está diseñado para lograr el mejor rendimiento en cuanto a consumo de energía y radiofrecuencia (RF), mostrando solidez, versatilidad y fiabilidad en una amplia variedad de aplicaciones y escenarios de consumo energético. Figure 1. ESP32 Con su bajo consumo de energía, el ESP32 es una opción ideal para dispositivos IoT en las siguientes áreas: Hogar inteligente Automatización industrial Cuidado de la salud Electrónica de consumo Agricultura inteligente Máquinas POS Robots de servicio Dispositivos de audio Concentradores de sensores IoT de bajo consumo genéricos Registradores de datos IoT de bajo consumo genéricos Cámaras para transmisión de video Reconocimiento de voz Reconocimiento de imágenes Tarjeta de red SDIO Wi-Fi + Bluetooth Si has trabajado con Arduino y con las placas basadas en ESP8266, la ESP32 es muy similar. Es una placa con microcontrolador muchísimo más poderosa que Arduino y se puede programar con el mismo IDE de Arduino. Figure 2. Funciones del ESP32 Características Principales Microcontrolador Tensilica LX6 de doble núcleo a 240 MHz con 600 DMIPS SRAM integrada de 520 KB Transceptor Wi-Fi 802.11 b/g/n HT40 integrado, con banda base, pila y LwIP Bluetooth de modo dual integrado (clásico y BLE) Memoria flash de 4 MB, mapeada a la memoria de código de la CPU Voltaje de operación de 2.3V a 3.6V Temperatura de operación de -40°C a +125°C La placa de desarrollo ESP32-C6-DevKit Dual Tipo C es una solución avanzada y versátil para el desarrollo de aplicaciones IoT y dispositivos conectados. Basada en el microcontrolador ESP32-C6 de Espressif Systems, esta placa ofrece una serie de mejoras en conectividad y rendimiento, haciéndola ideal para una amplia gama de aplicaciones desde sistemas de monitoreo remoto hasta soluciones industriales y de hogar inteligente. Figure 3. ESP32 DevKit Tipo C Características Destacadas Microcontrolador Avanzado: Equipado con el ESP32-C6, esta placa proporciona un rendimiento mejorado y capacidades ampliadas en comparación con las versiones anteriores de la serie ESP32. Conectividad Superior: Ofrece conectividad mejorada con Bluetooth Low Energy (BLE) 5.0 y soporte para el protocolo IEEE 802.11ax, lo que asegura una comunicación eficiente y de alta velocidad. También es compatible con los protocolos IEEE 802.11b/g/n en anchos de banda de 20 MHz y 40 MHz, alcanzando velocidades de datos de hasta 150 Mbps. Memoria y Almacenamiento: Con 4 MB de memoria FLASH, 320 KB de ROM, 512 KB de HP SRAM, y 16 KB de LP SRAM, la placa proporciona suficiente capacidad para ejecutar aplicaciones complejas y almacenar datos de manera eficiente. Versatilidad en Puertos: Dispone de 32 GPIO, 3 SPI, 2 UART, 1 I2C, y 1 ADC, ofreciendo una amplia gama de opciones para conectar y controlar periféricos y sensores. Diseño Robusto: Con una temperatura de funcionamiento de -40 ℃ a 85 ℃, la placa está diseñada para operar en condiciones ambientales extremas, asegurando fiabilidad en entornos industriales y exteriores. Antena Integrada: Incluye una antena PCB integrada, que optimiza la conectividad sin necesidad de componentes externos adicionales. Conectividad Tipo C: La placa está equipada con un puerto USB Tipo C, facilitando la conexión y la programación, y proporcionando una interfaz moderna y eficiente. Disponibilidad en: https://www.mechatronicstore.cl/esp32-c6-devkit-pro-tipo-c/ El objetivo es crear un \"Gladiador Robot\" controlado por un smartphone via Wifi, este debe ser capaz de reventar un globo. El ganador es quien reviente el globo del oponente. Figure 4. Alumnos de Robótica UVM 2025 con su Gladiador Combate de Gladiadores Robot Your browser does not support the video tag. Ítem Descripción ¿Donde adquirir? ESP32 (Wifi) + Smartphone Principal componente. Se programará para enviar señales a los servomotores y crear un servidor web para ser controlado via Smartphone. https://altronics.cl/tarjeta-esp32-microusb Placa de desarrollo ESP32 Extensión del ESP32 que incluye regulador de voltaje para resistir hasta 16V de entrada (DC) y contiene hileras con voltaje, tierra y señal de forma más comoda. https://es.aliexpress.com/item/1005008212851634.html 2 motores DC 3 a 12V Principal fuente de movimiento del gladiador. La elección del motor y su necesidad de voltaje es a criterio del equipo (mayor velocidad = mayor voltaje). https://articulo.mercadolibre.cl/MLC-923623185-motor-dc-coche-gear-amarillo-3v-12v-_JM L298N Permite controlar dos motores de corriente continua o un motor paso a paso bipolar de hasta 2 amperes. https://altronics.cl/modulo-puente-h-l298 Chasis + Ruedas de Goma + Porta Pilas Principal fuente de poder y marco para armar. Alimentación entre 6v a 12v. 9v recomendado. https://altronics.cl/kit-chasis-2wd-1 Gladiador de Lego (A elección). Mini figura de lego versión dungeons and dragons o similar. https://www.tiendalego.cl/products/dungeons-dragons-71047?variant=41690791805046 Protoboard Marco para conexión de componentes. Recomendado 400 puntos. https://altronics.cl/protoboard-400ptos Cables Jumper Macho - Hembra, Macho - Macho. Permite conectar los componentes. https://altronics.cl/JW_MF_40_10 Globos largos (Colores diferentes para cada gladiador). Globos inflables + bombin. https://belina.cl/globos-largos-20cm-bombin-colores-surtidos-20-pcs Armas para reventar el Globo (A elección) Clavos, alfileres o materiales corto punzantes varios. https://www.masferret.cl/product/clavo-punta-1 Figure 5. Diagrama de conexión entre componentes Table 1. Tabla de conexiones ESP32 MONTADO EN PLACA MOTOR AC1 MOTOR AC2 L298N Batería Pin 16 IN1 Pin 17 IN2 Pin 18 IN3 Pin 19 IN4 (+) OUT1 (-) OUT2 (+) OUT3 (-) OUT4 IN12V (+) GND (-) Jack de carga (+)(-) La posición del globo depende de cada gladiador. Pero almenos debe tener dos puntos de anclaje inferior. Las pilas son conectadas a los motores y al ESP32 de forma separada, gracias a la placa de expansión se conecta al Jack de carga directamente a las pilas ya que este aguanta hasta 16v sin problemas. Código fuente del gladiador #include <WiFi.h> #include <WebServer.h> // Nombre de la red WiFi creada por el ESP32 const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; // Pines del L298N const int IN1 = 16; const int IN2 = 17; const int IN3 = 18; const int IN4 = 19; WebServer server(80); // Funciones de movimiento void parar() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void adelante() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void atras() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void izquierda() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void derecha() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } // Página web con botones String paginaHTML() { return R\"rawliteral( <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <style> body { text-align: center; font-family: Arial; } button { width: 100px; height: 50px; font-size: 18px; margin: 5px; } </style> </head> <body> <h1>Control del Robot</h1> <button onclick=\"location.href='/adelante'\">Adelante</button><br> <button onclick=\"location.href='/izquierda'\">Izquierda</button> <button onclick=\"location.href='/parar'\">Parar</button> <button onclick=\"location.href='/derecha'\">Derecha</button><br> <button onclick=\"location.href='/atras'\">Atrás</button> </body> </html> )rawliteral\"; } void setup() { Serial.begin(115200); // Configurar pines como salida pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); parar(); // Iniciar el ESP32 como Access Point WiFi.softAP(ssid, password); Serial.println(\"Red WiFi creada\"); Serial.print(\"IP del robot: \"); Serial.println(WiFi.softAPIP()); // Rutas del servidor server.on(\"/\", []() { server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/adelante\", []() { adelante(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/atras\", []() { atras(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/izquierda\", []() { izquierda(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/derecha\", []() { derecha(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/parar\", []() { parar(); server.send(200, \"text/html\", paginaHTML()); }); server.begin(); } void loop() { server.handleClient(); } Al construir el gladiador se tendrá acceso a una red Wifi llamada \"RobotESP32\" (cambiar el nombre para cada gladiador). La cual puede ser accedida desde cualquier smartphone o computador. const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; Esta red permite enviar comandos de dirección al hacer click en los enlaces. Se deja como ejercicio adicional la creación de una interfaz más adecuada para el control del robot, como un joystick virtual o físico. Figure 6. Figura de Lego a elección Hoy en día existen diversos robots para cumplir tareas específicas. En el área de restaurantes existen los robots meseros autónomos. Éstos robots permiten servir mesas y encontrar su camino por el restaurant. Entre los ejemplos disponibles esta el Segway ServeBot S1(“Restaurant Service Robot - Segway Robotics,” 2024) y el Bellabot (“Smart Delivery Robot-Pudu Robotics,” n.d.). Figure 7. Robot ServeBot S1 Figure 8. Bellabot Estos robots son de alta tecnología y cuentan con sensores e inteligencia artificial muy sofisticada. Lo que los hace tener un precio prohibitivo para la mayoría de los restaurantes. En Japón existe el concepto de \"Avatar Robot Café\". Donde un restaurant/café es atentido por avatares robots. Es decir, robots controlados por humanos remotamente. Estos robots no cuentan con IA debido a que se busca integrar a personas con dificultades motoras u otros problemas que les impide integrarse a la sociedad en trabajos tradicionales. Entre los avatares robots se puede encontrar meseros y baristas. Figure 9. Avatares Robot Figure 10. Robot OriHime Figure 11. Robot Barista Son controlados remotamente con una aplicación de tablet smartphone. Figure 12. Interfaz de Piloto Estos robots están ubicados en el Dawn Cafe Figure 13. Avatar Robot Cafe DAWN ver.β El “Avatar Robot Café DAWN ver.β” es un café experimental permanente operado por OryLab Inc., donde personas que tienen dificultades para salir de casa por diversas razones operan de forma remota nuestros robots avatar OriHime y OriHime-D desde sus hogares y hospitales para brindar servicios. (\"Avatar Robot Café\" n.d.) En Chile se han utilizado robots animatrónicos como el conocido restaurante \"África\" de Viña del Mar (SoyChile, 2019). Figure 14. Animatronicos del Restaurante África Jorge Fernández, gerente de El Japonés de Viña del Mar, calcula que desde que tienen al “Michi-robot” haciendo las veces de mesero la afluencia del público al local ha aumentado en un 20 por ciento. ¿La razón? La curiosidad de ver en acción al Bella-bot -o “Michi”, como le llaman en el restaurante-, que lleva pedidos a la mesa como un garzón más. (Transformadores, 2023). Como se puede apreciar, Chile está preparado para adoptar la inclusión de robots en el área de servicios, especialmente en robots meseros. Sin embargo los altos precios de adquisición impiden que más restaurantes adopten estas tecnologías. Para lograr disminuir la brecha tecnológica y aumentar la inclusión de personas con dificultades de trabajar presencialmente, se debe crear una alternativa de bajo costo e identidad local. Para esto se creará un \"Avatar Robot\" controlado remotamente via internet que pueda ser usado para atender comandas y servir como garzón en restaurantes. Este robot utilizará materiales reciclados o fáciles de adquirir a un costo moderado. Para el marco principal se debe considerar una estructura liviana que permita un movimiento para todas las direcciones, cuente con un lugar para dejar los platos y sea higiénica y estéticamente apropiado. Queda a discreción la selección del marco inicial. Acá se presentará unas opciones posibles. Nombre Fotografía Descripción Estante de Almacenamiento con Ruedas Giratorias y Cestas Metalicas Carrito Organizador Con Cesta Metal y Ruedas Bloqueables 3 Niveles Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/138001816/Carrito-Organizador-Metal-3-Niveles-Estante-Ruedas-Bloqueables-Negro/138001817?exp=so_com Marca VIDITA Color Negro Diseño de 3 niveles y 2 mangos Con ruedas giratorias (2 bloqueables) Material resistente de metal Medida 43x29x78cm (largo x ancho x alto) Organizador de frutas metal 3 canastos Cromado La Frutera con 3 canastos y 3 ruedas en la parte inferior. Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/110267804/Organizador-de-frutas-metal-3-canastos-Cromado/110267822?exp=so_com Marca: Just Home Collection Ancho: 29.5 cm Alto: 75.6 cm Color: Plateado Carro de compras colores 32 L Carro de compras colores 32 L Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/131705964/Carro-de-compras-colores-32-l/131705965?exp=so_com Marca: Just Home Collection Ancho: 30 cm Alto: 53 cm La recomendación es que permita al menos 3 niveles. Ya que se necesita espacio para: La batería y circuitería. Ubicados en el nivel inferior. La bandeja principal para almacenar los platos a servir. Una bandeja superior para almacenar la cámara y un robot o pantalla opcional para expresar emociones por parte del piloto operador. El carro será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. La batería puede ser un PowerBank o una batería de motocicleta con un adaptador para USB. Es importante recalcar que el amperaje mínimo necesario es 3 amperes. Menor a ese amperaje servirá para cargar un smartphone, más no para alimentar una Raspberry PI. Opción Imagen Descripción PowerBank de 30K mAh Batería portátil USB capacidad de 30000 mAh. Tres puertos USB con USB-A y USB-C. Carga rápida del dispositivo con puerto USB-C PD 3.0 de máximo 20 W o USB-A con salida QC3/0 de máximo 18 W. Disponible en: https://www.philips.cl/c-p/DLP1930CB_00/bateria-portatil-usb Batería 12v + Adaptador USB Batería de motocicleta combinada con un adaptador USB de alta potencia (QC3.0). Es una opción válida para alimentar el robot. Ventajas: Se tiene mayor voltaje para velocidad más rápida. Desventaja: Puede ser más pesado y requerir equipamiento especial para recargar la batería. Disponible en: https://es.aliexpress.com/item/1005006281134333.html https://www.autoplanet.cl/producto/bateria_pilot_lb4lb_4ah_56cca/141258 El Smartphone es necesario para proveer internet a la Raspberry PI y también actuar como cámara principal para la comunicación remota (utilizando una video llamada). Se recomienda un smartphone Android. Cualquiera que pueda hacer uso de redes 3G y sea relativamente moderno (entre 5 a 10 años de antigüedad) servirá como principal puente de comunicación. Se podría omitir este elemento si el restaurante cuenta con Wifi y añadir una cámara web a la Raspberry PI, pero requeriría de mayores configuraciones en el router del local y asegurar estabilidad de señal. Para la elaboración de la comunicación via video se utilizará los servicios de Jitsi Meet. El cual proporciona una solución de bajo costo y de código libre para ser utilizada. Raspberry PI 3 cuenta con un procesador Broadcom Quad-Core ARM Cortex-A53 a 1.2GHz combinados con 1GB de RAM LPDDR2. Figure 15. Raspberry Pi 3 Model B Será el computador principal conectado con Nerves, lo que permitirá enviar señales tanto al Emote Robot como al Carro utilizando USB, además de proporcionar un servidor web accesible mediante internet conectándose al Smartphone. Sistema Nerves: https://github.com/nerves-project/nerves_system_rpi3 Disponible en: https://altronics.cl/raspberry-pi-3-modelb-old?search=raspberry&page=4 El modelo de Raspberry Pi es a elección, simplemente debe ser compatible con Nerves (https://hexdocs.pm/nerves/supported-targets.html) Un modelo alternativo compatible es el Raspberry Pi Zero 2W. Figure 16. Raspberry Pi Zero 2 W Disponible en: https://mcielectronics.cl/shop/product/33107/ Para proporcionar una forma de mostrar emociones remotamente se puede utilizar un personaje de lego animatrónico. Esto es totalmente opcional, pero agrega personalidad y empatía al robot. También puede ser utilizada una smart tablet con un personaje animado y controlado remotamente. Puede ser adquirido en https://www.tiendalego.cl/collections/creator-3in1/products/dragon-rojo-31145 Figure 17. Personaje Lego Creator 3 en 1 El robot será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. Table 2. Lista de posibles componentes Componente Descripción 1 Raspberry PI Una versión compatible con Nerves y que permita conexión USB (UART) a la ESP32 2 ESP32 Devkit Un ESP32 para controlar el carro y un ESP32 para controlar el robot 4 Motor DC Cuatro motores DC de alto torque para movilidad del carro hasta 25 Kg. L298N Permite controlar al los motores DC. Android Smartphone Un Smartphone que actue como Hotspot y permita usar Jitsi Meet Baterías La batería necesaria para alimentar tanto a la Raspberry, ESP32 y Smartphone NoIP Servicio de DNS dinámico para acceder al servidor de la Raspberry PI Este proyecto grupal tiene como propósito la programación de una figura animatrónica con actuadores (servos), que es controlada a través de un microcontrolador ESP32 y un programa en C++. La figura elegida fue un búho, cuyas alas, cabeza y patas tienen movimiento mediante servomotores. Figure 18. Lego Búho (#31125) Table 3. Tabla de Componentes Componente Cantidad Descripción ESP32-WROOM 1 Microcontrolador principal Servomotor SG90 4 Uno por ala, uno en la cabeza, uno en las patas Fuente de alimentación 1 USB 5V (desde computadora o batería externa) Cables Dupont Varios Para Conexiones Bloques tipo LEGO Varios Para ensamblar la estructura del búho Protoboard / PCB 1 Para conexiones eléctricas (opcional) Acotaciones Se recomienda usar piezas tipo LEGO para facilitar el ajuste de los servos y permitir cambios de diseño de manera sencilla. Se cuidó el peso en el diseño para no sobrecargar los servos, especialmente en las alas. La alimentación por USB 5V es suficiente para los servos, pero se debe evitar hacer movimientos simultáneos prolongados para no sobrecargar la corriente disponible. La estructura fue validada para estabilidad durante los movimientos. El código debe incorporar retardos adecuados y límites de movimiento para evitar daños mecánicos. Código fuente del Búho #include <ESP32Servo.h> int pos = 0; Servo izquierdo; Servo derecho; Servo cabeza; Servo poto; int led = 16; bool inicializar = true; void setup() { Serial.begin(115200); // Pines válidos para ESP32, cambia si usas otros izquierdo.attach(13, 500, 2500); derecho.attach(14, 500, 2500); cabeza.attach(15, 500, 2500); poto.attach(18, 500, 2500); pinMode(led, OUTPUT); } void startPosition() { digitalWrite(led, HIGH); derecho.write(180); izquierdo.write(0); cabeza.write(180); poto.write(0); delay(500); digitalWrite(led, LOW); } void saludar(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(90-pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(pos-40); delay(velocidad); } digitalWrite(led, LOW); } void feliz(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); cabeza.write(pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); delay(velocidad); } digitalWrite(led, LOW); } void enojar(int velocidad) { digitalWrite(led, HIGH); for (pos =120; pos <= 180; pos += 1) { cabeza.write(pos); delay(velocidad); } digitalWrite(led, LOW); } // Lectura de los comandos por serial USB void leerComandoSerial() { if (Serial.available() <= 0) { return; } String comando = Serial.readStringUntil('\\n'); // Elimina espacios y saltos de línea comando.trim(); if (comando == \"saludar\") { cabeza.write(160); delay(15); saludar(10); saludar(10); saludar(10); startPosition(); } else if (comando == \"enojar\") { startPosition(); enojar(10); enojar(10); enojar(10); startPosition(); } else if (comando == \"resetear\") { startPosition(); } else if (comando == \"feliz\") { feliz(5); feliz(5); feliz(5); startPosition(); } else { Serial.println(\"Comando no reconocido.\"); } } void loop() { leerComandoSerial(); } Figure 19. Esquemático del Animatrónico Figure 20. Guía de Conexiones Video de Ejemplo de Funcionamiento Your browser does not support the video tag. Universidad EIA -canal institucional-. (2023, September 27). Master Class \"ESP32 en la Nube: Conectando microcontroladores a Amazon Web Service [Video]. YouTube. https://www.youtube.com/watch?v=YLP02lzla5U Restaurant Service Robot - Segway Robotics. (2024, June 12). Retrieved from https://robotics.segway.com/baobao/ Smart Delivery Robot-Pudu Robotics. (n.d.). Retrieved from https://www.pudurobotics.com/product/detail/bellabot Avatar Robot Café. (n.d.). Retrieved from https://dawn2021.orylab.com/en/ SoyChile. (2019, July 18). Viaje en el tiempo: “África” de Viña del Mar vuelve a rugir con los animatronics. Retrieved from https://www.soychile.cl/Valparaiso/Sociedad/2019/07/18/606350/Viaje-en-el-tiempo-Africa-de-Vina-del-Mar-vuelve-a-rugir-con-los-animatronics.aspx Transformadores. (2023, February 7). El “Michi-robot” que revoluciona a un restaurante de Viña del Mar. La Tercera. Retrieved from https://www.latercera.com","title":"ESP32","component":"ROOT","version":"","name":"esp32","url":"/controllers/esp32.html","titles":[{"text":"ESP32-DevKit","hash":"esp32-devkit","id":1},{"text":"Proyecto Gladiadores Robots","hash":"proyecto-gladiadores-robots","id":2},{"text":"Materiales","hash":"materiales","id":3},{"text":"Código fuente","hash":"código-fuente","id":4},{"text":"Proyecto Robot Animatrónico","hash":"proyecto-robot-animatrónico","id":5},{"text":"Pilotos OriHime","hash":"pilotos-orihime","id":6},{"text":"Restaurantes y Robots en Chile","hash":"restaurantes-y-robots-en-chile","id":7},{"text":"Descripción del Proyecto","hash":"descripción-del-proyecto","id":8},{"text":"Materiales","hash":"materiales-2","id":9},{"text":"Marco","hash":"marco","id":10},{"text":"Batería","hash":"batería","id":11},{"text":"Smartphone","hash":"smartphone","id":12},{"text":"Raspberry PI 3","hash":"raspberry-pi-3","id":13},{"text":"Emote Robot","hash":"emote-robot","id":14},{"text":"Búho Animatrónico","hash":"búho-animatrónico","id":15},{"text":"Referencias","hash":"referencias","id":16}]},"11":{"id":11,"text":"https://github.com/chipsalliance/chisel https://www.imm.dtu.dk/~masca/chisel-book.html","title":"FPGA","component":"ROOT","version":"","name":"fpga","url":"/controllers/fpga.html","titles":[]},"12":{"id":12,"text":"El temporizador 555 fue desarrollado por la firma Signetics en el 1971 con el nombre SE555/NE555 y se le conoce como el «Circuito Integrado Máquina del Tiempo» (The IC Time Machine). El IC 555 ha sido llamado \"la máquina del tiempo\" debido a su capacidad para manejar el tiempo en circuitos electrónicos. A pesar de su antigüedad, sigue siendo fabricado masivamente y es un pilar en la enseñanza y desarrollo de electrónica moderna (Hispavila, 2001). NE555 El 555 es un temporizador flexible, barato y fácil de encontrar. Es un buen punto de partida para multitud de proyectos de cualquier índole, debido a que su versátil salida, se puede conectar directamente a una carga a bajo o a alto. Es ideal para crear retardos de tiempo. En este modo, un disparador externo hace que el temporizador 555 genere un pulso de una duración ajustable. El modo astable está estrechamente relacionado con el modo monoestable. La diferencia importante es que, en modo astable, el pin de disparo, pin 2, está conectado a la patilla umbral pin 6, lo que hace que la salida pase a alternar continuamente entre los estados alto y bajo. En el modo astable, la salida del temporizador 555, es una forma de onda de pulso continuo. En realidad, el modo astable, se considera un sencillo generador de frecuencias, cuya frecuencia se puede controlar, modificando el valor del potenciómetro o cambiando el valor del condensador, para cambiar el rango de las frecuencias. Esta es un proyecto de luces de ferrocarril con un temporizador 555, en el cual dos luces se alternan, similar a una señal de cruce ferroviario. El temporizador 555 está configurado en modo astable, por lo que cambia continuamente su salida entre ALTA y BAJA, encendiendo y apagando así los dos LED conectados a la salida. Lista de Componentes 555 timer IC C1: Capacitor 10µF R1: Resistencia 47k R2: Resistencia 470 LED1 y LED2: Luces LED estándar Circuito Luces de Ferrocarril Conecta la batería de 9V al riel de alimentación y al riel de tierra para encender el circuito. Las luces intermitentes de ferrocarril con el temporizador 555 deberían comenzar a alternarse. Luces de Ferrocarril El proyecto usa un circuito integrado temporizador 555 para crear un efecto intermitente en dos LEDs rojos, que comúnmente se usan para simular las luces parpadeantes en un cruce ferroviario en maquetas de trenes. El temporizador 555 está configurado en modo “astable”, lo que significa que genera una secuencia continua de pulsos de encendido y apagado. Componentes de temporización: La resistencia (R1) y el condensador (C1) determinan la velocidad con la que parpadean los LEDs. El condensador se carga a través de R1 y, una vez que alcanza cierto voltaje, el temporizador cambia su salida para encender o apagar los LEDs. LEDs y resistencias: Los dos LEDs (LED1 y LED2) están conectados a la salida del temporizador a través de sus respectivas resistencias (R2 y R3), que limitan la corriente para evitar que los LEDs se quemen. Cuando la salida del 555 está en alto, la corriente fluye solo a través del LED inferior y este se enciende. Cuando la salida está en bajo, la corriente fluye solo a través del LED superior, encendiéndolo. Al alimentar este circuito, el temporizador 555 carga y descarga repetidamente el condensador a una velocidad determinada por R1 y C1, haciendo que el pin de salida alterne entre estados alto y bajo. Esto hace que los LEDs parpadeen, simulando las luces de advertencia que se ven en un cruce ferroviario real. Un metrónomo es un dispositivo utilizado por los músicos para mantener un tempo constante durante la práctica. En este proyecto, se construirá un metrónomo simple utilizando el circuito integrado temporizador 555. Lista de Componentes Batería 9V 555 Timer IC Potenciómetro, VR1 250kΩ Resistencia, R1 1kΩ 2 Capacitores, C1 & C2 22µF Altavoz (Parlante), 8Ω Circuito del Metrónomo Conecta el pin 8 (VCC) del temporizador 555 a la columna de alimentación positiva, y el pin 1 (GND) a la columna de alimentación negativa. Además, conecta el pin 4 (RESET) al pin 8 (VCC) para evitar que el temporizador se reinicie. Utiliza un cable para conectar el pin 6 (THR) al pin 2 (TRIG). Coloca VR1 y R1 en serie entre el pin 8 (VCC) y el pin 7 (DIS). Luego conecta el pin 7 (DIS) al pin 6 (THR), formando un lazo con las resistencias en serie y el temporizador. Conecta el terminal positivo de C1 a la unión entre VR1 y R1, y su terminal negativo al pin 1 (GND). Conecta el terminal positivo de C2 al pin 3 (OUT) y su terminal negativo a uno de los terminales del altavoz. Finalmente, conecta el otro terminal del altavoz al pin 1 (GND). Opcionalmente, conecta el pin 5 (CV) a tierra mediante un pequeño condensador de 10nF para estabilizar la frecuencia (no mostrado en el diagrama). Metrónomo El temporizador 555 está configurado en modo astable, lo que significa que genera una secuencia continua de pulsos. La frecuencia de estos pulsos determina el tempo del metrónomo. Componentes de temporización: Las resistencias (VR1 y R1) y el capacitor (C1) determinan el intervalo entre pulsos, el cual se puede ajustar modificando la resistencia de VR1. Descarga del capacitor: La salida alterna entre estados alto y bajo, lo que hace que C2 se cargue y se descargue, generando así el sonido en el altavoz. Salida al altavoz: Cuando el pin de salida (pin 3) está en alto, C2 se carga a través del altavoz, produciendo un sonido de clic. Toma su nombre de las antiguas computadoras Atari de los años 80 porque produce sonidos similares. Este circuito es perfecto si ya has construido un par de circuitos simples antes y quieres hacer algo más interesante. Lista de Componentes Una placa de pruebas (breadboard) para montar el circuito Cables de conexión (jumper wires) Altavoz (mínimo 0.3W) Dos circuitos integrados temporizadores 555 C1: Condensador de 10 nF C2: Condensador de 100 nF R1, R4: Resistencias de 1 kΩ R2, R3: Potenciómetros de 100k R5: Resistencia de 470 Ω Circuito de Atari Punk Atari Punk El circuito utiliza dos temporizadores 555. El temporizador 555 necesita algunos capacitores y resistencias para establecer el tono o la duración del pulso. Al combinar uno que establece la frecuencia y otro que controla la duración del pulso, puedes crear sonidos muy llamativos o incluso algo locos. Dahl, Ø. N. (2021, June 4). Build an Atari Punk Console this evening. Retrieved from https://www.build-electronic-circuits.com/atari-punk-console/ Dahl, Ø. N. (2024a, April 6). 555 timer Metronome Circuit. Retrieved from https://www.build-electronic-circuits.com/555-timer-metronome-circuit/ Dahl, Ø. N. (2024, April 6). 555 Timer Railroad Lights. Retrieved from https://www.build-electronic-circuits.com/555-timer-railroad-lights/ Hispavila. (2001, April 6). EL IC-555 – HISPAVILA.COM. Retrieved from https://www.hispavila.com/el-ic-555/","title":"IC555","component":"ROOT","version":"","name":"ic555","url":"/controllers/ic555.html","titles":[{"text":"Modo Monoestable","hash":"modo-monoestable","id":1},{"text":"Modo Astable","hash":"modo-astable","id":2},{"text":"Proyecto Luces del Ferrocarril","hash":"proyecto-luces-del-ferrocarril","id":3},{"text":"Proyecto Metrónomo","hash":"proyecto-metrónomo","id":4},{"text":"Proyecto Atari Punk","hash":"proyecto-atari-punk","id":5},{"text":"Referencias","hash":"referencias","id":6}]},"13":{"id":13,"text":"https://developer.nvidia.com/isaac https://www.amd.com/en/products/system-on-modules/kria/k26/robotics.html","title":"Nvidia Jetson & AMD Kria","component":"ROOT","version":"","name":"jetson","url":"/controllers/jetson.html","titles":[]},"14":{"id":14,"text":"El PIC16F877a es un microcontrolador de 8 bits desarrollado por Microchip Technology, lanzado a finales de los años 90 como parte de la familia PIC16. Tiene un bajo consumo de energía y alta capacidad para aplicaciones incrustadas, de acuerdo con su datasheet, cuenta con un procesador RISC de 20MHZ de velocidad de la CPU y 200ns de tiempos de ejecución de instrucción. Cuenta con 3 temporizadores (Timer0, Timer1 y Timer2), que permiten gestionar eventos y medir el paso del tiempo. Módulo Capture: Permite capturar el temporizador ante algún evento con una resolución de 12,5 ns. Módulo Compare: Permite comparar 2 valores de un máximo de 16 bits con una resolución de 200 ns. PWM (Modulación de Ancho de Pulso): Se encarga de enviar una señal de salida de ciclo variable, con una resolución de máximo 10 bits. SSP (Puerto serie síncrono) permite comunicación entre dispositvos con los siguientes protocolos: SSI (Serial Peripheral Interface) permiote la comunicación entre sensores, memorias y pantallas. I2C™ (Inter-Integrated Circuit) permite la comunicación maestro-esclavo, como al querer conectar multiples dispositivos a un bus de datos. USART/SCI (Receptor/Transmisor Asíncrono y Síncrono Universal) permite la comunicación serial de forma asincronica con otros dispositivos. PSP (Puerto esclavo paralelo) permite la comunicaicón en paralelo de instrucciones lectura, escritura y selección de chip. BOR (Brown-out reset) protege al dispositivo en caso de caídas de tensión. RISC CPU: procesadores que están diseñados para ejecutar un número reducido de tipos de instrucciones que les permite operar a una velocidad más elevada (Solé, R. 2021). Figure 1. Diagrama del microcontrolador 44 pins PIC16F877a Fuente: Microchip Technology Figure 2. Diagrama del microcontrolador 40 pins PIC16F877a Fuente: Microchip Technology A continuación, se describen las características básicas de acuerdo con Microchip Technology (Microchip, s.f.) del microcontrolador PIC16F877a Característica Valor Tamaño de memoria de programa (KB) 14 RAM (byte) 368 Data EEPROM (bytes) 256 Canitdad pines 40 o 44 Voltage Max. de operación (V) 5.5 Voltage Min. de operación (V) 2 A diferencia de los microprocesadores, el PIC16F877a (el cual es un microcontrolador) no consta de un sistema operativo para su funcionamiento. En lugar de eso, está diseñado para ejecutar directamente código incrustado escrito en lenguajes como C o ensamblador, sin necesidad de capas intermedias de software. Característica Microcontrolador (ej: PIC16F877a) Microprocesador Integración Incluye CPU, memoria, I/O y periféricos Solo contiene la unidad central de proceso (CPU) Propósito Aplicaciones incrustadas específicas Computadoras generales o sistemas complejos Programación Fácil de programar con lenguajes simples Requiere sistema operativo y software complejo Costo Bajo Alto Consumo de energía Bajo Generalmente más alto Los microcontroladores como el PIC16F877a están optimizados para tareas específicas, mientras que los microprocesadores son más potentes pero requieren más componentes externos y recursos. El PIC16F877a tiene usos en sistemas incrustados donde se requiere bajo consumo energético, una programación simplificada en C++ o assembly. Entre sus usos más comunes se encuentran: Automatización industrial (control de motores, monitoreo de sensores) Domótica (control de luces, cerraduras, temperatura) Equipos médicos portátiles Electrónica de consumo (juguetes inteligentes, electrodomésticos) Sistemas educativos para enseñanza de programación y electrónica básica Prototipos de IoT cuando se combinan con módulos de comunicación externa Para poder programar al PIC16F877a se utiliza el IDE MPLAB ® Xpress IDE ofrecido por Microship Technology (Microchip, s.f.) , siendo una herramienta que aporta flexibilidad, permitiendo programar, depurar y cargar el código al PIC16F877a. Figure 3. Logo de MPLAB Fuente: Microchip Technology Los ejemplos a demostrar son obtenidos del texto de bibliografía (Ruiz, 2021). Dentro de MCC se crea el nombre del proyecto (menú File → media de microcontroladores) con el nombre LED PULSADOR, luego en la ventasna Project Resources se asigna los terminales RA0 y RA5 como salida y entrada digital respectivamente, tal como muestra la figura 4. Figure 4. Asignación de terminales Fuente: MPLAB Xpress Figure 5. Cambio de nombre terminales Fuente: MPLAB Xpress Figure 6. Figure 6: Ajuste de reloj interno Fuente: MPLAB Xpress #include \"mcc_generated_files/system/system.h\" /* Main application */ int main(void) { SYSTEM_Initialize(); while(1) { if(PULSADOR_GetValue()==0) LED0_Toggle(); } } Codigo en assembly para una funcionalidad similar (Agkopian, 2016): ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Copyright (c) 2013 Manolis Agkopian ; ;See the file LICENCE for copying permission. ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; PROCESSOR '16F876A' INCLUDE <P16F876A.INC> __CONFIG _XT_OSC & _WDT_OFF & _PWRTE_OFF & _CP_OFF & _LVP_OFF & _BODEN_OFF DL_CNT EQU 0x20 ;DELAY COUNTER: COUNTS THE INTERUPS FROM TMR0 ORG 0x0000 GOTO INIT ORG 0x0004 GOTO TMR_CNT INIT: BSF STATUS, RP0 ;SELECT BANK 01 MOVLW B'11000111' ; PSA = 1/256 (THE TIMER WILL COUNT ONCE EVERY 256 CYCLES) MOVWF OPTION_REG ;AND USE INTERNAL INSTRUCTION CYCLE CLOCK BCF TRISB, 0 ;SET PB0 AS OUTPUT BCF STATUS, RP0 ;SELECT BANK 00 BCF PORTB, 0 MOVLW B'11100000' ;ENABLE TIMER 0 INTERUPT CLRF TMR0 MOVWF INTCON MOVLW 0x0F ;256 * 256 * 15 = ABOUT 1S MOVWF DL_CNT ;SO WE SET THE DELAY COUNTER TO COUNT 15 INTERUPTS MAIN: GOTO $ ;DO NOTHING, JUST WAIT FOR AN INTERUPT TMR_CNT: BCF INTCON, GIE ;DISABLE ALL INTERUPTS BCF INTCON, TMR0IF ;CLEAR TMR0 OVERFLOW FLAG DECFSZ DL_CNT ;WHEN THE DELAY COUNTER BECOMES ZERO GOTO CONTINUE BTFSC PORTB, 0 ;THEN IF PB0 IS SET GOTO CLR_PB0 ;CLEAR IT BSF PORTB, 0 ;ELSE IF IS CLEARED, THEN SET IT GOTO CONTINUE_0 CLR_PB0: BCF PORTB, 0 CONTINUE_0: MOVLW 0x0F ;RESET THE DELAY COUNTER MOVWF DL_CNT CONTINUE: BSF INTCON, GIE ;RENABLE THE INTERUPTS RETFIE END Figure 7. Ajuste CLC Fuente: MPLAB Xpress También hay opciones más modernas como el PIC18F4550 que tiene mayor capacidad de procesamiento y memoria interna. Se puede realizar una comparación entre las opciones en el sitio web de Microchip. Ambos son microcontroladores de 8 bits de Microchip, pero pertenecen a diferentes familias y niveles de capacidad. Table 1. Características Característica PIC16F877a PIC18F4550 Arquitectura PIC16 (Mid-range) PIC18 (High-end 8-bit) Velocidad de reloj Hasta 20 MHz Hasta 48 MHz (con PLL) Instrucciones por ciclo 1 cada 4 ciclos 1 por ciclo (en la mayoría) Número de instrucciones 35 75+ Table 2. Memoria Tipo de Memoria PIC16F877a PIC18F4550 Flash (programa) 14 KB 32 KB RAM 368 bytes 2 KB EEPROM 256 bytes 256 bytes Table 3. Periféricos y Funcionalidades Funcionalidad PIC16F877a PIC18F4550 Puertos I/O 33 35 Timers 3 (8 y 16 bits) 4 (8 y 16 bits) ADC 10-bit, 8 canales 10-bit, 13 canales PWM 2 canales 2 canales USART / UART 1 1 SPI / I2C Sí Sí (mejorado) USB No Sí (USB 2.0 Full-Speed) Interrupciones Básico Avanzado (prioridades) Table 4. Ventajas de Cada Uno Comparación PIC16F877a PIC18F4550 Facilidad de uso Muy fácil para principiantes Más complejo, más potente Costo Más barato Un poco más caro Capacidad de procesamiento Limitada Superior USB integrado ❌ No ✅ Sí Tamaño de programa 14 KB 32 KB Usa el PIC16F877a si: Estás empezando con microcontroladores. Tu proyecto es simple (sensores, control básico). No necesitas USB ni mucha memoria. Usa el PIC18F4550 si: Necesitas mayor velocidad y complejidad. Requieres comunicación USB integrada. Trabajas con interfaces humanas, data logging, etc. El microcontrolador PIC16F877a es una excelente opción para desarrolladores en busqueda de soluciones económicas y versátiles para sistemas incrustados. Sus periféricos integrados, bajo consumo de energía y facilidad de programación lo hacen ideal tanto para aplicaciones industriales como educativas. La principal ventaja frente a otras soluciones es que existe una garantía de que el programa se puede almacenar en la memoria flash o eeprom por 40 años o más. Agkopian, M. (2016). \"pic-assembly-examples\". https://github.com/magkopian/pic-assembly-examples/blob/master/led%20blink%20with%20TMR0%20and%20TMR1/TMR0_DELAY.asm Microchip Technology. (s.f.). \"MPLAB® Xpress Cloud-Based IDE\". https://www.microchip.com/en-us/tools-resources/develop/mplab-xpress Como recargas batería para optimizar el proceso Microchip Technology. (s.f.). \"PIC16F18855\". https://www.microchip.com/en-us/product/pic16f18855#Overview Ruiz, C. (2021). \"Programación de microcontroladores PIC paso a paso\". Macrocombo Solé, R. (2021). \"RISC: La arquitectura de procesadores usada por ARM para cambiar el mercado\". https://www.profesionalreview.com/2021/07/17/que-es-risc/#Que_es_RISC","title":"PIC16F877a","component":"ROOT","version":"","name":"pic16f877a","url":"/controllers/pic16f877a.html","titles":[{"text":"Características","hash":"características","id":1},{"text":"Diferencias entre un Microcontrolador y un Microprocesador","hash":"diferencias-entre-un-microcontrolador-y-un-microprocesador","id":2},{"text":"Usos del PIC16F877a","hash":"usos-del-pic16f877a","id":3},{"text":"Entorno de programación","hash":"entorno-de-programación","id":4},{"text":"Ejemplos de Aplicación","hash":"ejemplos-de-aplicación","id":5},{"text":"Control de un LED por pulsador","hash":"control-de-un-led-por-pulsador","id":6},{"text":"Comparación entre PIC16F877a y PIC18F4550","hash":"comparación-entre-pic16f877a-y-pic18f4550","id":7},{"text":"Conclusión","hash":"conclusión","id":8},{"text":"Referencias","hash":"referencias","id":9}]},"15":{"id":15,"text":"","title":"Raspberry Pi","component":"ROOT","version":"","name":"raspberry","url":"/controllers/raspberry.html","titles":[]},"16":{"id":16,"text":"El STM32 es una gran alternativa a ESP32 cuando se necesitan soluciones profesionales de bajo consumo de calidad industrial.","title":"STM32","component":"ROOT","version":"","name":"stm32","url":"/controllers/stm32.html","titles":[]},"17":{"id":17,"text":"Prepárate para entrar al fantástico mundo de las batallas de robots, de una forma tecnológica, divertida y con componentes con precios razonables, sin necesidad de soldadura o complicadas conexiones. En este capítulo se mostrarán proyectos relacionados a combates entre robots utilizando ESP32, AtomVM y componentes disponibles en el mercado. Los materiales para armar el carro están disponibles en el mercado chileno y tienen un valor razonable (menor a 2 UF). Carro y Motores DC: https://mcielectronics.cl/shop/product/kit-robotico-chasis-con-ruedas-motores-y-caja-reductoras-compatible-con-arduino-26429/ ESP32 (Dev Kit V1 - 30 pines): + Cables + Sensores + Actuadores: https://mcielectronics.cl/shop/product/kit-basico-de-inicio-de-componentes-electronicos-para-esp32-esp-32s/ L298N (Control de Motores): https://mcielectronics.cl/shop/product/contrzolador-de-motores-puente-h-l298n-25508/ Adaptador de Expansión de ESP32 de 30 pines (Opcional): https://altronics.cl/base-esp32-30p-st?search=expansion Pack de Servomotores: https://mcielectronics.cl/shop/product/pack-de-5-micro-servo-motores-sg90-9g/ Figure 1. Carro Motores DC Los motores DC son utilizados para la movilización principal del robot en dos de sus ruedas (la tercera es una rueda de apoyo omnidireccional). Estos motores necesitan una batería de 5 a 9v y un L298N para controlar la dirección de cada motor de forma independiente. Relaciones de Voltaje/Velocidad. DC 3V, 160mA, 120 rpm/min, 100 rpm/min, 0.45 kg.cm; DC 6V, 220mA, 200 rpm/min, 175 rpm/min, 1.0 kg.cm; DC 7.2V, 250mA, 250 rpm/min, 210 rpm/min, 1.5 kg.cm. Relación de los motores: 1:48 Tamaño de los motores: 65mm x 18mm x 22mm Alimentación Voltaje: 3~9V Corriente: 600mA Figure 2. Motores DC También es importante contar con un controlador L298N para controlar a los motores DC individualmente. Figure 3. L298N Servomotores SG90 Los servomotores son utilizados para herramientas que permitan complementar el robot o tener partes con movilidad controlada. Torque a 4.8 volts: 1.2 kg/cm Voltaje de operación: 4.0 a 7.2 volts Velocidad de giro a 4.8 volts: 120ms / 60 º Figure 4. Servomotor ESP32 Figure 5. KIT ESP32 Principal tarjeta de programación para AtomVM, cuenta con Wifi y Bluetooth incorporado y puede ser alimentada por USB. Adicionalmente y opcional es la compra de un adaptador de 30 pines para facilitar la conexión, caso contrario se puede usar cables hembra-macho para conectarlo a un protoboard y ocupar menos espacio. En el KIT de MCI incluye una variedad de componentes, aunque no necesariamente todos serán utilizados: 1 placa de desarrollo ESP32 1 x OLED de 0,96 pulgadas 1X Protoboard 830pts 1 X módulo para evitar obstáculos 1 módulo de fotorresistencia 1 X Módulo de temperatura y humedad DHT11 1 sensor de movimiento PIR de 2/2″ 1 potenciómetro X (10K) 1 cable micro USB 30X resistencias (220R/1K/10K) 1 zumbador pasivo 1 X zumbador activo 1 Módulo de relé de doble canal de 5V 6X interruptores de botón 10 x Cable DuPont 10 x cable DuPont de pulgadas 10 x Cable DuPont 5 x LED rojo 5 x LED amarillo 5 x LED verde 2 LEDs RGB Figure 6. ESP32 Dev Kit V1 30 Pines USB-C Figure 7. Placa Expansión ESP32 30 Pines Minifigura Lego Se recomienda una minifigura Lego que represente al Auriga. Ver https://www.tiendalego.cl/ o alguna tienda similar para saber que personajes están disponibles. Figure 8. Minifigura Lego Tal como en la roma antígüa y la era medieval se presentarán los siguientes eventos. Lucha de Gladiadores Carrera de Carros Justa Naumaquias (Batalla Naval) El Auriga es un personaje de lego pequeño que va sobre el carro robot. Si el auriga se cae del robot, el jugador pierde inmediatamente. Normalmente afirmado al carro de forma de que sea posible sacarlo con un golpe fuerte. Los globos son la \"vida\" que tiene el carro robot. Si el globo se despega del carro o es reventado, el jugador pierde inmediatamente. Se debe usar los globos largos que permiten ser moldeados a una forma específica alrededor del carro. El globo debe rodear apropiadamente el carro en forma de \"U\" y estar con un nivel de aire de modo que sea de consistencia firme. Cada carro debe tener un color de globo diferente. En un espacio circular de un diametro apropiado (como rueda de automóvil o bicicleta) dos carros y sus aurigas se enfrentan. El carro puede ser controlado remotamente via Wifi o Bluetooth. El carro debe contar con uno o más clavos (máximo 3) pequeños para reventar el globo. El carro consiste en un acrílico con dos motores dc y una rueda omnidireccional. Se permite que los clavos sean moviles con servomotores. Gana quien reviente primero el globo del adversario o derribe al auriga contrario. Si sale del círculo se penaliza con tarjeta amarilla. Dos tarjetas amarillas y el jugador pierde. Similar a la lucha de gladiadores en términos de fabricación de carros y aurigas. La pista puede tener obstáculos que pueden reventar los globos. El carro puede ser controlado remotamente via Wifi o Bluetooth. Solo 2 clavos permitidos (uno en cada rueda) Gana quien de 3 vueltas primero a la pista. Gana quien destruya los globos del adversario. Gana quien derriba al auriga adversario. Pierde inmediatamente quien se salga de los límites de la pista. La Justa consiste en derribar el auriga contrario con un palo ubicado en la parte superior del carro. Dos carros y sus arigas se enfrentan corriendo en línea recta y solamente separados por una línea. La pista es una \"O\" donde al llegar al final deben dar la vuelta y volver a intentar derriba al auriga oponente. Los muros y límites de la pista pueden reventar los globos. El carro puede ser controlado remotamente via Wifi o Bluetooth. Gana quien derriba primero al auriga oponente. Pierde si el carro va a la pista equivocada. Pierde si se revientan los globos en los muros o estos se salen del carro. Pierde si el carro deja de funcionar o sale de la pista. La naumaquia o batalla naval consiste en un robot náutico con el objetivo de derribar al auriga contrincante. Estas tienen un cañón de pelota de tenis de mesa (blanca), el cual puede ser usado para derribar al auriga contrario. También habrán pelotas de tenis de mesa de colores disponibles flotando en el agua que pueden ser recolectadas con redes del barco. Botellas de plástico de bebidas. 1 de 3 litros y 2 de 500 cc. El cañón puede ser impulsado con un sistema de catapulta onager. Habrá una canasta especial para recolectar las pelotas de tenis de cada barco. Puede haber una sola canasta y cada barco tiene pelotas de tenis de mesa de un color específico. Por ejemplo barco 1 tiene pelotas naranjas y barco 2 tiene pelotas verdes. Gana quien junte 2 pelotas de su color o derribe al auriga contrario con su cañón. Gana quien derriba el auriga oponente. Gana quien recolecte 2 pelotas de tenis de mesa de colores llevadas a la canasta del barco.","title":"Coliseo Atómico","component":"ROOT","version":"","name":"colosseo","url":"/colosseo/colosseo.html","titles":[{"text":"Materiales","hash":"materiales","id":1},{"text":"Colosseo","hash":"colosseo","id":2},{"text":"Auriga","hash":"auriga","id":3},{"text":"Globos","hash":"globos","id":4},{"text":"Lucha de Gladiadores","hash":"lucha-de-gladiadores","id":5},{"text":"Reglas","hash":"reglas","id":6},{"text":"Carrera de Carros","hash":"carrera-de-carros","id":7},{"text":"Reglas","hash":"reglas-2","id":8},{"text":"Justa","hash":"justa","id":9},{"text":"Reglas","hash":"reglas-3","id":10},{"text":"Naumaquias (Batalla Naval)","hash":"naumaquias-batalla-naval","id":11},{"text":"Reglas","hash":"reglas-4","id":12}]},"18":{"id":18,"text":"Barrio Andrés, M. (2021). Internet de las cosas (IoT) (3.ª ed.). Editorial Reus. Recuperado de https://www.moisesbarrio.es/libro/internet-de-las-cosas-iot-3-edicion_9788429026092 Inria Chile. (2022). Libro blanco: Internet de las cosas (IoT). Recuperado de https://www.inria.cl/sites/default/files/2022-12/libro-blanco-iot-es.pdf Pizarro Peláez, J. (2020). Internet de las cosas (IoT) con ESP. Manual práctico. Ediciones Paraninfo. Recuperado de https://www.paraninfo.es/catalogo/9788428344968/internet-de-las-cosas—​iot—​con-esp—​manual-practico AWS. (s.f.). ¿Qué es LoRaWAN?. https://docs.aws.amazon.com/es_es/iot-wireless/latest/developerguide/what-is-lorawan.html XalDigital. (2023). Tecnologías y protocolos de comunicación de IoT. Recuperado de https://www.xaldigital.com/blog/tecnologias-y-protocolos-de-comunicacion-de-iot/","title":"","component":"ROOT","version":"","name":"bibliography","url":"/communication/bibliography.html","titles":[]},"19":{"id":19,"text":"El Internet de las Cosas (IoT) se refiere a la interconexión de dispositivos físicos cotidianos a través de Internet, permitiendo la recopilación y el intercambio de datos. Estos dispositivos, equipados con sensores y software, pueden ser desde electrodomésticos hasta dispositivos médicos o sistemas de ciudades inteligentes. Su objetivo es automatizar procesos y mejorar la eficiencia en diversas áreas. En 1982, una máquina expendedora de Coca-Cola en la Universidad Carnegie Mellon se convierte en el primer dispositivo conectado a Internet, capaz de informar sobre la disponibilidad y temperatura de las bebidas. En 1999, Kevin Ashton, del MIT, acuña el término \"Internet de las Cosas\" al proponer el uso de etiquetas RFID para mejorar la eficiencia en la cadena de suministro. Un ejemplo moderno serían las ampolletas inteligentes, que permiten encender o apagar luces y controlar electrodomésticos desde aplicaciones móviles o asistentes inteligentes. El Internet Industrial de las Cosas (IIoT) es una extensión del IoT enfocada en el ámbito industrial. Consiste en la integración de sensores, instrumentos y dispositivos autónomos conectados a través de Internet con aplicaciones industriales. Esto permite recopilar datos, realizar análisis y optimizar la producción, aumentando la eficiencia y reduciendo los costos en procesos de fabricación y prestación de servicios. En 2010, el IIoT se perfila como una tendencia revolucionaria, impulsada por la disponibilidad masiva de almacenamiento y capacidad computacional en la nube, permitiendo aplicaciones como el mantenimiento predictivo y la automatización industrial. Los sistemas SCADA, por ejemplo, permiten monitorear y controlar procesos industriales en tiempo real, como plantas eléctricas o estaciones de tratamiento de aguas, haciendo uso del IoT. Bluetooth Low Energy (BLE): Tecnología inalámbrica de corto alcance y bajo consumo energético, ideal para dispositivos portátiles y aplicaciones de salud. Permite transferencias de datos rápidas en distancias de hasta 10 metros. LoRaWAN: Protocolo de red basado en LoRa para redes de baja potencia y área amplia (LPWAN). Permite comunicaciones bidireccionales de largo alcance (hasta 15 km) con consumo energético mínimo, ideal para sensores en áreas rurales o remotas. MQTT: Protocolo ligero de mensajería basado en el modelo publicador/suscriptor. Es eficiente en conexiones remotas con bajo ancho de banda. CoAP: Protocolo de la capa de aplicación basado en UDP. Está diseñado para dispositivos con recursos limitados y es eficiente en aplicaciones donde el bajo consumo energético es clave. El avance del IoT y el IIoT ha transformado profundamente la forma en que interactuamos con la tecnología. Mientras que el IoT mejora la calidad de vida mediante dispositivos inteligentes, el IIoT impulsa la eficiencia operativa en sectores industriales como la manufactura, energía, agricultura y logística. Protocolos como LoRaWAN, Bluetooth LE, MQTT y CoAP permiten adaptar las comunicaciones según las necesidades específicas, priorizando el bajo consumo energético, la cobertura o la velocidad de transmisión. En conjunto, estos avances no solo optimizan procesos, sino que abren paso a nuevos modelos de negocio basados en datos en tiempo real. Con una infraestructura adecuada, una estrategia de seguridad sólida y la selección correcta de tecnologías, IoT y IIoT se consolidan como ejes de la transformación digital del presente y futuro.","title":"IOT","component":"ROOT","version":"","name":"iot","url":"/communication/iot.html","titles":[{"text":"Internet Industrial de las Cosas (IIoT)","hash":"internet-industrial-de-las-cosas-iiot","id":1},{"text":"Protocolos de Comunicación en IoT","hash":"protocolos-de-comunicación-en-iot","id":2},{"text":"Impacto y Futuro del IoT y IIoT","hash":"impacto-y-futuro-del-iot-y-iiot","id":3}]},"20":{"id":20,"text":"","title":"Meshtastic","component":"ROOT","version":"","name":"meshtastic","url":"/communication/meshtastic.html","titles":[]},"21":{"id":21,"text":"","title":"Sigfox","component":"ROOT","version":"","name":"sigfox","url":"/communication/sigfox.html","titles":[]},"22":{"id":22,"text":"","title":"Zigbee","component":"ROOT","version":"","name":"zigbee","url":"/communication/zigbee.html","titles":[]},"23":{"id":23,"text":"https://www.youtube.com/watch?v=kcsHsoWmbDI https://www.espressif.com/en/products/sdks/esp-idf https://www.youtube.com/watch?v=s5DnmeOwkxo https://www.youtube.com/watch?v=F321087yYy4 https://www.youtube.com/watch?v=Z_7y_4O7yTw&list=PLEQVp_6G_y4iFfemAbFsKw6tsGABarTwp&index=1 https://www.youtube.com/watch?v=jR5E5Kz9A-k https://sirinsoftware.com/blog/rtos-wars-freertos-vs-zephyr-a-decision-you-cant-afford-to-get-wrong https://www.youtube.com/watch?v=Qq5qD8OxTtY https://os.mbed.com/ https://www.arduinolibraries.info/libraries/rt-thread https://www.rt-thread.io/ https://threadx.io/ https://www.ros.org/","title":"Sistemas Operativos en Tiempo Real","component":"ROOT","version":"","name":"rtos","url":"/os/rtos.html","titles":[{"text":"FreeRTOS","hash":"freertos","id":1},{"text":"Zephyr","hash":"zephyr","id":2},{"text":"Mbed","hash":"mbed","id":3},{"text":"R-Thread","hash":"r-thread","id":4},{"text":"Eclipse Thread-X","hash":"eclipse-thread-x","id":5},{"text":"ROS","hash":"ros","id":6}]},"24":{"id":24,"text":"Electrones en Acción: Electrónica y Arduinos para tus propios Inventos. (2019, September 29). Retrieved from https://www.coursera.org/learn/electrones-en-accion Khan Academy: Ingeniería eléctrica. (2017, February 23). Retrieved from https://es.khanacademy.org/science/electrical-engineering Vieito, E. (2024, June 20). Historia del lenguaje de programación C: ¿por qué sigue estando tan presente? Retrieved from https://dinahosting.com/blog/historia-del-lenguaje-de-programacion-c-por-que-sigue-estando-tan-presente/ Microside. (n.d.). Retrieved from https://docs.microside.com/practicas/pic-c-compiler-ccs/pic16f887-or-pic16f877a/1-blink-led PIC Assembly Code Examples. (2017, March 28). Retrieved from https://www.teachmemicro.com/pic-microcontroller-tutorials/pic-assembly-code-examples/#blink Historia e Introducción de C++ | Aula Virtual. (n.d.). Retrieved from https://aulavirtual.fio.unam.edu.ar/mod/book/view.php?id=47577 Welcome to AtomVM! — AtomVM 0.7.0-dev+git.65f16e87 documentation. (n.d.). Retrieved from https://www.atomvm.net/doc/master/welcome-to-atomvm.html#why-erlang-elixir “Ada Core Documentation\". (n.d.). Retrieved from https://learn.adacore.com/courses/intro-to-ada/chapters/introduction.html#history","title":"","component":"ROOT","version":"","name":"bibliography","url":"/fundamentals/bibliography.html","titles":[]},"25":{"id":25,"text":"La electricidad es una forma de energía que es fácil de generar. Podemos generarla de diferentes maneras, por ejemplo, a través de un generador eléctrico, podemos generarla a través de una celda fotovoltaica. Es fácil de convertirla en otros tipos de energía. Los sensores nos permiten medir señales y los actuadores nos permiten convertir esas señales en alguna acción física. Esos actuadores y sensores muchas veces lo que están haciendo es convertir entre diferentes tipos de energía, por ejemplo, si tenemos un parlante. Un parlante lo que hace realmente es convertir una señal eléctrica en energía mecánica, que se manifiesta a través de ondas de presión en el aire. La electricidad además es fácil de transportar en grandes cantidades. Lo vemos en torres de alta tensión que nos permiten recibir energía eléctrica en un lugar remoto, energía que es generada en otra región del país. También es fácil de conducir en pequeñas cantidades y a gran velocidad y precisión. La electricidad puede ser utilizada en muchas aplicaciones. Esto es ideal para aplicaciones de potencia, donde queremos hacer actuar un motor, por ejemplo, un calefactor o un parlante de muy alta potencia. Pero también es ideal para manejar señales e información. Entonces aquí estamos distinguiendo entre dos tipos diferentes de usos: realizar señales y procesar datos. Existe electricidad estática y electricidad dinámica, principalmente nos vamos a centrar en la electricidad dinámica. La electricidad es el flujo de carga eléctrica a través de un material. La carga eléctrica es transportada por electrones, los electrones que forman parte de todos los átomos neutros nos permiten transportar electricidad. Los electrones, por convención, tienen carga eléctrica negativa y se mueven en respuesta a un campo eléctrico. Figure 1. Flujo de Electrones en un Conductor Eléctrico La figura muestra un conductor eléctrico y cada uno de estos puntos representa un electrón. Asumiendo que hay un campo eléctrico que está moviendo los electrones en esa dirección. La electricidad como flujo de carga eléctrica es el movimiento promedio de todos estos electrones. Vemos que no todos se mueven en la misma dirección. La gran mayoría se está moviendo en cualquier dirección, realmente, en promedio, estos electrones se mueven en una dirección. Se mueven lentamente, en general, un electrón en un conductor se mueve a velocidades del orden de un centímetro por segundo. Realmente la electricidad, si lo consideramos como transporte de carga, no es tan rápida. Un electrón puede moverse a un par de centímetros por segundo dentro de este conductor. Pero si entra un electrón nuevo por un lado, instantáneamente sale un electrón por el otro, vemos que la electricidad efectivamente sí se movió rápidamente. Esa transmisión de electricidad ocurre más o menos a la velocidad de la luz. Las ondas eléctricas viajan a la velocidad de la luz, aunque los portadores de carga viajen a velocidad finita. A medida que los electrones avanzan por su camino, van perdiendo energía. Cada vez que un electrón se mueve, debido a un campo eléctrico en un conductor, pierde algo de energía. Va convirtiéndola en otras forma de energía y una consecuencia indirecta de este efecto, es que podemos almacenar y procesar información usando electrones. Típicamente la electricidad se produce por el movimiento de cargas negativas. Pero el movimiento de cargas negativas en una dirección en términos matemáticos, es equivalente al movimiento de cargas positivas en la dirección contraria. Entonces, aunque los electrones se muevan una dirección, vamos a hablar de que la electricidad transportada por una corriente eléctrica va en la dirección contraria. Es decir, la corriente va en la dirección contraria al movimiento de los electrones. Bajo este supuesto, podríamos pensar que la electricidad es transportada por cargas positivas. Eso no es verdad, en la gran mayoría de los conductores, la electricidad es transportada por cargas negativas. La electricidad es provocada por movimiento de electrones, pero que produce corrientes que van en la dirección contraria al movimiento de estos. Tomemos una analogía sencilla para entender mejor la electricidad. Como el agua en el lecho de un río, que se mueve desde el punto más elevado al punto más bajo, mientras más alto, más energía potencial tiene el agua y a medida que va bajando, va perdiendo energía. Si está más alto, es capaz de desarrollar más trabajo útil. De la misma forma, las cargas eléctricas positivas en un conductor se mueven desde un punto de mayor voltaje o potencial a un punto de menor voltaje. Es una analogía directa entre la altura que tiene el agua y el potencial que tiene un electrón. A más alto potencial o voltaje, más energía tienen estos portadores de carga y son más capaces de desarrollar trabajo útil. Entonces, cuando le damos el voltaje a algo, en realidad estamos impartiendo más energía a los portadores de carga para que puedan realizar más trabajo útil. Entonces como una analogía, tenemos un río y el agua fluye desde un punto más alto hasta un punto más bajo. Si por ejemplo tenemos una batería, esta tiene un terminal positivo donde hay un mayor potencial. Entonces las cargas eléctricas se mueven desde un punto de mayor potencial (terminal positivo), hacia un punto de menor potencial (terminal negativo). Figure 2. Batería con Ampolleta En este caso estas cargas están pasando a través de una ampolleta. Al pasar por esta ampolleta estas cargas pierden energía y esa energía la convierten en calor y eventualmente en luz. Luego de que perdieron energía, esas cargas vuelven al terminal negativo de la batería, que se encarga de elevar el potencial para que luego salgan por el terminal positivo con más energía. Entonces, ¿qué es la electricidad? La electricidad es una forma de energía. Y además es el movimiento de cargas eléctricas a través de un circuito. La electricidad inevitablemente lidia con cantidades físicas o cantidades que podemos medir, por ejemplo podemos hablar de ondas de presión, que podemos eventualmente transformar en electricidad. O podemos hablar del color de un tipo de luz, que también podemos transformar en electricidad. Entonces siempre hay cantidades. Típicamente las variables físicas son traducidas a voltajes o corrientes en un circuito. Un tema interesante es que los voltajes y corrientes pueden abarcar órdenes de magnitud diferentes. Por ejemplo, hay circuitos que trabajan con un voltio de alimentación. Pero también hay sistemas de transmisión de energía que funcionan con 500.000 volts y cuando queremos medir señales muy pequeñas medimos milivoltios o microvoltios. Entonces, ¿cómo hacemos para diferenciar entre tantos órdenes de magnitud? lo que usamos normalmente para solucionar este tema son los prefijos. Existen giga, mega, kilo que son los más usados, para multiplicar un número por un factor. En estos casos son potencias de 10, 10 a la tres, 10 a la seis, 10 a la nueve. Entonces cada vez que hablemos de kilo, es 10 a la tres. De la misma forma que un kilogramo son 1.000 gramos, un kilovoltio, son 1.000 voltios, y un kiloamperio, son 1.000 amperios. Y tenemos sub múltiplos mili, micro, nano, pico, femto, atto, entre otros, y tienen una designación a través de una letra. Table 1. Tabla de Unidades Unidad Tipo Símbolo Potencia Giga Múltiplos G Mega Múltiplos M Kilo Múltiplos k Mili Sub-Múltiplos m Micro Sub-Múltiplos µ Nano Sub-Múltiplos n Pico Sub-Múltiplos p Femto Sub-Múltiplos n Atto Sub-Múltiplos a La electricidad puede ser considerada, a grandes rasgos, casi como un fluido. Antiguamente se pensaba que había, de hecho, 2 tipos de electricidad, positiva y negativa. Luego Benjamin Franklin describió a la electricidad como un fluido de un solo tipo y el exceso o déficit de este fluido podía ser considerado como que es carga positiva o carga negativa. La verdad es que estuvo bastante cerca con su apreciación. Y una de las mejores analogías para los circuitos eléctricos son los circuitos hidráulicos. Es solo una analogía, no siempre funciona bien, pero sirve para empezar a entender mejor cómo funciona la electricidad. En un rio, el agua pasa de una altura mayor a una altura menor y a medida que se mueve cada partícula de agua, cada molécula de agua va perdiendo energía. De la misma forma, cargas positivas que salen desde el terminal positivo de la batería van perdiendo energía hasta que entran finalmente por el terminal negativo. Las cantidades físicas sobre las que se fundamenta todo lo que sabemos son voltaje y corriente. El voltaje se designa con la letra V y se mide en volts. (Es como si fuera la altura del agua en un circuito hidráulico), tiene que ver con la energía en los portadores de carga. En un circuito eléctrico el voltaje 0 es arbitrario. Y nosotros definimos el voltaje 0 donde más convenga y ese voltaje 0 le llamamos tierra. Entonces, esa tierra es la referencia arbitraria en torno a la cual medimos el voltaje. Y luego está la corriente, que se relaciona con el flujo o caudal en un circuito hidráulico, tiene que ver con cuánta agua circula por una sección dada del río en un momento determinado. Tiene que ver con cuántos portadores de carga cruzan una sección del circuito en un tiempo determinado y se mide de manera absoluta, a diferencia del voltaje, que se mide en relación a una tierra, la corriente se mide de manera absoluta. El voltaje también se le llama tensión. A mayor voltaje en un punto, mayor energía tienen los portadores de carga en ese punto. Los portadores de carga con mayor energía pueden realizar más trabajo útil. Por ejemplo, pueden mover un motor más rápidamente o pueden encender una luz con mayor intensidad. Si 2 objetos con voltajes diferentes llegaran a tocarse producirían un cortocircuito y corriente. Es decir, si tenemos 2 voltajes diferentes que se tocan, hay corriente entre ellos. Figure 3. Fuentes de Voltaje Símbolo Descripción Es el símbolo más genérico para una fuente de voltaje en un circuito. Comunmente suele ser una fuente de poder. Es una buena práctica dibujar los signos + y - dentro del círculo. Este símbolo se utiliza cuando hay fuentes alternas. Es el símbolo para una fuente de voltaje variable. El garabato dentro del círculo sugiere que este símbolo en particular representa un generador de onda sinusoidal. Este símbolo se utiliza para baterías. La línea horizontal más larga en el símbolo representa la terminal positiva de la batería y la línea horizontal más corta representa la terminal negativa. La corriente es el flujo de portadores de carga en un circuito. Cuando hay corriente los portadores van cambiando su nivel de energía, cambian de voltaje, es decir, cuando van circulando por un circuito con corriente pierden energía. De la misma forma, que las moléculas de agua en el lecho de un río, cuando fluyen van perdiendo energía. Esa diferencia de energía realmente no se pierde sino que se convierte en otras formas de energía. La corriente fluye a través de conductores eléctricos, dispositivos electrónicos, motores, luces y objetos en general. Figure 4. Símbolo de Corriente Es el símbolo más común para la corriente constante. La flecha indica la dirección del flujo positivo de la corriente. Las señales eléctricas llevan información. En general las señales típicamente son de voltaje y no de corriente, varían en el tiempo. Figure 5. Gráfico de Voltaje en el Tiempo El gráfico muestra la amplitud (el punto más alto que llega el voltaje) que medimos en volts versus tiempo (segundos). En el segundo 0, 1, 2, 3, 4, 5, 6, etcétera, tenemos una señal que va variando de manera continua, es decir que tiene un voltaje que varía de manera continua. Las señales tienen una parte variable y una parte que es constante. La parte variable le llamamos AC y la parte constante le llamamos DC. DC viene de \"direct current\" o corriente directa. Mientras que la parte AC viene por corriente alterna. La parte DC de una señal es el promedio de la señal en el tiempo. Si nosotros tomamos una señal en el tiempo y promediamos su valor, el valor promedio de la señal es la parte DC y la parte AC es todo lo que sobra. Por lo tanto, si sumamos parte DC más parte AC tendremos la señal completa. Las señales varían y tienen frecuencia y período. Entonces las señales variables pueden ser descompuestas en una suma de señales fundamentales de diferentes frecuencias. Descomponerlas en sus frecuencias fundamentales resulta sumamente útil para el análisis. Diferentes señales a diferentes frecuencias nos permiten componer cualquier otra señal. Por lo tanto, cualquier señal que se nos ocurra puede ser descompuesta en diferentes frecuencias. Figure 6. Señal Sinusoidal Para describir esta señal en el tiempo usamos funciones. En este caso A(t) (A de t). A sub 0 es la amplitud (El valor máximo al que llega esta señal). La constante 2π (2 * pi, es necesaria) y luego viene ƒ (frecuencia) y t (el tiempo), sumado a Φ (phi, la cantidad de desfase respecto a un valor cero). El tiempo y la frecuencia tiene que ver con cuántos ciclos (períodos) ocurren en una unidad de tiempo. Un ciclo se puede considerar desde un punto inicial a su amplitud máxima, su amplitud mínima y volver al punto inicial. Lo que se demore la señal en cumplir un ciclo lo consideramos como t. Este t se mide en segundos. La frecuencia es . Por lo tanto este ƒ va a ser 1 partido por el período. Luego Φ es el desfase y tiene que ver con cuánto más adelante o atrás está esta señal respecto de un 0. Existen 3 valores importantes en una señal sinusoidal, amplitud, frecuencia y fase. Y si nosotros sumamos muchas señales sinusoidales terminamos con cualquier señal arbitraria que se nos pueda ocurrir. Las señales eléctricas también pueden realizar acciones, no solamente nos permiten procesar información. == Energía y Potencia Los portadores de carga (electrones) tienen diferente nivel de energía. Cuando un portador de carga circula por un circuito puede ganar o perder energía. Imaginemos una carga positiva que está circulando a través de un circuito. Cada vez que la carga pasa por la ampolleta, pierde energía. No es que la pierda realmente, sino que esta se convierte en calor y, eventualmente, en luz. Cuando esa carga perdió energía, sigue circulando allí, y la batería le aumenta la energía y hace que la carga pueda seguir circulando, perder energía, crecer en energía, perder energía, etcéra. Figure 7. Circuito de Ampolleta Y esto es un poco parecido a una montaña rusa, donde un motor permite que un carro suba hasta una cierta altura, que es como una batería que está haciendo subir esta carga, hasta un cierto potencial y, luego, ese carro cae. La energía que llevaba, es decir, la energía potencial, se convierte en calor. La energía en el circuito es una propiedad física que podemos medir, es cuantificable y que describe el estado de un sistema, o de un objeto, o de un circuito. En un sistema eléctrico, mecánico, químico, nuclear, etcétera. No confundir energía con \"buenas vibras\", la energía es medible todo el tiempo. Existen diferentes formas de medir energía. La típica unidad que usamos es el Joule. Pero hay otras formas, por ejemplo, quienes cuentan calorías, cuentan la energía que consumen. La energía puede ser transformada en otros tipos de energía y puede producir trabajo útil. La potencia es la velocidad a la cual la energía va cambiando, ya sea convirtiéndose desde un sistema a otro, transformándose entre diferentes formas de energía. siendo consumida o generada. Por ejemplo, el motor del auto puede desarrollar una cierta potencia, como 100 HP (horse power, caballos de potencia). HP es una medida de potencia. La medida que usamos en electricidad es el Watt. Un motor de un auto puede producir una cierta cantidad de watts, por ejemplo, 100 kilowatts. Y la energía que requiere ese auto para funcionar viene desde el combustible que trae energía química, que luego se va convirtiendo en movimiento. Esa energía química se puede medir en joules. Es posible calcular la potencia de un componente de un circuito electrónico como el producto entre voltaje y corriente. La corriente en un componente por el voltaje en sus terminales, el producto entre ambos me da la potencia que está siendo consumida o entregada por ese componente y la energía es la acumulación de esa potencia en el tiempo. Por lo tanto, la energía es la integral, en el tiempo, de una potencia. La energía eléctrica puede ser almacenada en baterías y en otros medios. Hay diversas opciones de batería, que es la forma más común que tenemos para almacenar energía eléctrica. Table 2. Tipos de Baterías Imagen Tipo Descripción - Alcalina No se pueden recargar (muy peligroso) y generalmente tienen del orden de 1.5 volts por celda. - Recargables (NiMH, NiCd) Están las baterías recargables de Niquel-Hidruro metálico o Niquel-Cadmio que tienen del orden de 1.2 volts por celda. - Plomo ácido o gel Típicamente 6 volts o 12 volts, sirven para encender un auto, por ejemplo. - Ión-Litio o polímero de Litio Tienen 3.7 volts por celda. Éstas son las que se utilizan, por ejemplo, en muchos teléfonos celulares o computadores. Las baterías de polímero de litio tienen una mayor capacidad que las de ión-litio, pero son un poco más peligrosas de manejar.","title":"Fundamentos de Electricidad","component":"ROOT","version":"","name":"electricity","url":"/fundamentals/electricity.html","titles":[{"text":"¿De qué está hecha la electricidad?","hash":"de-qué-está-hecha-la-electricidad","id":1},{"text":"Flujo de la Electricidad","hash":"flujo-de-la-electricidad","id":2},{"text":"Unidades de Medida","hash":"unidades-de-medida","id":3},{"text":"Señales Eléctricas","hash":"señales-eléctricas","id":4},{"text":"Voltaje","hash":"voltaje","id":5},{"text":"Corriente","hash":"corriente","id":6},{"text":"Señales","hash":"señales","id":7},{"text":"Medición de Energía","hash":"medición-de-energía","id":8},{"text":"Almacenamiento de Energía","hash":"almacenamiento-de-energía","id":9}]},"26":{"id":26,"text":"Los portadores de carga (electrones) tienen diferente nivel de energía. Cuando un portador de carga circula por un circuito puede ganar o perder energía. Imaginemos una carga positiva que está circulando a través de un circuito. Cada vez que la carga pasa por la ampolleta, pierde energía. No es que la pierda realmente, sino que esta se convierte en calor y, eventualmente, en luz. Cuando esa carga perdió energía, sigue circulando allí, y la batería le aumenta la energía y hace que la carga pueda seguir circulando, perder energía, crecer en energía, perder energía, etcéra. Figure 1. Circuito de Ampolleta Y esto es un poco parecido a una montaña rusa, donde un motor permite que un carro suba hasta una cierta altura, que es como una batería que está haciendo subir esta carga, hasta un cierto potencial y, luego, ese carro cae. La energía que llevaba, es decir, la energía potencial, se convierte en calor. La energía en el circuito es una propiedad física que podemos medir, es cuantificable y que describe el estado de un sistema, o de un objeto, o de un circuito. En un sistema eléctrico, mecánico, químico, nuclear, etcétera. No confundir energía con \"buenas vibras\", la energía es medible todo el tiempo. Existen diferentes formas de medir energía. La típica unidad que usamos es el Joule. Pero hay otras formas, por ejemplo, quienes cuentan calorías, cuentan la energía que consumen. La energía puede ser transformada en otros tipos de energía y puede producir trabajo útil. La potencia es la velocidad a la cual la energía va cambiando, ya sea convirtiéndose desde un sistema a otro, transformándose entre diferentes formas de energía. siendo consumida o generada. Por ejemplo, el motor del auto puede desarrollar una cierta potencia, como 100 HP (horse power, caballos de potencia). HP es una medida de potencia. La medida que usamos en electricidad es el Watt. Un motor de un auto puede producir una cierta cantidad de watts, por ejemplo, 100 kilowatts. Y la energía que requiere ese auto para funcionar viene desde el combustible que trae energía química, que luego se va convirtiendo en movimiento. Esa energía química se puede medir en joules. Es posible calcular la potencia de un componente de un circuito electrónico como el producto entre voltaje y corriente. La corriente en un componente por el voltaje en sus terminales, el producto entre ambos me da la potencia que está siendo consumida o entregada por ese componente y la energía es la acumulación de esa potencia en el tiempo. Por lo tanto, la energía es la integral, en el tiempo, de una potencia. La energía eléctrica puede ser almacenada en baterías y en otros medios. Hay diversas opciones de batería, que es la forma más común que tenemos para almacenar energía eléctrica. Table 1. Tipos de Baterías Imagen Tipo Descripción - Alcalina No se pueden recargar (muy peligroso) y generalmente tienen del orden de 1.5 volts por celda. - Recargables (NiMH, NiCd) Están las baterías recargables de Niquel-Hidruro metálico o Niquel-Cadmio que tienen del orden de 1.2 volts por celda. - Plomo ácido o gel Típicamente 6 volts o 12 volts, sirven para encender un auto, por ejemplo. - Ión-Litio o polímero de Litio Tienen 3.7 volts por celda. Éstas son las que se utilizan, por ejemplo, en muchos teléfonos celulares o computadores. Las baterías de polímero de litio tienen una mayor capacidad que las de ión-litio, pero son un poco más peligrosas de manejar.","title":"","component":"ROOT","version":"","name":"energy","url":"/fundamentals/energy.html","titles":[{"text":"Energía y Potencia","hash":"energía-y-potencia","id":1},{"text":"Medición de Energía","hash":"medición-de-energía","id":2},{"text":"Almacenamiento de Energía","hash":"almacenamiento-de-energía","id":3}]},"27":{"id":27,"text":"En este capítulo se dará un vistazo general a los hitos relevantes para la robótica y mecatrónica, desde los primeros autómatas hasta la actualidad con sistemas que utilizan machine learning para tomar decisiones y analizar su entorno. El ser humano ha ideado mecanismos que permitan automatizar tareas cotidianas o laboriosas utilizando el poder del agua, viento o fuego desde las primeras civilizaciones (por ejemplo el Molino Hidráulico). La Edad Media proporcionó a Europa una nueva invención: el reloj mecánico, un ingenio fascinante que transformó la vida de los habitantes de las ciudades e introdujo en el mundo occidental los valores de precisión y eficacia. En monasterios y ciudades el ritmo de trabajo era artificial, a diferencia de lo que ocurría en el campo, cuyo ritmo de trabajo era natural, regido por la trayectoria del sol. Y un ritmo de trabajo artificial debía medirse con un tiempo artificial y un mecanismo que no tenía por qué emular el ritmo de los astros. Así surgió en Occidente el reloj mecánico, que se convertiría en el representante más genuino de su filosofía de la vida y de su filosofía económica, introduciendo valores nuevos como la precisión y la eficacia. A la vez que se construían campanas y campanarios, se fabricaron mecanismos capaces de mover aquellos carillones, y tales artilugios, que importaron la tecnología de los monasterios, fueron los precedentes de los relojes mecánicos. El objeto de estos primitivos relojes era \"dar la hora\" con el sonido de una campana; de ahí que el término inglés clock, \"reloj\", sea muy cercano al alemán glocke y al francés cloche, que significan \"campana\". Figure 1. Reloj Medieval El tiempo era un fluir continuo, pero para construir el reloj era necesario cortarlo, convertirlo en una sucesión de fragmentos: las unidades de tiempo que ahora llamamos minutos y segundos. La historia del reloj es parte de la historia de la miniaturización: los pesos se sustituyeron por muelles, los relojes pasaron de las torres a las habitaciones, después a los aparadores de las casas, luego a los bolsillos de sus poseedores y finalmente a las muñecas de su propietario. Este proceso de miniaturización estuvo acompañado por el interés en mejorar la precisión; si la campana debía sonar a una hora convenía que fuera lo más exacta posible. Con la invención del reloj mecánico se establecieron las bases para mecanismos cada vez más diminutos y portátiles, que sin necesidad de electricidad podían trasladarse y efectuar sofisticados movimientos. El término \"Karakuri\" en japonés se traduce aproximadamente como \"mecanismo\" o \"truco\", capturando el aspecto encantador de estas creaciones. Los autómatas karakuri se desarrollaron principalmente durante el período Edo (1603–1867), una época de relativo aislamiento para Japón bajo el shogunato Tokugawa. Aunque Japón estaba en gran medida aislado del mundo occidental, sí mantuvo un contacto restringido con algunos comerciantes europeos, lo que permitió que ciertas influencias externas, como la tecnología de medición del tiempo, se filtraran en el país. Los relojeros japoneses, inspirados por los mecanismos de engranajes europeos, adaptaron esas ideas a su propio contexto cultural. En lugar de replicar los dispositivos europeos, los artesanos japoneses encontraron expresiones únicas, fusionando la practicidad con el juego. Experimentaron con engranajes de madera, levas y mecanismos de cuerda para crear pequeñas y maravillosas muñecas que no solo eran entretenidas, sino también reflejo de la estética japonesa. En el corazón de cada autómata karakuri se encuentra una meticulosa artesanía que une el arte y la ingeniería. Quizás la versión más icónica sea el chahakobi ningyō, o muñeca que sirve té. Cuando se coloca una taza de té sobre la bandeja de madera que sostiene el autómata, un mecanismo oculto activa a la muñeca, que se desliza hacia adelante. Figure 2. chahakobi ningyō Una vez que la taza es retirada, la muñeca se detiene en su lugar, como si esperara cortésmente su taza vacía o una amabl e inclinación de cabeza. En su interior, un conjunto de engranajes, resortes y poleas trabaja de manera armoniosa para crear este movimiento elegante. Un karakuri bien construido no requiere electricidad; en su lugar, depende de la tensión de resortes enrollados o de pesas cuidadosamente colocadas, de forma similar a los relojes de cuerda. Otro modelo cautivador es el moji-kaki ningyō, o muñeca escritora, que sumerge un pequeño pincel en tinta y traza caracteres sobre el papel. Observar cómo la creación mueve su brazo con una precisión asombrosa pone de manifiesto la búsqueda, con siglos de antigüedad, de replicar el movimiento humano mediante medios puramente mecánicos. Figure 3. moji-kaki ningyō La durabilidad y la belleza estética de los autómatas karakuri son testimonio de la dedicación de Japón al arte y a la búsqueda de la perfección. Estas piezas trascienden la mera curiosidad y encarnan el significado cultural de la armonía, el respeto y el servicio ritualizado, conectando al artesano y al público de una manera profundamente humana. Figure 4. Karakuri A pesar de que construyeron muchos más autómatas durante sus carreras se conoce como autómatas de Jaquet-Droz al dibujante, la pianista y el escritor, diseñados y fabricados entre 1768 y 1774 por el relojero suizo Pierre Jaquet-Droz, su hijo Henri-Louis y Jean-Frédéric Leschot. Formado por unas 2.000 piezas, es capaz de hacer cuatro dibujos distintos a la vez que sigue el movimiento del lápiz con el que los hace con los ojos y, de vez en cuando, sopla su punta para eliminar restos de carbon. Formada con unas 2.000 piezas, toca cinco piezas distintas en un órgano. Pero no es una caja de música sino que toca las piezas de verdad, moviendo sus dedos para presionar las teclas. Cada vez que termina con una de ellas saluda a su público. Igual que el dibujante, mueve los ojos para seguir sus manos, su cuerpo al ritmo de la música, e incluso simula que respira, pues su pecho sube y baja. Formado por algo más de 6.000 piezas no sólo mueve los ojos para seguir la pluma con la que escribe y la cabeza cuando va a mojarla en el tintero sino que es capaz de escribir cualquier texto con un máximo de 40 caracteres en cuatro líneas. Cualquier texto, pues lo que va a escribir se programa mediante unas piezas que se insertan en un disco que tiene en su parte posterior, lo que lo convierte en una de las primeras máquinas programables de la historia. Figure 5. Autómatas de Jaquet-Droz El telar de Jacquard es un telar mecánico inventado por Joseph Marie Jacquard en diciembre de 1800 y presentado en público en la 2ª Exposición industrial celebrada en París del 19 al 25 de septiembre de 1801 donde recibió una medalla de bronce en un concurso de tejido de redes de pesca. Considerado el primer robot programable, el artilugio utilizaba tarjetas perforadas para conseguir tejer patrones en la tela, permitiendo que hasta los usuarios más inexpertos pudieran elaborar complejos diseños. El telar de Joseph Marie Jacquard supuso, aparte de un gran avance en la industria textil debido a su mecanización, un antecedente fundamental en la codificación de imágenes que casi dos siglos más tarde vería la luz. La base del telar, las tarjetas perforadas de Jean Falcon eran una prefiguración binaria (muy sencilla eso sí) de cómo almacenar imágenes, como guardar la información para poderlas reproducir a posterior. Las tarjetas daban información sobre patrones y dibujos de una manera fácil: con agujeros o sin; de esta manera se conseguían producir en masa las mismas formas, se estaba copiando una sola imagen. El concepto de archivo de una fotografía es similar ya que se parece a un telar sólo que con mucha más información pero al fin y al cabo cada puntada es un píxel. La maquinaria conforma uno de los antecedentes más antiguos de la computación y de la generación de “bases de datos” en lenguaje binario. Hasta la llegada de la invención de Jacquard entre cada paso de la lanzadera con la trama había que subir o bajar los hilos de la urdimbre, según correspondiera, a mano. Este proceso era lento y sujeto a errores, por lo que los diseños que se hacían no eran muy complicados. Pero el dispositivo de Jacquard, sin embargo, era capaz de manejar hasta varios cientos de hilos de urdimbre a la vez y de manera extremadamente rápida, lo que sirvió para una mejora exponencial en la velocidad de producción de las telas y en la calidad y complejidad de los diseños que se podían hacer. Figure 6. Telar programable con tarjetas perforadas La palabra “robot” fue usada por primera vez en 1921 cuando el escritor checo Karel Čapek (1890 – 1938) estrena su obra Rossum’s Universal Robot en el teatro nacional de Praga. En realidad, el crédito va a su hermano Josef Čapek, quien la inventó. Karel solo la empleo en su obra. Su origen viene de la palabra eslava robota o roboti (plural), que se refiere al trabajo forzado. La trama de la obra de Čapek era simple, ya que designa a unos autómatas, también conocidos como robots a trabajar de obreros. La palabra “robot” fue utilizada en el imperio austro-húngaro hasta 1848 para referirse a los esclavos y la servidumbre. De acuerdo a la definición ofrecida por Oxford Languages, un robot es una “Máquina automática programable capaz de realizar determinadas operaciones de manera autónoma y sustituir a los seres humanos en algunas tareas, en especial las pesadas, repetitivas o peligrosas; puede estar dotada de sensores, que le permiten adaptarse a nuevas situaciones.” Figure 7. Karel Capek/; Rossum’s Universal Robots (RUR) 1921 La palabra “robot” deriva del término checo robota, que puede significar trabajo que realmente no quieres hacer o trabajo tedioso. Su obra ha sido representada en todo el mundo, y la palabra “robot” fue posteriormente hecha realmente famosa por Isaac Asimov en la década de 1940 (relatos recopilados como Yo, robot en 1950). Konrad Zuse (Berlín, 1910- Hünfeld, 1995) pensaba y soñaba con gigantescos ductos de información, atravesando los espacios exteriores e interiores de las ciudades. El ser humano tendría entonces más tiempo y podría dedicarse a asuntos más interesantes y desafiantes, como el arte. Zuse tenía un sueño y una idea: “Metrópolis”, como el mismo nombre de la película. La idea era una ciudad en la que todos los procesos de transporte e intercambio de bienes y personas se realizaría a través de una compleja red de trenes y pistas, facilitándole a sus ciudadanos, con el ritmo armónico de una nueva naturaleza, un nuevo bienestar. Zuse soñaba con una máquina que piense por nosotros. Aunque no las preguntas fundamentales, relacionadas con el universo o el origen y destino de las cosas y los seres; sino máquinas que realizaran de manera automática miles de cálculos. Desde el 1 + 1 y el 1 + 2 hasta los algoritmos y los números complejos. Necesitábamos asistencia para liberarnos de las tareas más monótonas. Para calcular. Algo así como contadores. Ordenadores. Computadoras. La Z1 fue el primer intento. La máquina consistía en una estructura de lata, llena de interruptores de dos posiciones. El aparato era totalmente electromecánico, compuesto de interruptores mecánicos y una memoria hecha a partir de láminas de metal. La Z1 podía ser programada a través de tarjetas perforadas, hojas con información codificada en forma de agujeros.“Con la ayuda de esta suerte de primitivo cerebro mecánico será posible resolver todas las operaciones que están al alcance de un mecanismo” escribiría en la tarde del 20 de junio de 1937 Konrad Zuse en su diario de vida. El principio era sencillo, las aspiraciones ambiciosas, los resultados, premonitorios. Lo que hacía Zuse era “calcular con latas”, construyendo el principio matemático de lo que hoy conocemos como “operaciones booleanas”, en las que se basan cosas tan cotidianas como los buscadores de Internet. Él le llamaba “Schaltalgebra”, algo así como “álgebra de encendidos y apagados”, aludiendo a los circuitos compuestos de elementos metálicos que tenían contacto entre sí o lo perdían. Los interruptores se basaban en un principio sencillo, el de resumir grandes números en muchas operaciones simples: adiciones, sustracciones, multiplicaciones y divisiones de unos y ceros. Ya en 1937 la Z1 estaba terminada. El paso siguiente sería la nueva versión, la Z2, terminada en 1939, otro experimento que le permitiría indagar en lo realmente necesario para la construcción de una máquina pensante. En 1941 estaría terminada la primera computadora que funcionaba realmente “como relojito”: la Z3 ¿La innovación? En vez de interruptores, la máquina se componía de relés, dispositivos electromagnéticos que sustituían a los interruptores y que se componían de electroimanes y pulsadores sensibles al impulso eléctrico generado al activarse cada uno de ellos. Estos pulsadores se ven como los pulsadores de un clavecín, y eran parte esencial del antiguo sistema telefónico análogo. Zuse comenzaba a gestar el primer lenguaje computacional. Plankalkül era su nombre. Algo así como “cálculo para proyectos” y llegaría a manifestarse de manera plena en la Z4 en 1945. Figure 8. Réplica de la máquina Z1 La mecatrónica surge de la combinación sinérgica de distintas ramas de la ingeniería, entre las que destacan: la mecánica de precisión, la electrónica, la informática y los sistemas de control. Su principal propósito es el análisis y diseño de productos y de procesos de manufactura automatizados. Nace en Japón a final de la década de los sesenta con la integración de las ingenierías mecánica y electrónica con el objetivo de incorporar las dos ingenierías en los productos electrónicos. El ingeniero japonés Tetsuro Mori acuñó \"mecatrónica\" (meca-trónica) en 1969, derivado de \"mecanismo\" y \"electrónica\". La Yaskawa Electric Corporation popularizó el término en los 70, enfocándose en la integración de la electrónica en sistemas mecánicos de alta precisión. En resumen, la mecatrónica evolucionó de una disciplina enfocada en la automatización a un campo multidisciplinario que fusiona la ingeniería mecánica, electrónica, informática y de control para diseñar sistemas complejos y autónomos. Figure 9. Brave Raideen 1975 Un transistor es un componente semiconductor, generalmente con al menos tres terminales que se conectan a un circuito electrónico, que restringe o permite el flujo de corriente eléctrica entre dos contactos según la presencia o ausencia de corriente en un tercer contacto. El término transistor proviene del acrónimo transfer resistor (en español resistor de transferencia). El primer transistor comercial de silicio fue producido por Texas Instruments en 1954 gracias al trabajo del experto Gordon Teal quien había trabajado previamente en los Laboratorios Bell en el crecimiento de cristales de alta pureza. El primer transistor MOSFET fue construido por el coreano-estadounidense Dawon Kahng y el egipcio Martin Atalla, ambos ingenieros de los Laboratorios Bell, en 1960. Los transistores se utilizan en casi todos los dispositivos electrónicos modernos. Son la base de los circuitos integrados (IC), los microchips, los microprocesadores, las FPGA, los chips de memoria, los conmutadores electrónicos, las fuentes de alimentación y mucho más. Como resultado, casi todos los dispositivos electrónicos modernos constan, al menos, de un transistor o de millones de ellos. Para la década de 1960, la tecnología de transistores se había convertido en una fuerza tecnológica dominante y las válvulas termoiónicas pronto quedaron obsoletas. En 1965, Gordon Moore, el fundador de Fairchild Semiconductor e Intel, predijo que la cantidad de transistores en microchips se duplicaría cada dos años. La Ley de Moore define una relación logarítmica lineal de esta densidad de transistores a lo largo del tiempo. En 1970, los circuitos integrados tenían alrededor de 2000 transistores. Para 2020, los circuitos integrados de última generación tenían más de 10.000 millones. Figure 10. Transistores y Válvulas Termoiónicas Muchos de los primeros micro ordenadores fueron diseñados pensando en las calculadoras, como fue el caso, por ejemplo, del Intel 4004. Los fabricantes de calculadoras impulsaron individualmente los avances en el silicio de los procesadores, y en Texas Instruments (TI) esto condujo al desarrollo, en 1971, de los primeros microcontroladores integrados en un solo chip, creados como CPU preprogramadas diseñadas para proporcionar una calculadora en un chip. Pasarían algunos años más, hasta 1974, antes de que produjeran el TMS1000, un microcontrolador de un solo chip destinado a un uso de propósito general y el primero de este tipo en salir a la venta. Figure 11. TMS1000 Había cuatro variantes en la gama original, todas compartiendo el mismo procesador de 4 bits con arquitectura Harvard, y con diferentes cantidades de líneas de E/S y tamaños de ROM y RAM. Las familias TMS1000 y TMS1200 tenían 8192 bits de ROM de programa y 265 bits de RAM, mientras que las familias TMS1100 y TMS1300 tenían el doble de esas cifras. Existían versiones con salidas tolerantes a alto voltaje para manejar pantallas fluorescentes de vacío, y estaban disponibles en encapsulados de 28 y 40 pines. No se podía encontrar este chip a la venta en unidades individuales para experimentadores, porque su ROM de máscara integrada solo podía programarse en el momento de la fabricación por TI. Por ello, toda la programación se realizaba en un simulador sobre un mainframe de tiempo compartido operado por TI. Esto generaba un conjunto de tarjetas perforadas que, tras un proceso muy complejo de depuración y pruebas, se utilizaban para crear las máscaras necesarias para la codificación de la ROM. La programación mediante máscara también significa que cualquier TMS1000 que se encuentre hoy en día seguirá conteniendo el software con el que fue fabricado; sin el hardware circundante original que le dé contexto, tienen poca utilidad más allá de ser una curiosidad histórica. Para la década de 1980 el mundo ya pertenecía a los microprocesadores y microcontroladores de 8 y 16 bits, por lo que, aparte de sobrevivir unos años más de forma discreta como núcleos para los chips de calculadoras de TI, la serie TMS1000 acabó siendo retirada y desde entonces se ha deslizado casi sin dejar rastro en la historia de la electrónica. Resulta interesante señalar que algunos de sus contemporáneos siguen muy presentes hoy en día: todavía se pueden comprar muchos derivados de PIC, 8051, Z80 e incluso del 6502, mientras que no hubo sucesores directos de los procesadores TI de 4 bits. El avance imparable de la tecnología es uno de los responsables de esto, pero quizá el desarrollo de software tan arcano también contribuyó a su desaparición. Esos CPU de 8 bits siguen con nosotros porque cualquiera podía hacerse con una placa de desarrollo y un programador de EPROM y empezar a programar, lo que atrajo a un núcleo de desarrolladores muy familiarizados con sus arquitecturas. En comparación, los desarrolladores del TMS1000 debieron de ser muy pocos, y desde luego no los suficientes como para justificar un silicio sucesor. Hubo algunas versiones especiales de desarrollo del procesador que aceptaban una ROM externa, pero para entonces el mercado ya había avanzado cuatro bits más. Figure 12. TMS1000 Arquitectura https://historia.nationalgeographic.com.es/a/inventos-medievales_6644 https://www.milwaukeeindependent.com/explainers/karakuri-automata-mechanical-bridge-japanese-craftsmanship-milwaukees-german-heritage/ https://en.wikipedia.org/wiki/Karakuri_puppet https://www.microsiervos.com/archivo/ingenieria/-fascinantes-automatas-jaquet-droz.html https://www.microsiervos.com/archivo/ordenadores/telar-jacquard-primera-maquina-programable-de-la-historia.html https://es.wikipedia.org/wiki/Telar_de_Jacquard https://einsrobotics.com/el-origen-de-la-palabra-robot/ https://mediartinnovation.com/2014/06/11/karel-capek-rossums-universal-robots-rur-1921/ https://en.wikipedia.org/wiki/Z1_(computer) https://alemaniaparati.diplo.de/mxdz-es/aktuelles/konradzuse-1087764 https://mecatronicaito.wordpress.com/2015/11/26/la-historia-de-la-mecatronica/ https://teinco.edu.co/resumen-historico-de-la-ingenieria-mecatronica/ https://www.tin-robot.com/tr-64-brave-raideen https://es.wikipedia.org/wiki/Transistor https://www.arrow.com/es-mx/research-and-events/articles/the-transistor-revolution-how-transistors-changed-the-world https://hackaday.com/2020/02/18/the-tms1000-the-first-commercially-available-microcontroller/","title":"Historia de la Robótica y Automatización","component":"ROOT","version":"","name":"history","url":"/fundamentals/history.html","titles":[{"text":"La creación del reloj mecánico","hash":"la-creación-del-reloj-mecánico","id":1},{"text":"Autómatas Karakuri","hash":"autómatas-karakuri","id":2},{"text":"Autómatas de Jaquet-Droz","hash":"autómatas-de-jaquet-droz","id":3},{"text":"El dibujante","hash":"el-dibujante","id":4},{"text":"La pianista","hash":"la-pianista","id":5},{"text":"El escritor","hash":"el-escritor","id":6},{"text":"El telar programable","hash":"el-telar-programable","id":7},{"text":"La palabra Robot","hash":"la-palabra-robot","id":8},{"text":"Máquinas de Zuse","hash":"máquinas-de-zuse","id":9},{"text":"La Mecatrónica","hash":"la-mecatrónica","id":10},{"text":"El Transistor","hash":"el-transistor","id":11},{"text":"Microcontrolador TMS1000","hash":"microcontrolador-tms1000","id":12},{"text":"Referencias","hash":"referencias","id":13}]},"28":{"id":28,"text":"¿Qué es la electrónica?. Es el campo de la ingeniería y de la física aplicada que estudia el diseño y fabricación de circuitos y dispositivos electrónicos. A través de la electrónica es posible medir y procesar señales para luego realizar acciones sobre el mundo. La electrónica ofrece una cantidad de opciones increíbles para capturar señales, procesarlas y entregarlas de vuelta. Estos apuntes no son un curso profundo de electrónica. En este apartado vamos a dar una pequeña pincelada a la electrónica tratando de ver cómo aplicarla en su forma más sencilla a proyectos electromecánicos que podamos tener. La electrónica se nos presenta como una herramienta muy versátil que nos permite hacer un montón de cosas. Por ejemplo, podemos adquirir señales; podemos tomar señales del mundo físico y llevarlas al mundo electrónico. Podemos procesar información. Eso también nos permite, por supuesto, trabajar sobre esas señales que hemos adquirido. Y luego esas señales nos permiten realizar acciones sobre el mundo físico. Entonces, es un lazo que parte desde la adquisición, luego sigue con el procesamiento, y, posteriormente, continúa con la realización de acciones a través de señales. La electrónica nos permite disponer de un ejército de electrones anónimos que trabajan para uno. Todos estos millones de electrones están trabajando para lo que se les programe. Sensores y transductores, estos son los que nos permiten adquirir señales, y funcionan para diferentes variables. Sensores de temperatura, presión, sonido, luz, distancia, aceleración, ángulo, contacto, señales eléctricas, gas, partículas, etcétera. Existen muchos otros tipos de sensores que nos permiten capturar señales desde el mundo físico. Luego tenemos el procesador que permite procesar información. Hay diversos tipos, analógicos, digitales; y, dentro de los digitales, están programables o no programables, están los procesadores incrustado, que son parte de un sistema electrónico más complicado, que puede incluir sensores y actuadores. Existen procesadores de propósito general y, en general, estos procesadores nos permiten diversos niveles de prestaciones. Existen procesadores con miles de millones de compuertas lógicas, literalmente. En cambio, nosotros podemos usar procesadores analógicos, que pueden incluir, por ejemplo, un par de operaciones matemáticas y puede ser suficiente para hacer algo. Table 1. Tipos de Procesador Ítem Descripción Circuito Integrado (IC) Un circuito integrado (CI), también conocido como chip o microchip, es una estructura de pequeñas dimensiones de material semiconductor, habitualmente silicio. (IC, Wikipedia). Uno de los más comunes es el temporizador IC 555, que se utiliza en la generación de temporizadores, pulsos y oscilaciones. El 555 puede ser utilizado para proporcionar retardos de tiempo, como un oscilador, y como un circuito integrado flip flop. (IC555, Wikipedia). Si bien no es un procesador, es un componente importante de ellos y se pueden realizar múltiples proyectos solo usando este microchip. Procesador Analógico Los ejemplos de procesamiento analógico de señales incluyen: el filtro pasa banda y filtro pasa bajos, entre otros filtros de señales para baja frecuencia y radio frecuencia, los controles de volumen, graves y agudos en equipos de música, y los controles de contraste y brillo en los televisores. El procesamiento analógico de la señal incluye elementos comunes como capacitores, resistencias, inductores, transistores o circuitos integrados. (Procesador Analógico, Wikipedia). Procesador Digital No Programable Un procesador digital no programable es un dispositivo digital que realiza tareas específicas sin la posibilidad de ser reprogramado por el usuario. En otras palabras, su función está definida por su hardware y no por software o instrucciones que puedan ser modificadas. Ejemplos: FPGAs (Field-Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), Procesadores de Señales Digitales (DSP). (DSP, Wikipedia). Procesador Digital Programable Un procesador digital programable (PDSP) es un microprocesador de propósito general, diseñado específicamente para aplicaciones de procesamiento de señales digitales (DSP). Estos procesadores permiten realizar operaciones numéricas a alta velocidad sobre señales digitales, como audio, video o datos de sensores, para tareas como filtrado, ecualización, compresión, entre otras. (DSP, Wikipedia) Microcontrolador La principal diferencia entre un microprocesador y un microcontrolador radica en su diseño y aplicación. Un microprocesador es un procesador de propósito general que se utiliza en computadoras y otros dispositivos que requieren potencia de cálculo considerable. Los microcontroladores, por otro lado, son circuitos integrados que integran un procesador, memoria y periféricos en un solo chip, diseñados para aplicaciones específicas e incrustadas. (Microcontrolador vs Microprocesador, AWS) Entre ellos el màs popular es el PIC16f877a, un microcontrolador de 8 bits de la familia PIC ideal para proyectos simples, debido a su arquitectura de 8 bits, 18 pines, y un conjunto de instrucciones RISC muy amigable para memorizar y fácil de entender. (PIC1687X, Wikipedia) Luego tenemos actuadores y transductores (dispositivo que transforma una forma de energía en otra) que nos permiten realizar acciones. Tenemos de diverso tipo, sonido, por ejemplo, un parlante; transductores de luz como, por ejemplo, encender una luz que indique algo, o pueden ser también una pantalla donde yo puedo mirar algo, y esto también es una forma de un transductor. de luz que tiene diferentes píxeles. Cada uno de estos puntos de la pantalla es un píxel y cada uno de estos se ilumina independientemente. Existen también actuadores de movimiento como, por ejemplo, un motor, que nos permite realizar acciones físicas. Existen transductores de calor como una estufa o una resistencia eléctrica, entre otros. La electricidad es crucial cuando queremos procesar información; cuando pensamos en capturar, procesar o entregar señales, esto es sensor, procesar, procesador, y entregar señales a través de un actuador, inevitablemente, terminamos pensando en el uso de la electricidad y ¿por qué será eso?, ¿por qué no podemos, por ejemplo, capturar señales en otro medio, que no sea eléctrico? Podríamos hacerlo tal vez en un medio hidráulico, o un medio mecánico o, tal vez, de otra forma, en un medio óptico. El problema es que los fotones viajan a la velocidad de la luz y luego se van; en caso del sistema mecánico, a veces es muy complicado hacer que un sistema mecánico opere rápidamente; en caso de la electricidad, las respuestas son comparables a las de la velocidad de la luz pero, además, podemos guardar señales, y eso permite un nivel de procesamiento que solo la electricidad es capaz de otorgar. El siguiente esquema presenta el funcionamiento de un sistema electrónico en general. Los sensores son los que nos permiten capturar señales del mundo físico; el procesador, que nos permite procesar estas señales y, luego, los actuadores, que nos permiten actuar sobre el mundo físico. Figure 1. Esquema General de Sistema Electrónico La siguiente es una pequeña lista de los científicos que dan nombre a las distintas unidades que se utilizan en electrónica y electricidad. Nombre Descripción Alessandro Volta (18 de febrero de 1745, 5 de marzo de 1827) Fue un químico y físico italiano​ famoso principalmente por el descubrimiento del metano en 1776 y la invención y desarrollo de la pila eléctrica en 1799. La unidad de fuerza electromotriz del Sistema Internacional de Unidades ha llevado el nombre de voltio en su honor desde 1881. André-Marie Ampère (20 de enero de 1775, 10 de junio de 1836) Fue un matemático y físico francés. Formuló en 1827 la teoría de la electrodinámica, esencial al desarrollo del electromagnetismo, inventó el solenoide, e imaginó la primera teoría microscópica del magnetismo de materiales y una teoría del magnetismo terrestre. El amperio (en francés ampère) se llama así en su honor. James Prescott Joule (24 de diciembre de 1818, 11 de octubre de 1889) Fue un físico inglés, conocido sobre todo por sus investigaciones en termodinámica. Descubrió su relación con el trabajo mecánico, lo cual le condujo a la teoría de la energía. La unidad internacional de energía, calor y trabajo, el joule, fue bautizada en su honor. Michael Faraday (22 de septiembre de 1791, 25 de agosto de 1867) Fue un científico británico que estudió el electromagnetismo y la electroquímica. Sus principales descubrimientos incluyen la inducción electromagnética, el diamagnetismo y la electrólisis. La unidad nombrada en su honor se denomina faradio, La cual es la unidad de capacidad eléctrica del Sistema Internacional de Unidades (SI). Heinrich Rudolf Hertz (22 de febrero de 1857, 1 de enero de 1894) Fue un físico alemán que descubrió el efecto fotoeléctrico, la propagación de las ondas electromagnéticas y las formas para producirlas y detectarlas. La unidad de medida de la frecuencia, el hercio (Hertz, en la mayoría de los idiomas), lleva ese nombre en su honor. James Watt (19 de enero de 1736, 25 de agosto de 1819) Fue un ingeniero mecánico, inventor y químico escocés. El vatio o watt​ (símbolo: W) es la unidad para la potencia. Es igual a 1 julio por segundo (1 J/s). Georg Simon Ohm (16 de marzo de 1789, 6 de julio de 1854) Fue un físico y matemático alemán que aportó a la teoría de la electricidad la ley de Ohm. Conocido principalmente por su investigación sobre las corrientes eléctricas. La unidad de resistencia eléctrica, el ohmio, recibe este nombre en su honor.","title":"Introducción a la Electrónica","component":"ROOT","version":"","name":"introduction","url":"/fundamentals/introduction.html","titles":[{"text":"¿Cómo se pasa del mundo físico al eléctrico?","hash":"cómo-se-pasa-del-mundo-físico-al-eléctrico","id":1},{"text":"Sensores","hash":"sensores","id":2},{"text":"Procesadores","hash":"procesadores","id":3},{"text":"Actuadores y Transductores","hash":"actuadores-y-transductores","id":4},{"text":"Electricidad","hash":"electricidad","id":5},{"text":"Esquema de un Sistema Electrónico","hash":"esquema-de-un-sistema-electrónico","id":6},{"text":"Científicos Destacados","hash":"científicos-destacados","id":7}]},"29":{"id":29,"text":"Entre los distintos lenguajes de programación disponibles para elaborar proyectos de Electrónica, Robótica e IOT se pueden mencionar los siguientes. Uno de los lenguajes de bajo nivel más emblemáticos. Se recomienda para entornos de recursos muy limitados y donde la eficiencia sea escencial. Es especialmente bueno para usarlo junto al microcontrolador PIC16f877a. Si bien usar C es posible para reemplazar a Assembler en una gran variedad de casos de uso, el utilizar Assembler permite una granularidad exacta y fina sobre el uso de memoria del microcontrolador, logrando programas que puedan exprimir todo el potencial del mismo. Encender un Led para PIC16f877a, fuente: (\"PIC Assembly Code Examples\" 2017) list p=16f84a include COUNT1 EQU 08h COUNT2 EQU 09h org 0x00 goto start start bsf STATUS, RP0 ;bank 1 movlw 0xFE movwf TRISB ;set all PORTB input except for RB0 bcf STATUS, RP0 ;bank 0 main bsf PORTB, 0 ;make RB0 high call delay ;delay subroutine bcf PORTB, 0 ;make RB0 low goto main delay loop1 decfsz COUNT1,1 ;decrement COUNT1 variable until zero goto loop1 decfsz COUNT2,1 ;decrement COUNT2, if not zero, go back to loop1 goto loop1 return end El lenguaje de programación C es uno de los lenguajes de programación más antiguos y populares. Fue desarrollado por Dennis Ritchie en los laboratorios Bell en la década de 1970 como parte del sistema operativo UNIX. Desde entonces, ha sido ampliamente utilizado en una variedad de aplicaciones, desde sistemas operativos hasta aplicaciones de usuario y juegos. C es conocido por su eficiencia y su capacidad para acceder directamente a las funciones del sistema operativo y al hardware de la computadora. Es un lenguaje de programación de nivel medio, lo que significa que combina características de lenguajes de programación de bajo nivel, como la capacidad de manipular directamente la memoria, con características de lenguajes de alto nivel, como estructuras de datos avanzadas y abstracciones de programación. Uno de los aspectos más destacados de C es su sintaxis clara y concisa, lo que lo hace relativamente fácil de leer y escribir. Sin embargo, también es un lenguaje poderoso y flexible que permite a los programadores realizar una amplia variedad de tareas, desde el desarrollo de sistemas operativos hasta la creación de aplicaciones de usuario. (Vieito, 2024) C++ fue creado por Bjarne Stroustrup en 1979 como una extensión del lenguaje C, con la intención de añadir mecanismos orientados a objetos. Inicialmente llamado \"C con clases\", posteriormente se adoptó el nombre C++ en 1983. El objetivo era combinar la eficiencia de C con la capacidad de modelar problemas complejos usando objetos. (\"Historia e Introducción de C++\" n.d.) Encender un Led para PIC16f877a, fuente: (\"Microside\" n.d.) #include <16F877A.h> // Incluye el microcontrolador con el que se va a trabajar #use delay(clock=20Mhz, crystal) // Tipo de oscilador y frecuencia dependiendo del microcontrolador #define LED PIN_A1 // Pin donde está conectado el LED del X-TRAINER void main(void) { set_tris_a(0xFD); // Pin RA1 como salida while(1) { output_HIGH (LED); // Cambio de estado en el pin RA1 delay_ms (500); // Retardo output_LOW (LED); // Cambio de estado en el pin RA1 delay_ms (500) ; // Retardo } } En la década de 1970, el Departamento de Defensa de los Estados Unidos (DOD) sufrió una explosión en la cantidad de lenguajes de programación, con diferentes proyectos utilizando distintos dialectos no estándar o subconjuntos/superconjuntos de lenguajes. El DOD decidió resolver este problema emitiendo una solicitud de propuestas para un lenguaje de programación común y moderno. La propuesta ganadora fue presentada por Jean Ichbiah, de CII Honeywell-Bull. El primer estándar de Ada se publicó en 1983; posteriormente fue revisado y mejorado en 1995, 2005, 2012 y 2022, con cada revisión incorporando características nuevas y útiles. Ada es un lenguaje de programación muy bien diseñado y una excelente alternativa a C, C++ y Rust, en el sentido de que toma las grandes y monolíticas características de otros lenguajes y las descompone en sus partes constituyentes, de modo que puedes elegir qué porciones de esas características deseas usar. Ada descompone la programación orientada a objetos en características separadas como: encapsulamiento, reutilización, herencia, y despacho dinámico. En Ada, puedes optar por cada una de esas cosas por separado, dependiendo de para qué necesitas la \"programación orientada a objetos\". Esto contrasta mucho con Java, donde escribes la palabra clave “class” y todo eso viene incluido automáticamente. Hoy en día, Ada se utiliza ampliamente en sistemas incrustados en tiempo real, muchos de los cuales son críticos para la seguridad. Aunque Ada puede usarse como un lenguaje de propósito general, realmente destaca en aplicaciones de bajo nivel: Sistemas incrustados con requisitos de poca memoria (no se permite recolector de basura). Interfaz directa con hardware. Sistemas en tiempo real, ya sean blandos o estrictos. Programación de sistemas de bajo nivel. Algunos dominios específicos donde se utiliza Ada incluyen el aeroespacial y defensa, aviación civil, ferrocarriles, entre muchos otros. Ada es una excelente alternativa para la programación de microcontroladores del tipo ARM Cortex-M como Arduino. Los sistemas incrustados que carecen de una unidad de punto flotante representan un problema para los programadores en C, ya que las dos clasificaciones de tipos primitivos en C son tipos enteros y tipos de punto flotante. La ausencia de un procesador de punto flotante en un sistema incrustado requiere que todas las representaciones y operaciones en punto flotante se implementen por software en lugar de hardware. Esta limitación incrementa el tamaño del software de punto flotante en C y reduce la velocidad de cálculo de las operaciones de punto flotante. Ada proporciona tipos enteros, tipos de punto flotante y tipos de punto fijo. Los tipos de punto fijo pueden sustituirse fácilmente por tipos de punto flotante en sistemas que carecen de un procesador de punto flotante. Las operaciones con punto fijo utilizan el procesador de enteros del hardware y no requieren espacio de memoria para una mantisa y un exponente. Ada cuenta con facilidades integradas para enlazarse con bibliotecas en C o C+\\+, lo que permite que los programas en Ada interactúen con bibliotecas del procesador escritas en C. Ada facilita la programación incrustada con menos esfuerzo por parte del programador que el requerido para implementar los mismos datos y comportamientos usando C. (“Ada Core Documentation\",” n.d.) Encender un Led con Ada, fuente: https://github.com/kylelk/blink-example/ with GPIO; with Ada.Text_IO; procedure main is package TIO renames Ada.Text_IO; Pin_Num : constant GPIO.Pin_Number := 0; Button_Pin : constant GPIO.Pin_Number := 1; Blink_Delay : constant Float := 0.25; type LED_Modes is (LED_Off, LED_Blink, LED_On); task type Blinking_Light is entry Mode (Mode_Value : LED_Modes); end Blinking_Light; task body Blinking_Light is Current_Mode : LED_Modes := LED_Off; begin loop select accept Mode (Mode_Value : LED_Modes) do Current_Mode := Mode_Value; end Mode; else if Current_Mode = LED_Off then GPIO.Digital_Write (Pin_Num, GPIO.Low); elsif Current_Mode = LED_Blink then GPIO.Digital_Write (Pin_Num, GPIO.High); delay Duration (Blink_Delay); GPIO.Digital_Write (Pin_Num, GPIO.Low); delay Duration (Blink_Delay); elsif Current_Mode = LED_On then GPIO.Digital_Write (Pin_Num, GPIO.High); end if; end select; end loop; end Blinking_Light; Light : Blinking_Light; Light_Mode : LED_Modes := LED_Off; Down_Press : Boolean := True; procedure Button_Clicked is begin if Down_Press then TIO.Put_Line (\"button clicked \" & LED_Modes'Image (Light_Mode)); Light.Mode (Light_Mode); if Light_Mode = LED_Modes'Last then Light_Mode := LED_Modes'First; else Light_Mode := LED_Modes'Val (LED_Modes'Pos (Light_Mode) + 1); end if; end if; Down_Press := not Down_Press; end Button_Clicked; begin GPIO.Setup; GPIO.Pin_Mode (Pin_Num, GPIO.Output); GPIO.Pin_Mode (Button_Pin, GPIO.Input); -- register button callback GPIO.Pin_Interrupt (Button_Pin, GPIO.Edge_Both, Button_Clicked'Access); end main; El ESP32 típico viene con 520 KB de RAM y 4 MB de almacenamiento flash, aproximadamente las especificaciones de una computadora de escritorio de mediados de los años 80. Además, la mayoría de los entornos de microcontroladores no admiten APIs POSIX nativas para interactuar con un sistema operativo y, en muchos casos, las abstracciones comunes de un sistema operativo, como procesos, hilos o archivos, simplemente no están disponibles. Sin embargo, dado que la BEAM proporciona un entorno de multitarea con planificación preventiva (pre-emptive), muchas de las abstracciones comunes de los sistemas operativos, especialmente las relacionadas con hilos y concurrencia, simplemente no son necesarias. Como lenguajes orientados a la concurrencia, Erlang y Elixir admiten “procesos” ligeros, con el paso de mensajes como mecanismo para la comunicación entre procesos (de Erlang), multitarea con planificación preventiva, y asignación de memoria y recolección de basura por proceso. En muchos aspectos, el modelo de programación de Erlang y Elixir se asemeja más al de un sistema operativo con múltiples procesos concurrentes ejecutándose en él, donde los procesos del sistema operativo son unidades individuales de ejecución, se comunican mediante el paso de mensajes (señales) y no comparten estado entre sí. Esto contrasta con la mayoría de los lenguajes de programación populares en la actualidad (C, C++, Java, Python, etc.), que utilizan abstracciones de hilos para lograr concurrencia dentro de un único espacio de memoria, y que, por lo tanto, requieren especial atención en los casos en que múltiples CPUs operan sobre una región de memoria compartida, lo cual exige el uso de hilos, bloqueos, semáforos, etc. La BEAM permite desarrollar aplicaciones en dispositivos pequeños (AtomVM). Esto hace que escribir código concurrente para microcontroladores (por ejemplo, una aplicación que lea datos de sensores, atienda solicitudes HTTP y actualice el reloj del sistema, todo al mismo tiempo) sea increíblemente simple y natural, mucho más fácil que escribir programas concurrentes en C, C++ o incluso, por ejemplo, en MicroPython (“Welcome to AtomVM! — AtomVM Documentation,” n.d.). Ejemplo de Blinky en Erlang -module(blinky). -export([start/0]). -define(PIN, 2). start() -> gpio:set_pin_mode(?PIN, output), loop(?PIN, low). loop(Pin, Level) -> io:format(\"Setting pin ~p ~p~n\", [Pin, Level]), gpio:digital_write(Pin, Level), timer:sleep(1000), loop(Pin, toggle(Level)). toggle(high) -> low; toggle(low) -> high. Existen otras alternativas válidas como: MicroPython. Espruino. PicoRuby. TinyGo. TinyBasic. Embedded Rust.","title":"Lenguajes de Programación","component":"ROOT","version":"","name":"programming","url":"/fundamentals/programming.html","titles":[{"text":"Assembler","hash":"assembler","id":1},{"text":"C y C++","hash":"c-y-c","id":2},{"text":"Ada","hash":"ada","id":3},{"text":"Erlang y Elixir","hash":"erlang-y-elixir","id":4},{"text":"Otros","hash":"otros","id":5}]},"30":{"id":30,"text":"La siguiente es una pequeña lista de los científicos que dan nombre a las distintas unidades que se utilizan en electrónica y electricidad. Nombre Descripción Alessandro Volta (18 de febrero de 1745, 5 de marzo de 1827) Fue un químico y físico italiano​ famoso principalmente por el descubrimiento del metano en 1776 y la invención y desarrollo de la pila eléctrica en 1799. La unidad de fuerza electromotriz del Sistema Internacional de Unidades ha llevado el nombre de voltio en su honor desde 1881. André-Marie Ampère (20 de enero de 1775, 10 de junio de 1836) Fue un matemático y físico francés. Formuló en 1827 la teoría de la electrodinámica, esencial al desarrollo del electromagnetismo, inventó el solenoide, e imaginó la primera teoría microscópica del magnetismo de materiales y una teoría del magnetismo terrestre. El amperio (en francés ampère) se llama así en su honor. James Prescott Joule (24 de diciembre de 1818, 11 de octubre de 1889) Fue un físico inglés, conocido sobre todo por sus investigaciones en termodinámica. Descubrió su relación con el trabajo mecánico, lo cual le condujo a la teoría de la energía. La unidad internacional de energía, calor y trabajo, el joule, fue bautizada en su honor. Michael Faraday (22 de septiembre de 1791, 25 de agosto de 1867) Fue un científico británico que estudió el electromagnetismo y la electroquímica. Sus principales descubrimientos incluyen la inducción electromagnética, el diamagnetismo y la electrólisis. La unidad nombrada en su honor se denomina faradio, La cual es la unidad de capacidad eléctrica del Sistema Internacional de Unidades (SI). Heinrich Rudolf Hertz (22 de febrero de 1857, 1 de enero de 1894) Fue un físico alemán que descubrió el efecto fotoeléctrico, la propagación de las ondas electromagnéticas y las formas para producirlas y detectarlas. La unidad de medida de la frecuencia, el hercio (Hertz, en la mayoría de los idiomas), lleva ese nombre en su honor. James Watt (19 de enero de 1736, 25 de agosto de 1819) Fue un ingeniero mecánico, inventor y químico escocés. El vatio o watt​ (símbolo: W) es la unidad para la potencia. Es igual a 1 julio por segundo (1 J/s). Georg Simon Ohm (16 de marzo de 1789, 6 de julio de 1854) Fue un físico y matemático alemán que aportó a la teoría de la electricidad la ley de Ohm. Conocido principalmente por su investigación sobre las corrientes eléctricas. La unidad de resistencia eléctrica, el ohmio, recibe este nombre en su honor.","title":"","component":"ROOT","version":"","name":"scientists","url":"/fundamentals/scientists.html","titles":[{"text":"Científicos Destacados","hash":"científicos-destacados","id":1}]},"31":{"id":31,"text":"La electricidad puede ser considerada, a grandes rasgos, casi como un fluido. Antiguamente se pensaba que había, de hecho, 2 tipos de electricidad, positiva y negativa. Luego Benjamin Franklin describió a la electricidad como un fluido de un solo tipo y el exceso o déficit de este fluido podía ser considerado como que es carga positiva o carga negativa. La verdad es que estuvo bastante cerca con su apreciación. Y una de las mejores analogías para los circuitos eléctricos son los circuitos hidráulicos. Es solo una analogía, no siempre funciona bien, pero sirve para empezar a entender mejor cómo funciona la electricidad. En un rio, el agua pasa de una altura mayor a una altura menor y a medida que se mueve cada partícula de agua, cada molécula de agua va perdiendo energía. De la misma forma, cargas positivas que salen desde el terminal positivo de la batería van perdiendo energía hasta que entran finalmente por el terminal negativo. Las cantidades físicas sobre las que se fundamenta todo lo que sabemos son voltaje y corriente. El voltaje se designa con la letra V y se mide en volts. (Es como si fuera la altura del agua en un circuito hidráulico), tiene que ver con la energía en los portadores de carga. En un circuito eléctrico el voltaje 0 es arbitrario. Y nosotros definimos el voltaje 0 donde más convenga y ese voltaje 0 le llamamos tierra. Entonces, esa tierra es la referencia arbitraria en torno a la cual medimos el voltaje. Y luego está la corriente, que se relaciona con el flujo o caudal en un circuito hidráulico, tiene que ver con cuánta agua circula por una sección dada del río en un momento determinado. Tiene que ver con cuántos portadores de carga cruzan una sección del circuito en un tiempo determinado y se mide de manera absoluta, a diferencia del voltaje, que se mide en relación a una tierra, la corriente se mide de manera absoluta. El voltaje también se le llama tensión. A mayor voltaje en un punto, mayor energía tienen los portadores de carga en ese punto. Los portadores de carga con mayor energía pueden realizar más trabajo útil. Por ejemplo, pueden mover un motor más rápidamente o pueden encender una luz con mayor intensidad. Si 2 objetos con voltajes diferentes llegaran a tocarse producirían un cortocircuito y corriente. Es decir, si tenemos 2 voltajes diferentes que se tocan, hay corriente entre ellos. Figure 1. Fuentes de Voltaje Símbolo Descripción Es el símbolo más genérico para una fuente de voltaje en un circuito. Comunmente suele ser una fuente de poder. Es una buena práctica dibujar los signos + y - dentro del círculo. Este símbolo se utiliza cuando hay fuentes alternas. Es el símbolo para una fuente de voltaje variable. El garabato dentro del círculo sugiere que este símbolo en particular representa un generador de onda sinusoidal. Este símbolo se utiliza para baterías. La línea horizontal más larga en el símbolo representa la terminal positiva de la batería y la línea horizontal más corta representa la terminal negativa. La corriente es el flujo de portadores de carga en un circuito. Cuando hay corriente los portadores van cambiando su nivel de energía, cambian de voltaje, es decir, cuando van circulando por un circuito con corriente pierden energía. De la misma forma, que las moléculas de agua en el lecho de un río, cuando fluyen van perdiendo energía. Esa diferencia de energía realmente no se pierde sino que se convierte en otras formas de energía. La corriente fluye a través de conductores eléctricos, dispositivos electrónicos, motores, luces y objetos en general. Figure 2. Símbolo de Corriente Es el símbolo más común para la corriente constante. La flecha indica la dirección del flujo positivo de la corriente. Las señales eléctricas llevan información. En general las señales típicamente son de voltaje y no de corriente, varían en el tiempo. Figure 3. Gráfico de Voltaje en el Tiempo El gráfico muestra la amplitud (el punto más alto que llega el voltaje) que medimos en volts versus tiempo (segundos). En el segundo 0, 1, 2, 3, 4, 5, 6, etcétera, tenemos una señal que va variando de manera continua, es decir que tiene un voltaje que varía de manera continua. Las señales tienen una parte variable y una parte que es constante. La parte variable le llamamos AC y la parte constante le llamamos DC. DC viene de \"direct current\" o corriente directa. Mientras que la parte AC viene por corriente alterna. La parte DC de una señal es el promedio de la señal en el tiempo. Si nosotros tomamos una señal en el tiempo y promediamos su valor, el valor promedio de la señal es la parte DC y la parte AC es todo lo que sobra. Por lo tanto, si sumamos parte DC más parte AC tendremos la señal completa. Las señales varían y tienen frecuencia y período. Entonces las señales variables pueden ser descompuestas en una suma de señales fundamentales de diferentes frecuencias. Descomponerlas en sus frecuencias fundamentales resulta sumamente útil para el análisis. Diferentes señales a diferentes frecuencias nos permiten componer cualquier otra señal. Por lo tanto, cualquier señal que se nos ocurra puede ser descompuesta en diferentes frecuencias. Figure 4. Señal Sinusoidal Para describir esta señal en el tiempo usamos funciones. En este caso A(t) (A de t). A sub 0 es la amplitud (El valor máximo al que llega esta señal). La constante 2π (2 * pi, es necesaria) y luego viene ƒ (frecuencia) y t (el tiempo), sumado a Φ (phi, la cantidad de desfase respecto a un valor cero). El tiempo y la frecuencia tiene que ver con cuántos ciclos (períodos) ocurren en una unidad de tiempo. Un ciclo se puede considerar desde un punto inicial a su amplitud máxima, su amplitud mínima y volver al punto inicial. Lo que se demore la señal en cumplir un ciclo lo consideramos como t. Este t se mide en segundos. La frecuencia es . Por lo tanto este ƒ va a ser 1 partido por el período. Luego Φ es el desfase y tiene que ver con cuánto más adelante o atrás está esta señal respecto de un 0. Existen 3 valores importantes en una señal sinusoidal, amplitud, frecuencia y fase. Y si nosotros sumamos muchas señales sinusoidales terminamos con cualquier señal arbitraria que se nos pueda ocurrir. Las señales eléctricas también pueden realizar acciones, no solamente nos permiten procesar información.","title":"","component":"ROOT","version":"","name":"signals","url":"/fundamentals/signals.html","titles":[{"text":"Señales Eléctricas","hash":"señales-eléctricas","id":1},{"text":"Voltaje","hash":"voltaje","id":2},{"text":"Corriente","hash":"corriente","id":3},{"text":"Señales","hash":"señales","id":4}]},"32":{"id":32,"text":"","title":"Energía Solar","component":"ROOT","version":"","name":"solar","url":"/solar/solar.html","titles":[]},"33":{"id":33,"text":"Elixir Circuits es una colección de bibliotecas Elixir diseñadas para facilitar la interacción con hardware, facilitando el control de periféricos y la interacción con sensores. Proporciona herramientas para trabajar con diversas interfaces de hardware como GPIO, I2C, SPI y UART. Estas bibliotecas permiten a los desarrolladores escribir código Elixir que interactúa directamente con el hardware, lo que facilita la creación de sistemas incrustados, dispositivos IoT y más.","title":"","component":"ROOT","version":"","name":"circuits","url":"/nerves/circuits.html","titles":[{"text":"Elixir Circuits","hash":"elixir-circuits","id":1}]},"34":{"id":34,"text":"Es un framework para crear firmware de sistemas embebidos de con Elixir que corre sobre la maquina virtual de Erlang: \"BEAM\". Es ideal para trabajar con dispositivos potentes como Raspberry Pi, BeagleBone Black, etc. y permite trabajar con sistemas robustos con interfaces conectadas a hardware real (GPIO, 12C, SPI, etc). Se puede desarrollar tu firmware en Elixir Soporta actualizaciones Tiene integración con Phoenix para paneles de control web Usa herramientas modernas de Elixir como Mix, OTP y GenServer. ESP32 con AtomVM mide la humedad del suelo. Si la humedad es baja, activa una electroválvula. Se comunica vía WiFi con una Raspberry Pi con Nerves, que: Muestra datos en una interfaz web. Permite configurar umbrales de riego. Guarda histórico en una base de datos. Este sistema permite combinar lo mejor de ambos mundos: Microcontroladores pequeños y eficientes (ESP32 con AtomVM). Sistemas completos y robustos (Raspberry con Nerves). ESP32 ESP32-S2 o ESP32-C3 STM32 (más potente, pero más complejo de programar). Placas con mínimo 512 KB de RAM y 2 MB de Flash. Raspberry Pi 3 o 4 (mejor soporte). BeagleBone Black. GRiSP (especial para Elixir, ejecuta directamente BEAM sin sistema operativo). Cualquier SBC (single board computer) compatible con Linux y GPIO. Código funcional, fácil de razonar y mantener. Alta concurrencia con procesos ligeros. Alta tolerancia a fallos (modelo de actores de Erlang). Ideal para IoT, domótica, robots, monitoreo industrial y sistemas distribuidos. Usas el mismo lenguaje para la nube y el hardware. Elixir Circuits es una colección de bibliotecas Elixir diseñadas para facilitar la interacción con hardware, facilitando el control de periféricos y la interacción con sensores. Proporciona herramientas para trabajar con diversas interfaces de hardware como GPIO, I2C, SPI y UART. Estas bibliotecas permiten a los desarrolladores escribir código Elixir que interactúa directamente con el hardware, lo que facilita la creación de sistemas incrustados, dispositivos IoT y más. Soleil, una placa de control de sueño y gestión de energía de código abierto para Raspberry Pi y Nerves. Nerves Framework: Getting Started guide. (2025, February 4). https://daily.dev/blog/nerves-framework-getting-started-guide?utm_source=chatgpt.com Nerves · Elixir school. (n.d.). https://elixirschool.com/es/lessons/misc/nerves?utm_source=chatgpt.com","title":"Elixir Nerves","component":"ROOT","version":"","name":"nerves","url":"/nerves/nerves.html","titles":[{"text":"Caracteristicas","hash":"caracteristicas","id":1},{"text":"Proyecto ejemplo: Sistema de riego automático inteligente","hash":"proyecto-ejemplo-sistema-de-riego-automático-inteligente","id":2},{"text":"Para AtomVM (microcontroladores):","hash":"para-atomvm-microcontroladores","id":3},{"text":"Para Nerves","hash":"para-nerves","id":4},{"text":"Ventajas de usar Elixir + AtomVM/Nerves","hash":"ventajas-de-usar-elixir-atomvmnerves","id":5},{"text":"Elixir Circuits","hash":"elixir-circuits","id":6},{"text":"Soleil","hash":"soleil","id":7},{"text":"Referencias","hash":"referencias","id":8}]},"35":{"id":35,"text":"Soleil, una placa de control de sueño y gestión de energía de código abierto para Raspberry Pi y Nerves.","title":"","component":"ROOT","version":"","name":"soleil","url":"/nerves/soleil.html","titles":[{"text":"Soleil","hash":"soleil","id":1}]},"36":{"id":36,"text":"Your Gateway to Embedded Software Development Excellence — PlatformIO latest documentation. (n.d.). Retrieved from https://docs.platformio.org/en/latest/","title":"","component":"ROOT","version":"","name":"bibliography","url":"/tools/bibliography.html","titles":[]},"37":{"id":37,"text":"https://www.labcenter.com/simulation/ https://wokwi.com/esp32 https://www.tinkercad.com/ https://www.autodesk.com/latam/products/inventor/overview https://www.freecad.org/ https://www.autodesk.com/br/products/eagle/overview.acessado https://www.kicad.org/ https://easyeda.com/ PCBWay https://pcbchile.cl/ https://pcb-chile.cl/ https://ing.mcielectronics.cl/circuito-impreso-placa-pcb/ https://sltech.cl/services/pcb/pcb.html https://www.ciga.cl/","title":"Herramientas de Computer Asisted Design (CAD)","component":"ROOT","version":"","name":"cad","url":"/tools/cad.html","titles":[{"text":"Proteus","hash":"proteus","id":1},{"text":"Wokwi","hash":"wokwi","id":2},{"text":"Thinkercad","hash":"thinkercad","id":3},{"text":"Autodesk Inventor","hash":"autodesk-inventor","id":4},{"text":"FreeCad","hash":"freecad","id":5},{"text":"Autodesk Eagle","hash":"autodesk-eagle","id":6},{"text":"KiCad","hash":"kicad","id":7},{"text":"EasyEDA","hash":"easyeda","id":8},{"text":"Impresión de PCB","hash":"impresión-de-pcb","id":9}]},"38":{"id":38,"text":"https://github.com/thingsboard/thingsboard https://github.com/openremote/openremote","title":"Dashboards","component":"ROOT","version":"","name":"dashboards","url":"/tools/dashboards.html","titles":[{"text":"Thingboard","hash":"thingboard","id":1},{"text":"OpenRemote","hash":"openremote","id":2},{"text":"Grafana","hash":"grafana","id":3}]},"39":{"id":39,"text":"","title":"Home Assistant","component":"ROOT","version":"","name":"home-assistant","url":"/tools/home-assistant.html","titles":[]},"40":{"id":40,"text":"PlatformIO es una herramienta profesional para ingenieros de sistemas incrustados y desarrolladores de software que crean aplicaciones para productos incrustados. Es multiplataforma, compatible con múltiples arquitecturas y frameworks de desarrollo. PlatformIO es una herramienta imprescindible para ingenieros profesionales de sistemas incrustados que desarrollan soluciones en más de una plataforma específica. Además, al contar con una arquitectura descentralizada, PlatformIO ofrece tanto a desarrolladores nuevos como a los ya establecidos una vía rápida de integración para desarrollar productos listos para el mercado, reduciendo el tiempo total de comercialización. La principal razón que aleja a muchas personas del mundo de los sistemas incrustados es el proceso complicado para configurar el entorno de desarrollo para un MCU o placa específica: Toolchains, entornos de desarrollo (IDE) propietarios del fabricante (que a veces no son gratuitos) y, además, la necesidad de contar con una computadora con un sistema operativo compatible con ese software. Múltiples plataformas de hardware (MCUs, placas) requieren diferentes toolchains, IDEs, etc., lo que implica invertir tiempo en aprender nuevos entornos de desarrollo. Dificultad para encontrar bibliotecas adecuadas y ejemplos de código que muestren cómo usar sensores, actuadores y otros componentes populares. Compartir proyectos incrustados entre miembros del equipo, independientemente del sistema operativo que prefieran usar. ¿Cómo funciona? Los usuarios seleccionan la(s) placa(s) que les interesan en el archivo “platformio.ini” (archivo de configuración del proyecto). Con base en esta lista de placas, PlatformIO descarga automáticamente los toolchains necesarios e instala todo lo requerido. Los usuarios desarrollan el código, y PlatformIO se encarga de que sea compilado, preparado y cargado en todas las placas seleccionadas. PlatformIO está disponible para una multitud de editores. Entre los cuales se puede nombrar: Emacs Vim VSCode Se recomienda el uso de VSCode Figure 1. PlatformIO para VSCode","title":"PlatformIO IDE","component":"ROOT","version":"","name":"platformio","url":"/tools/platformio.html","titles":[{"text":"Editores","hash":"editores","id":1}]},"41":{"id":41,"text":"El siguiente es un listado (no exhaustivo) de las tiendas disponibles en Chile para poder adquirir diversos componentes de electrónica y robótica. Se recomienda cotizar y comparar. No tienen un orden en específico más allá de agruparlos por ciudad. Table 1. Lista de Tiendas en Chile Tienda Website Dirección Comentario Global Chile https://globalelectronica.cl/ Pasaje Lautaro 37, Viña del Mar (Metro Hospital) (Perpendicular con calle Cancha) Tienda de electrónica y robótica en la ciudad de Viña del Mar desde 1999. Gran variedad de productos. Electrónica HB https://www.electronicahb.cl/ Calle San Antonio 1232, Viña del Mar Tienda de electrónica en Viña del Mar desde 1950. Electrónica Villanelo https://www.facebook.com/ElectronicaVillanelo/ Villanelo 271, Viña del Mar Tienda de electrónica en el centro de la ciudad de Viña. Cuenta con reparación de electrodomésticos como televisores. Infinito https://share.google/87nDXz3DfWGc3BkH3 Claudio Vicuña 919, Quilpué - Almte. Latorre 74, Villa alemana - Ramón Freire 015, Quillota Artículos de electricidad y repuestos varios desde 1985. No tiene mucho de electrónica pero se encuentran algunos complementos como pilas y cables. Radiovisión https://radiovision.cl/ Andrés Bello 610, Quilpué - Galeria Arcadia, Local 107, Viña del Mar Tienda de electricidad y repuestos computacionales. No tiene mucho de electrónica pero se puede encontrar complementos. Telectra https://www.telectra.cl/ Independencia 1761, Valparaíso Principalmente elementos de radio y telecomunicaciones. Max Electrónica https://maxelectronica.cl/ Solo Online, Valparaíso Tiene algunos componentes de arduino y electrónica. Makers Chile https://makerschile.cl/ Av. Valparaíso 1327, Viña del Mar Especialidad en impresion 3D. Cuenta con componentes electrónicos. Mechastronic Store https://www.mechatronicstore.cl/ Manuel Rodriguez 212, local 1, Curicó Tienda de robótica y electrónica. Envío a todo Chile. Rambal https://rambal.com/ Jose Manuel Infante 901 Providencia, Santiago (Metro Salvador) Tienda de robótica en Chile desde 1996. Se pueden adquirir multitud de partes de calidad industrial. También ofrecen cursos de robótica y electrónica presenciales. MCI Electronics https://mcielectronics.cl/ Luis Thayer Ojeda 0115, Of.1104 (Piso 11) Providencia, Santiago (Metro Tobalaba) Tienda de electrónica en Santiago, variedad de componentes. Precios algo elevados. Afel https://afel.cl/ Obispo Donoso 6 oficina 302, Providencia, Santiago Tienda de electrónica e impresión 3D. Altronics https://altronics.cl/ Tienda Online, Santiago Tienda de Electrónica y diversos componentes. Envío a todo Chile. Electrónica Ibarra https://electronicaibarra.cl/ San Diego 928, Santiago Diversos componentes electrónicos. Envío a todo Chile. Electrónica Hobby https://electronicahobby.cl/ San Diego 945, Santiago Herramientas y componentes de electrónica. Envío a todo Chile. Triacs https://triacs.cl/ Vicuña Mackenna #10.178 La Florida, Santiago Componentes de electrónica y robótica. Envío a todo Chile. Mouser Electronics https://www.mouser.cl/ Tienda Online, Santiago Componentes electrónicos. Envío a Todo Chile. Electro Art https://www.electroart.cl/ Catayalud 334, La Reina, Santiago Diversos componentes y controladores. Envío a Todo Chile. Hubot https://hubot.cl/ Tienda Online, Santiago Especializada en robótica y mecatrónica desde 2017. Victronics https://www.victronics.cl/ Tienda Online, Santiago Diversos componentes electrónicos. Prodeind https://prodeind.cl Tienda Online, Santiago Precios por mayor. Componentes electrónicos de uso educativo e industrial. CiMech3D https://www.cimech3d.cl/ Alcalde Eduardo Castillo Velasco 1409, Ñuñoa, Santiago. Especializado en la impresión 3D. Artillec https://artilec.com/ Av. Sta. Marta de Huechuraba 6570, Huechuraba, Santiago Antenas, cables y dispositivos de comunicación. Automa https://www.automa.cl/ José Domingo Cañas 1025, Ñuñoa, Santiago Cámaras de seguridad. La página de AliExpress es muy utilizada en Chile para comprar artículos electrónicos, sobre todo piezas muy difíciles de encontrar en el país. Se debe tener en consideración los siguientes puntos: Desde el 25 de Octubre del 2025 todas las compras online fuera de Chile pagan IVA. Desde esa fecha el Impuesto al Valor Agregado (IVA, 19%) será cobrado directamente por las plataformas que estén inscritas en el Servicio de Impuestos Internos (SII) al momento de la compra, cuando el valor del producto no supere los US$ 500 (https://www.aduana.cl/compras-online-internacionales-iva-se-pagara-en-las-plataformas-y/aduana/2025-10-06/100335.html). Fijarse en el valor del envío, puede un componente \"ser más barato\" pero considerando el envío costará tanto o más que comprarlo en una tienda en Chile. El envío puede demorar más de la cuenta. Normalmente demora entre 2 a 4 semanas llegar un envío, pero puede tardar más o perderse en el camino. No hay garantía legal. Hay situaciones donde el vendedor no entrega el producto comprado o entrega un producto fallado o adulterado o de mala calidad. No hay ninguna garantía de devolución de dinero o cambio de producto, por lo que cada compra es una apuesta y se recomienda investigar bien cada tienda antes de comprar y documentar todo con video y fotos desde que llego el producto hasta abrirlo y verlo en funcionamiento.","title":"Tiendas","component":"ROOT","version":"","name":"stores","url":"/tools/stores.html","titles":[{"text":"AliExpress","hash":"aliexpress","id":1}]},"42":{"id":42,"text":"Hoy en día existen diversos robots para cumplir tareas específicas. En el área de restaurantes existen los robots meseros autónomos. Éstos robots permiten servir mesas y encontrar su camino por el restaurant. Entre los ejemplos disponibles esta el Segway ServeBot S1(“Restaurant Service Robot - Segway Robotics,” 2024) y el Bellabot (“Smart Delivery Robot-Pudu Robotics,” n.d.). Figure 1. Robot ServeBot S1 Figure 2. Bellabot Estos robots son de alta tecnología y cuentan con sensores e inteligencia artificial muy sofisticada. Lo que los hace tener un precio prohibitivo para la mayoría de los restaurantes. En Japón existe el concepto de \"Avatar Robot Café\". Donde un restaurant/café es atentido por avatares robots. Es decir, robots controlados por humanos remotamente. Estos robots no cuentan con IA debido a que se busca integrar a personas con dificultades motoras u otros problemas que les impide integrarse a la sociedad en trabajos tradicionales. Entre los avatares robots se puede encontrar meseros y baristas. Figure 3. Avatares Robot Figure 4. Robot OriHime Figure 5. Robot Barista Son controlados remotamente con una aplicación de tablet smartphone. Figure 6. Interfaz de Piloto Estos robots están ubicados en el Dawn Cafe Figure 7. Avatar Robot Cafe DAWN ver.β El “Avatar Robot Café DAWN ver.β” es un café experimental permanente operado por OryLab Inc., donde personas que tienen dificultades para salir de casa por diversas razones operan de forma remota nuestros robots avatar OriHime y OriHime-D desde sus hogares y hospitales para brindar servicios. (\"Avatar Robot Café\" n.d.) En Chile se han utilizado robots animatrónicos como el conocido restaurante \"África\" de Viña del Mar (SoyChile, 2019). Figure 8. Animatronicos del Restaurante África Jorge Fernández, gerente de El Japonés de Viña del Mar, calcula que desde que tienen al “Michi-robot” haciendo las veces de mesero la afluencia del público al local ha aumentado en un 20 por ciento. ¿La razón? La curiosidad de ver en acción al Bella-bot -o “Michi”, como le llaman en el restaurante-, que lleva pedidos a la mesa como un garzón más. (Transformadores, 2023). Como se puede apreciar, Chile está preparado para adoptar la inclusión de robots en el área de servicios, especialmente en robots meseros. Sin embargo los altos precios de adquisición impiden que más restaurantes adopten estas tecnologías. Para lograr disminuir la brecha tecnológica y aumentar la inclusión de personas con dificultades de trabajar presencialmente, se debe crear una alternativa de bajo costo e identidad local. Para esto se creará un \"Avatar Robot\" controlado remotamente via internet que pueda ser usado para atender comandas y servir como garzón en restaurantes. Este robot utilizará materiales reciclados o fáciles de adquirir a un costo moderado. Para el marco principal se debe considerar una estructura liviana que permita un movimiento para todas las direcciones, cuente con un lugar para dejar los platos y sea higiénica y estéticamente apropiado. Queda a discreción la selección del marco inicial. Acá se presentará unas opciones posibles. Nombre Fotografía Descripción Estante de Almacenamiento con Ruedas Giratorias y Cestas Metalicas Carrito Organizador Con Cesta Metal y Ruedas Bloqueables 3 Niveles Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/138001816/Carrito-Organizador-Metal-3-Niveles-Estante-Ruedas-Bloqueables-Negro/138001817?exp=so_com Marca VIDITA Color Negro Diseño de 3 niveles y 2 mangos Con ruedas giratorias (2 bloqueables) Material resistente de metal Medida 43x29x78cm (largo x ancho x alto) Organizador de frutas metal 3 canastos Cromado La Frutera con 3 canastos y 3 ruedas en la parte inferior. Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/110267804/Organizador-de-frutas-metal-3-canastos-Cromado/110267822?exp=so_com Marca: Just Home Collection Ancho: 29.5 cm Alto: 75.6 cm Color: Plateado Carro de compras colores 32 L Carro de compras colores 32 L Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/131705964/Carro-de-compras-colores-32-l/131705965?exp=so_com Marca: Just Home Collection Ancho: 30 cm Alto: 53 cm La recomendación es que permita al menos 3 niveles. Ya que se necesita espacio para: La batería y circuitería. Ubicados en el nivel inferior. La bandeja principal para almacenar los platos a servir. Una bandeja superior para almacenar la cámara y un robot o pantalla opcional para expresar emociones por parte del piloto operador. El carro será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. La batería puede ser un PowerBank o una batería de motocicleta con un adaptador para USB. Es importante recalcar que el amperaje mínimo necesario es 3 amperes. Menor a ese amperaje servirá para cargar un smartphone, más no para alimentar una Raspberry PI. Opción Imagen Descripción PowerBank de 30K mAh Batería portátil USB capacidad de 30000 mAh. Tres puertos USB con USB-A y USB-C. Carga rápida del dispositivo con puerto USB-C PD 3.0 de máximo 20 W o USB-A con salida QC3/0 de máximo 18 W. Disponible en: https://www.philips.cl/c-p/DLP1930CB_00/bateria-portatil-usb Batería 12v + Adaptador USB Batería de motocicleta combinada con un adaptador USB de alta potencia (QC3.0). Es una opción válida para alimentar el robot. Ventajas: Se tiene mayor voltaje para velocidad más rápida. Desventaja: Puede ser más pesado y requerir equipamiento especial para recargar la batería. Disponible en: https://es.aliexpress.com/item/1005006281134333.html https://www.autoplanet.cl/producto/bateria_pilot_lb4lb_4ah_56cca/141258 El Smartphone es necesario para proveer internet a la Raspberry PI y también actuar como cámara principal para la comunicación remota (utilizando una video llamada). Se recomienda un smartphone Android. Cualquiera que pueda hacer uso de redes 3G y sea relativamente moderno (entre 5 a 10 años de antigüedad) servirá como principal puente de comunicación. Se podría omitir este elemento si el restaurante cuenta con Wifi y añadir una cámara web a la Raspberry PI, pero requeriría de mayores configuraciones en el router del local y asegurar estabilidad de señal. Para la elaboración de la comunicación via video se utilizará los servicios de Jitsi Meet. El cual proporciona una solución de bajo costo y de código libre para ser utilizada. Raspberry PI 3 cuenta con un procesador Broadcom Quad-Core ARM Cortex-A53 a 1.2GHz combinados con 1GB de RAM LPDDR2. Figure 9. Raspberry Pi 3 Model B Será el computador principal conectado con Nerves, lo que permitirá enviar señales tanto al Emote Robot como al Carro utilizando USB, además de proporcionar un servidor web accesible mediante internet conectándose al Smartphone. Sistema Nerves: https://github.com/nerves-project/nerves_system_rpi3 Disponible en: https://altronics.cl/raspberry-pi-3-modelb-old?search=raspberry&page=4 El modelo de Raspberry Pi es a elección, simplemente debe ser compatible con Nerves (https://hexdocs.pm/nerves/supported-targets.html) Un modelo alternativo compatible es el Raspberry Pi Zero 2W. Figure 10. Raspberry Pi Zero 2 W Disponible en: https://mcielectronics.cl/shop/product/33107/ Para proporcionar una forma de mostrar emociones remotamente se puede utilizar un personaje de lego animatrónico. Esto es totalmente opcional, pero agrega personalidad y empatía al robot. También puede ser utilizada una smart tablet con un personaje animado y controlado remotamente. Puede ser adquirido en https://www.tiendalego.cl/collections/creator-3in1/products/dragon-rojo-31145 Figure 11. Personaje Lego Creator 3 en 1 El robot será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. Table 1. Lista de posibles componentes Componente Descripción 1 Raspberry PI Una versión compatible con Nerves y que permita conexión USB (UART) a la ESP32 2 ESP32 Devkit Un ESP32 para controlar el carro y un ESP32 para controlar el robot 4 Motor DC Cuatro motores DC de alto torque para movilidad del carro hasta 25 Kg. L298N Permite controlar al los motores DC. Android Smartphone Un Smartphone que actue como Hotspot y permita usar Jitsi Meet Baterías La batería necesaria para alimentar tanto a la Raspberry, ESP32 y Smartphone NoIP Servicio de DNS dinámico para acceder al servidor de la Raspberry PI Este proyecto grupal tiene como propósito la programación de una figura animatrónica con actuadores (servos), que es controlada a través de un microcontrolador ESP32 y un programa en C++. La figura elegida fue un búho, cuyas alas, cabeza y patas tienen movimiento mediante servomotores. Figure 12. Lego Búho (#31125) Table 2. Tabla de Componentes Componente Cantidad Descripción ESP32-WROOM 1 Microcontrolador principal Servomotor SG90 4 Uno por ala, uno en la cabeza, uno en las patas Fuente de alimentación 1 USB 5V (desde computadora o batería externa) Cables Dupont Varios Para Conexiones Bloques tipo LEGO Varios Para ensamblar la estructura del búho Protoboard / PCB 1 Para conexiones eléctricas (opcional) Acotaciones Se recomienda usar piezas tipo LEGO para facilitar el ajuste de los servos y permitir cambios de diseño de manera sencilla. Se cuidó el peso en el diseño para no sobrecargar los servos, especialmente en las alas. La alimentación por USB 5V es suficiente para los servos, pero se debe evitar hacer movimientos simultáneos prolongados para no sobrecargar la corriente disponible. La estructura fue validada para estabilidad durante los movimientos. El código debe incorporar retardos adecuados y límites de movimiento para evitar daños mecánicos. Código fuente del Búho #include <ESP32Servo.h> int pos = 0; Servo izquierdo; Servo derecho; Servo cabeza; Servo poto; int led = 16; bool inicializar = true; void setup() { Serial.begin(115200); // Pines válidos para ESP32, cambia si usas otros izquierdo.attach(13, 500, 2500); derecho.attach(14, 500, 2500); cabeza.attach(15, 500, 2500); poto.attach(18, 500, 2500); pinMode(led, OUTPUT); } void startPosition() { digitalWrite(led, HIGH); derecho.write(180); izquierdo.write(0); cabeza.write(180); poto.write(0); delay(500); digitalWrite(led, LOW); } void saludar(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(90-pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(pos-40); delay(velocidad); } digitalWrite(led, LOW); } void feliz(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); cabeza.write(pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); delay(velocidad); } digitalWrite(led, LOW); } void enojar(int velocidad) { digitalWrite(led, HIGH); for (pos =120; pos <= 180; pos += 1) { cabeza.write(pos); delay(velocidad); } digitalWrite(led, LOW); } // Lectura de los comandos por serial USB void leerComandoSerial() { if (Serial.available() <= 0) { return; } String comando = Serial.readStringUntil('\\n'); // Elimina espacios y saltos de línea comando.trim(); if (comando == \"saludar\") { cabeza.write(160); delay(15); saludar(10); saludar(10); saludar(10); startPosition(); } else if (comando == \"enojar\") { startPosition(); enojar(10); enojar(10); enojar(10); startPosition(); } else if (comando == \"resetear\") { startPosition(); } else if (comando == \"feliz\") { feliz(5); feliz(5); feliz(5); startPosition(); } else { Serial.println(\"Comando no reconocido.\"); } } void loop() { leerComandoSerial(); } Figure 13. Esquemático del Animatrónico Figure 14. Guía de Conexiones Video de Ejemplo de Funcionamiento Your browser does not support the video tag.","title":"","component":"ROOT","version":"","name":"animatronics","url":"/controllers/esp32/animatronics.html","titles":[{"text":"Pilotos OriHime","hash":"pilotos-orihime","id":1},{"text":"Restaurantes y Robots en Chile","hash":"restaurantes-y-robots-en-chile","id":2},{"text":"Descripción del Proyecto","hash":"descripción-del-proyecto","id":3},{"text":"Materiales","hash":"materiales","id":4},{"text":"Marco","hash":"marco","id":5},{"text":"Batería","hash":"batería","id":6},{"text":"Smartphone","hash":"smartphone","id":7},{"text":"Raspberry PI 3","hash":"raspberry-pi-3","id":8},{"text":"Emote Robot","hash":"emote-robot","id":9},{"text":"Búho Animatrónico","hash":"búho-animatrónico","id":10}]},"43":{"id":43,"text":"El objetivo es crear un \"Gladiador Robot\" controlado por un smartphone via Wifi, este debe ser capaz de reventar un globo. El ganador es quien reviente el globo del oponente. Figure 1. Alumnos de Robótica UVM 2025 con su Gladiador Combate de Gladiadores Robot Your browser does not support the video tag. Ítem Descripción ¿Donde adquirir? ESP32 (Wifi) + Smartphone Principal componente. Se programará para enviar señales a los servomotores y crear un servidor web para ser controlado via Smartphone. https://altronics.cl/tarjeta-esp32-microusb Placa de desarrollo ESP32 Extensión del ESP32 que incluye regulador de voltaje para resistir hasta 16V de entrada (DC) y contiene hileras con voltaje, tierra y señal de forma más comoda. https://es.aliexpress.com/item/1005008212851634.html 2 motores DC 3 a 12V Principal fuente de movimiento del gladiador. La elección del motor y su necesidad de voltaje es a criterio del equipo (mayor velocidad = mayor voltaje). https://articulo.mercadolibre.cl/MLC-923623185-motor-dc-coche-gear-amarillo-3v-12v-_JM L298N Permite controlar dos motores de corriente continua o un motor paso a paso bipolar de hasta 2 amperes. https://altronics.cl/modulo-puente-h-l298 Chasis + Ruedas de Goma + Porta Pilas Principal fuente de poder y marco para armar. Alimentación entre 6v a 12v. 9v recomendado. https://altronics.cl/kit-chasis-2wd-1 Gladiador de Lego (A elección). Mini figura de lego versión dungeons and dragons o similar. https://www.tiendalego.cl/products/dungeons-dragons-71047?variant=41690791805046 Protoboard Marco para conexión de componentes. Recomendado 400 puntos. https://altronics.cl/protoboard-400ptos Cables Jumper Macho - Hembra, Macho - Macho. Permite conectar los componentes. https://altronics.cl/JW_MF_40_10 Globos largos (Colores diferentes para cada gladiador). Globos inflables + bombin. https://belina.cl/globos-largos-20cm-bombin-colores-surtidos-20-pcs Armas para reventar el Globo (A elección) Clavos, alfileres o materiales corto punzantes varios. https://www.masferret.cl/product/clavo-punta-1 Figure 2. Diagrama de conexión entre componentes Table 1. Tabla de conexiones ESP32 MONTADO EN PLACA MOTOR AC1 MOTOR AC2 L298N Batería Pin 16 IN1 Pin 17 IN2 Pin 18 IN3 Pin 19 IN4 (+) OUT1 (-) OUT2 (+) OUT3 (-) OUT4 IN12V (+) GND (-) Jack de carga (+)(-) La posición del globo depende de cada gladiador. Pero almenos debe tener dos puntos de anclaje inferior. Las pilas son conectadas a los motores y al ESP32 de forma separada, gracias a la placa de expansión se conecta al Jack de carga directamente a las pilas ya que este aguanta hasta 16v sin problemas. Código fuente del gladiador #include <WiFi.h> #include <WebServer.h> // Nombre de la red WiFi creada por el ESP32 const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; // Pines del L298N const int IN1 = 16; const int IN2 = 17; const int IN3 = 18; const int IN4 = 19; WebServer server(80); // Funciones de movimiento void parar() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void adelante() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void atras() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void izquierda() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void derecha() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } // Página web con botones String paginaHTML() { return R\"rawliteral( <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <style> body { text-align: center; font-family: Arial; } button { width: 100px; height: 50px; font-size: 18px; margin: 5px; } </style> </head> <body> <h1>Control del Robot</h1> <button onclick=\"location.href='/adelante'\">Adelante</button><br> <button onclick=\"location.href='/izquierda'\">Izquierda</button> <button onclick=\"location.href='/parar'\">Parar</button> <button onclick=\"location.href='/derecha'\">Derecha</button><br> <button onclick=\"location.href='/atras'\">Atrás</button> </body> </html> )rawliteral\"; } void setup() { Serial.begin(115200); // Configurar pines como salida pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); parar(); // Iniciar el ESP32 como Access Point WiFi.softAP(ssid, password); Serial.println(\"Red WiFi creada\"); Serial.print(\"IP del robot: \"); Serial.println(WiFi.softAPIP()); // Rutas del servidor server.on(\"/\", []() { server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/adelante\", []() { adelante(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/atras\", []() { atras(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/izquierda\", []() { izquierda(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/derecha\", []() { derecha(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/parar\", []() { parar(); server.send(200, \"text/html\", paginaHTML()); }); server.begin(); } void loop() { server.handleClient(); } Al construir el gladiador se tendrá acceso a una red Wifi llamada \"RobotESP32\" (cambiar el nombre para cada gladiador). La cual puede ser accedida desde cualquier smartphone o computador. const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; Esta red permite enviar comandos de dirección al hacer click en los enlaces. Se deja como ejercicio adicional la creación de una interfaz más adecuada para el control del robot, como un joystick virtual o físico. Figure 3. Figura de Lego a elección","title":"","component":"ROOT","version":"","name":"gladiators","url":"/controllers/esp32/gladiators.html","titles":[{"text":"Materiales","hash":"materiales","id":1},{"text":"Código fuente","hash":"código-fuente","id":2}]},"44":{"id":44,"text":"El desarrollo del lenguaje de programación Ada comenzó en 1974, cuando el Ministerio de Defensa de los Estados Unidos llevó a cabo un estudio para encontrar una solución al problema de la diversidad de lenguajes de programación utilizados en sus sistemas. El objetivo era crear un único lenguaje estándar que permitiera mejorar la portabilidad, mantenibilidad y fiabilidad del software militar. El lenguaje fue oficialmente diseñado bajo encargo del Departamento de Defensa de los EE.UU. durante los años 1970. Ada fue diseñado por Jean Ichbiah y su equipo de CII Honeywell Bull como parte de un concurso organizado por el Departamento de Defensa de los EE.UU. El nombre \"Ada\" se eligió en honor a Augusta Ada Byron, conocida como Ada Lovelace, considerada la primera programadora de la historia. El lenguaje fue anunciado y patrocinado por el Departamento de Defensa de los EE.UU. en reconocimiento a su contribución pionera en computación. La sintaxis de Ada es clara y muy legible, similar a Pascal, e incluye palabras clave en inglés que facilitan la comprensión del código. Ada es un lenguaje fuertemente tipado y estáticamente tipado, lo que significa que cada variable debe tener un tipo definido en tiempo de compilación, y no se permiten conversiones implícitas entre tipos diferentes, evitando errores comunes en tiempo de ejecución. Fue diseñado pensando en la seguridad y confiabilidad, especialmente para aplicaciones críticas donde los fallos pueden tener consecuencias graves. Incluye verificaciones en tiempo de ejecución, manejo explícito de excepciones y detección temprana de errores gracias a su riguroso sistema de tipos. Ada tiene soporte nativo para programación concurrente, con mecanismos como tareas, protecciones y regiones críticas. También soporta programación orientada a objetos desde Ada 95, permitiendo encapsulamiento, herencia y polimorfismo. Ada se utiliza principalmente en industrias donde la seguridad y la fiabilidad son críticas, como la aeroespacial, defensa, transporte ferroviario y sistemas incrustados. Algunos casos más destacados incluyen: Sistemas de control de vuelo de aviones militares y civiles. Software para satélites y misiones espaciales. Sistemas ferroviarios de alta seguridad como los utilizados en trenes de alta velocidad en Europa. Aunque no es común en proyectos de inteligencia artificial modernos, Ada puede ser usado en componentes críticos dentro de sistemas que integran inteligencia artificial, especialmente cuando se requiere alta fiabilidad o seguridad. En comparación con lenguajes como Python, que domina el campo de la IA por su simplicidad y bibliotecas disponibles, Ada ofrece mayor seguridad y robustez, pero carece de un ecosistema amplio para machine learning o deep learning. Las ventajas de Ada frente a otros lenguajes incluyen: Verificación de tipos en tiempo de compilación. Soporte integrado para concurrencia. Alta fiabilidad y seguridad. Buen rendimiento en entornos incrustados. Sus desventajas son: Curva de aprendizaje más pronunciada. Menos herramientas y comunidades activas comparadas con lenguajes como Python o Java. Poco adoptado fuera de sectores especializados. Un ejemplo básico de programa en Ada es el siguiente: with Ada.Text_IO; use Ada.Text_IO; procedure Hola_Mundo is begin Put_Line(\"¡Hola Mundo!\"); end Hola_Mundo; Un programa en Ada consta de una o más unidades de compilación, como procedimientos, funciones o paquetes. La estructura básica incluye una sección de declaración (is) y una sección de ejecución (begin …​ end). Ejemplo de declaración de tipos, bucles y procedimientos: type Entero is range 1..100; procedure Ejemplo is I : Entero; begin for I in 1..10 loop Put_Line(Integer'Image(I)); end loop; end Ejemplo; Este ejemplo simula un sistema de control de vuelo básico, como los usados en aviones militares. Muestra las capacidades de Ada para manejar concurrencia, seguridad de tipos y temporización precisa, características esenciales en aplicaciones críticas. with Ada.Text_IO; use Ada.Text_IO; with Ada.Real_Time; use Ada.Real_Time; procedure Sistema_Control_Vuelo is -- Tipos definidos para mayor seguridad type Altitud is range 0 .. 50_000 with Default_Value => 0; type Velocidad is range 0 .. 1200 with Default_Value => 0; -- Variables globales simuladas por sensores Ultima_Altitud : Altitud := 0; Ultima_Velocidad : Velocidad := 0; -- Tareas concurrentes task Sistema_Sensores; task Sistema_Alarmas; task Sistema_Navegacion; -- Implementación de tareas task body Sistema_Sensores is Periodo : constant Time_Span := Milliseconds(1000); Next_Release : Time := Clock; begin loop -- Simulamos lecturas aleatorias de sensores Ultima_Altitud := Altitud (Unsigned_32 (Clock) mod 40_000); Ultima_Velocidad := Velocidad (Unsigned_32 (Clock) mod 1000); Put_Line (\"Sensor actualizado - Altitud: \" & Altitud'Image (Ultima_Altitud) & \" ft | Velocidad: \" & Velocidad'Image (Ultima_Velocidad) & \" kt\"); delay until Next_Release + Periodo; end loop; end Sistema_Sensores; task body Sistema_Alarmas is Periodo : constant Time_Span := Milliseconds(1500); Next_Release : Time := Clock; begin loop if Ultima_Altitud < 100 then Put_Line (\"⚠️ ALARMA: Altitud crítica!\"); end if; if Ultima_Velocidad > 950 then Put_Line (\"⚠️ ALARMA: Velocidad excesiva!\"); end if; delay until Next_Release + Periodo; end loop; end Sistema_Alarmas; task body Sistema_Navegacion is Periodo : constant Time_Span := Milliseconds(2000); Next_Release : Time := Clock; begin loop Put_Line (\"🧭 Navegación activa - Altitud objetivo: 30000 ft\"); delay until Next_Release + Periodo; end loop; end Sistema_Navegacion; begin Put_Line (\"✈️ Sistema de Control de Vuelo Iniciado...\"); delay 10.0; -- Simular ejecución durante 10 segundos Put_Line (\"🛑 Apagando sistema.\"); end Sistema_Control_Vuelo; Ada 83: Primera versión estándar oficial. Ada 95: Añadió soporte para programación orientada a objetos y mejoras en concurrencia. Ada 2005: Ampliaciones menores y soporte para interfaces gráficas. Ada 2012: Añadido contratos (precondiciones, postcondiciones) para verificar comportamiento. Ada 2022: Mejoras en la gestión de memoria, concurrencia y seguridad. Las herramientas más utilizadas para programar en Ada son: GNAT: Compilador GNU basado en GCC, ampliamente utilizado. GPS (GNAT Programming Studio): IDE para desarrollo en Ada. Otras herramientas incluyen análisis estático y depuración específicas para Ada. Ada sigue siendo ampliamente utilizado en industrias críticas y es mantenido por la Agencia de Defensa de Sistemas de Software (DSSA) y la comunidad GNAT/GCC. Algunas universidades ofrecen cursos sobre Ada, especialmente en programas enfocados en ingeniería de software seguro o sistemas incrustados. Ada ha sido ampliamente utilizado en proyectos militares de alta seguridad, como en sistemas de misiles, aviones de combate y submarinos nucleares, aunque muchos detalles siguen clasificados. El lenguaje fue elegido en 1979 después de un proceso competitivo que evaluó múltiples propuestas. Su diseño fue inspirado en gran parte por el lenguaje Pascal, pero con énfasis en modularidad y seguridad. Ada es un lenguaje de programación diseñado específicamente para aplicaciones donde la fiabilidad, seguridad y mantenibilidad son críticas. Su uso extendido en sectores como la defensa, aviación, ferrocarriles de alta velocidad y sistemas incrustados no es casualidad, sino el resultado de su arquitectura orientada a evitar errores comunes durante la ejecución. Gracias a su tipado fuerte y estático, manejo explícito de excepciones y soporte nativo para concurrencia, Ada se convierte en una herramienta poderosa para desarrollar software que opere bajo condiciones extremas o con altos requisitos de seguridad. A diferencia de lenguajes más modernos enfocados en rapidez de desarrollo, Ada prioriza la previsibilidad del comportamiento del sistema. Aunque su adopción en el ámbito comercial ha sido limitada comparado con lenguajes como Python o Java, Ada sigue siendo clave en proyectos donde los fallos pueden tener consecuencias graves. Además, su evolución constante —desde Ada 83 hasta Ada 2022— muestra su capacidad para adaptarse a nuevas necesidades sin perder su esencia. AdaCore. (2020, 5 de agosto). About Ada. https://www.adacore.com/about-ada Colaboradores de Wikipedia. (2024, 23 de agosto). Ada (lenguaje de programación). Wikipedia, la Enciclopedia Libre. https://es.wikipedia.org/wiki/Ada_ (lenguaje_de_programaci%C3%B3n) Lenguaje de programación Ada. (2017, 6 de marzo). EcuRed. https://www.ecured.cu/index.php?title=Lenguaje_de_programaci%C3%B3n_Ada&oldid=2824858 Mayuti. (2024, 8 de diciembre). Ada Lovelace, la primera programadora de la historia - La BioZona Blog. 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este material se encuentran los contenidos necesarios para realizar proyectos relacionados con electrónica, robótica e IOT con enfoque en Elixir y AtomVM. Luego de ver los fundamentos de electrónica y electricidad, se da un vistazo general a las distintas herramientas disponibles para proyectos de electrónica, robótica e IOT. Finalmente se proporcionan proyectos prácticos utiizando ESP32 y AtomVM.","title":"Electrónica, Robótica e IOT con Elixir","component":"ROOT","version":"","name":"index","url":"/index.html","titles":[]},"2":{"id":2,"text":"Este proyecto tiene por objetivo la creación de un arcade clásico de los años 70 y principios de los 80 donde se utilizaban displays, pontenciómetros e interrupters en el gabinete para complementar el videojuego. En específico se utilizará el juego Speed Race (Taito, 1974) o Monaco GP (Sega, 1979) como principal inspiración. El proyecto consiste en usar los componentes de hardware cual estarán conectados via GPIO o Conexión Serial (ESP32) a una Raspberry PI o Computador con un videojuego creado en PICO8 (https://pico-8.fandom.com/wiki/GPIO) o TIC80 (https://tic80.com/play). Se debe crear o seleccionar un juego y habilitar controlarlo con los sensores. Además de mostrar información del juego en los displays segmentados. Table 1. Components de Arcade Posibles Componente Cantidad Descripción Potenciometro 1 Simula un manubrio de carreras. https://afel.cl/products/potenciometro-500k-ohm Display Segmentado de 4 dígitos 2 Muestra el High Score y el Score actual. https://afel.cl/products/display-7-segmentos-4-digitos Display Segmantado de 2 dígitos 1 Muestra el tiempo de juego actual. https://afel.cl/products/display-7-segmentos-2-digitos Interruptor MTS-102 3 pines 1 Simula una palanca de cambios. https://afel.cl/products/interruptor-mts-102-3-pines Placa de 4 botones 1 Simula los pedales de aceleración y fichas. https://afel.cl/products/placa-de-4-botones-independientes-micro-switch También se puede obtar por un Kit de componentes básicos como https://mcielectronics.cl/shop/product/kit-basico-de-inicio-de-componentes-electronicos-para-esp32-esp-32s/ Componentes del Kit 1 placa de desarrollo ESP32 1 x OLED de 0,96 pulgadas 1X Protoboard 830pts 1 X módulo para evitar obstáculos 1 módulo de fotorresistencia 1 X Módulo de temperatura y humedad DHT11 1 sensor de movimiento PIR de 2/2″ 1 potenciómetro X (10K) 1 cable micro USB 30X resistencias (220R/1K/10K) 1 zumbador pasivo 1 X zumbador activo 1 Módulo de relé de doble canal de 5V 6X interruptores de botón 10 x Cable DuPont 10 x cable DuPont de pulgadas 10 x Cable DuPont 5 x LED rojo 5 x LED amarillo 5 x LED verde 2 LEDs RGB TIC-80 si bien tiene mayor flexibilidad de que PICO-8 al ser de código libre, no tiene funcionalidades para leer o escribir datos en serial o GPIO. Por lo que la opción es lo siguiente: Se crea un projecto en ESP32 que lea todos los sensores Se comunica via serial a un demonio creado en un lenguaje de programación como Go o Python Este demonio gatilla eventos de teclado para simular presión de botones dentro de TIC-80. TIC-80 escribe en un archivo de texto serial el Score actual. El demonio lee el archivo y lo parsea para mostrar los datos en el display segmentado. Para poder ejecutar el juego y obtener los registros del log se puede ejecutar el siguiente comando: Comando para obtener los logs de un juego en TIC80 $ ./tic80 esp32.tic > out.log & El siguiente cartucho puede ser usado para probar Primero Creamos un cartucho de Lua > new lua Añadimos las funciones de debugging -- title: esp32 test cart -- author: ninjas.cl -- desc: A test cart for input/output to esp32 -- site: elixircl.github.io/elixir-robotics -- license: BSD License -- version: 0.1 -- script: lua t=0 x=96 y=24 function TIC() cls(13) if btn(0) then y=y-1 end if btn(1) then y=y+1 end if btn(2) then x=x-1 end if btn(3) then x=x+1 end if btn(4) then print(\"Player 1: A\", 90, 100) end if btn(5) then print(\"Player 1: B\", 90, 100) end if btn(6) then print(\"Player1: X\", 90, 100) end if btn(7) then print(\"Player1: Y\", 90, 100) end spr(1+t%60//30*2,x,y,14,3,0,0,2,2) print(\"ESP32 TEST\",84,84) t=t+1 if t > 999 then t = 0 end print(t, 0, 0) trace(\"stdout=time:\"..t) end -- <TILES> -- 001:eccccccccc888888caaaaaaaca888888cacccccccacc0ccccacc0ccccacc0ccc -- 002:ccccceee8888cceeaaaa0cee888a0ceeccca0ccc0cca0c0c0cca0c0c0cca0c0c -- 003:eccccccccc888888caaaaaaaca888888cacccccccacccccccacc0ccccacc0ccc -- 004:ccccceee8888cceeaaaa0cee888a0ceeccca0cccccca0c0c0cca0c0c0cca0c0c -- 017:cacccccccaaaaaaacaaacaaacaaaaccccaaaaaaac8888888cc000cccecccccec -- 018:ccca00ccaaaa0ccecaaa0ceeaaaa0ceeaaaa0cee8888ccee000cceeecccceeee -- 019:cacccccccaaaaaaacaaacaaacaaaaccccaaaaaaac8888888cc000cccecccccec -- 020:ccca00ccaaaa0ccecaaa0ceeaaaa0ceeaaaa0cee8888ccee000cceeecccceeee -- </TILES> -- <WAVES> -- 000:00000000ffffffff00000000ffffffff -- 001:0123456789abcdeffedcba9876543210 -- 002:0123456789abcdef0123456789abcdef -- </WAVES> -- <SFX> -- 000:000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000304000000000 -- </SFX> -- <PALETTE> -- 000:1a1c2c5d275db13e53ef7d57ffcd75a7f07038b76425717929366f3b5dc941a6f673eff7f4f4f494b0c2566c86333c57 -- </PALETTE> -- <TRACKS> -- 000:100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 -- </TRACKS> En el resto del proyecto, se utilizará el juego CAR ADVENTURE con una modificación en el código para enviar eventos a través del standard output. El código fuente de un juego se puede acceder después de ejecutarlo a través de TIC-80, al presionar la tecla ESC. En el editor de código ahora abierto, usa la función de búsqueda (CTRL+F) para modificar las siguientes secciones: Evento de puntaje (cerca de línea 175) ... print(\"Score:\"..math.ceil(player.score),5,128,COLRscore_2,true) print(\"Score:\"..math.ceil(player.score),4,127,COLRscore_1,true) --Score -- nuevo if player.score % 2500 <= 15 then trace(\"event:score_milestone\") end ... Evento de explosión del auto (cerca de línea 232) ... if player.IsCracked == true then PlayExplode()--Explosion!!! trace(\"event:explode\") -- nueva linea if Exp_stop == false then sfx(63,\"C-4\",30,3,15,7)--...And sound Exp_stop = true end end ... Luego de realizar las modificaciones, la nueva versión se puede guardar presionando CTRL+S. El Daemon es el encargado de comunicar el ESP32 con TIC-80. Este se ejecuta en el mismo computador al cual el ESP32 se conecta por USB y ejecuta el TIC-80. Este puede ser programado en Go o Python y debe comunicarse via serial con el ESP32 y leer el archivo out.log generado por TIC-80. Biblioteca de Keyboard para Python: https://github.com/boppreh/keyboard Biblioteca de Comunicación Serial para Python: https://pyserial.readthedocs.io/en/latest/index.html Biblioteca de Keyboard para Go: https://github.com/micmonay/keybd_event Biblioteca de Comunicación Serial para Go: https://github.com/bugst/go-serial Este ejemplo de Daemon en Go muestra cómo leer la entrada serial del ESP32, simular eventos de teclado para TIC-80, y cómo procesar comandos que representarían eventos del juego para enviar de vuelta al ESP32 (en este caso, para controlar el LED RGB). main.go package main import ( \"bufio\" \"io\" \"log\" \"os\" \"strconv\" \"strings\" \"time\" \"github.com/micmonay/keybd_event\" \"go.bug.st/serial\" ) type KeyAction struct { Key int Duration time.Duration // 0 = tap, >0 = hold for this duration } type State struct { prevPotValue int prevPotTime time.Time keyActionChan chan KeyAction } var appLogger = log.New(os.Stdout, \"[APP] \", log.LstdFlags|log.Lshortfile) func main() { portName := \"/dev/ttyUSB0\" baudRate := 115200 if len(os.Args) > 1 { portName = os.Args[1] } appLogger.Printf(\"Attempting to open serial port: %s at %d baud...\\n\", portName, baudRate) mode := &serial.Mode{ BaudRate: baudRate, } port, err := serial.Open(portName, mode) if err != nil { appLogger.Fatalf(\"Failed to open serial port %s: %v\\n\", portName, err) } defer func() { appLogger.Println(\"Closing serial port...\") if err := port.Close(); err != nil { appLogger.Printf(\"Error closing serial port: %v\\n\", err) } }() appLogger.Printf(\"Successfully opened serial port %s. Starting goroutines...\\n\", portName) keyActionChan := make(chan KeyAction, 10) serialWriteChan := make(chan []byte, 10) serialReadLinesChan := make(chan string, 100) state := State{ prevPotValue: -1, prevPotTime: time.Now(), keyActionChan: keyActionChan, } go keyboardWorker(keyActionChan) go serialReaderGoroutine(port, serialReadLinesChan) go serialWriterGoroutine(port, serialWriteChan) go stdinProcessorGoroutine(&state, serialWriteChan) go func() { var button1Pressed bool var button2Pressed bool for line := range serialReadLinesChan { appLogger.Printf(\"[Serial Data] Received: %s\\n\", line) action, newButton1Pressed, newButton2Pressed := getSerialKeyAction(&state, line, button1Pressed, button2Pressed) button1Pressed = newButton1Pressed button2Pressed = newButton2Pressed if action.Key != 0 { select { case state.keyActionChan <- action: default: appLogger.Printf(\"Warning: keyActionChan full, dropping action: %+v\", action) } } } appLogger.Println(\"[Serial Processor] Exiting.\") }() select {} } func serialReaderGoroutine(port serial.Port, outputChan chan<- string) { appLogger.Println(\"[Serial Reader] Starting to read from serial port...\") reader := bufio.NewReader(port) for { line, err := reader.ReadString('\\n') if err != nil { appLogger.Printf(\"[Serial Reader] Error reading from serial port: %v\\n\", err) if err == io.EOF || strings.Contains(err.Error(), \"device disconnected\") || strings.Contains(err.Error(), \"no such file\") { appLogger.Println(\"[Serial Reader] Device likely disconnected. Pausing for 5s before retrying read.\") time.Sleep(5 * time.Second) } else { time.Sleep(100 * time.Millisecond) } continue } line = strings.TrimSpace(line) if line == \"\" { continue } outputChan <- line } } func serialWriterGoroutine(port serial.Port, inputChan <-chan []byte) { appLogger.Println(\"[Serial Writer] Starting to write to serial port...\") for data := range inputChan { n, err := port.Write(data) if err != nil { appLogger.Printf(\"[Serial Writer] Error writing %q to serial: %v\\n\", data, err) } else { appLogger.Printf(\"[Serial Writer] Wrote %d bytes to serial: %q\\n\", n, data) } } appLogger.Println(\"[Serial Writer] Exiting.\") } func stdinProcessorGoroutine(state *State, serialWriteChan chan<- []byte) { appLogger.Println(\"[Stdin Processor] Reading from stdin. Type 'serial:<message>' to send to serial.\") appLogger.Println(\"[Stdin Processor] Example: serial:AT\\\\r\\\\n\") scanner := bufio.NewScanner(os.Stdin) for scanner.Scan() { line := scanner.Text() appLogger.Printf(\"[Stdin Processor] Received from stdin: %q\\n\", line) processStdinCommand(state, line, serialWriteChan) } if err := scanner.Err(); err != nil { appLogger.Printf(\"[Stdin Processor] Error reading stdin: %v\\n\", err) } appLogger.Println(\"[Stdin Processor] Stdin closed or error. Exiting.\") } func processStdinCommand(state *State, input string, serialWriteChan chan<- []byte) { if after, ok := strings.CutPrefix(input, \">event:\"); ok { switch after { case \"explode\": msgBytes := []byte(\"red\") select { case serialWriteChan <- msgBytes: appLogger.Printf(\"[Stdin Cmd] Queued message for serial: %q\\n\", msgBytes) default: appLogger.Println(\"[Stdin Cmd] Serial write channel full, dropping message.\") } case \"score_milestone\": msgBytes := []byte(\"blue\") select { case serialWriteChan <- msgBytes: appLogger.Printf(\"[Stdin Cmd] Queued message for serial: %q\\n\", msgBytes) default: appLogger.Println(\"[Stdin Cmd] Serial write channel full, dropping message.\") } } } else { appLogger.Printf(\"[Stdin Cmd] Unrecognized stdin command: %q\\n\", input) } } func getSerialKeyAction(state *State, input string, button1Pressed bool, button2Pressed bool) (KeyAction, bool, bool) { if strings.Contains(input, \"Button 1:\") { if strings.Contains(input, \"pressed\") && !button1Pressed { appLogger.Println(\"[Serial Data] Button 1 pressed.\") return KeyAction{Key: keybd_event.VK_X, Duration: 0}, true, button2Pressed } else if strings.Contains(input, \"released\") { appLogger.Println(\"[Serial Data] Button 1 released.\") return KeyAction{}, false, button2Pressed } return KeyAction{}, button1Pressed, button2Pressed } if strings.Contains(input, \"Button 2:\") { if strings.Contains(input, \"pressed\") && !button2Pressed { appLogger.Println(\"[Serial Data] Button 2 pressed.\") return KeyAction{Key: keybd_event.VK_Z, Duration: 0}, button1Pressed, true } else if strings.Contains(input, \"released\") { appLogger.Println(\"[Serial Data] Button 2 released.\") return KeyAction{}, button1Pressed, false } return KeyAction{}, button1Pressed, button2Pressed } if strings.HasPrefix(input, \"Potentiometer:\") { parts := strings.Split(input, \" \") if len(parts) < 2 { return KeyAction{}, button1Pressed, button2Pressed } rawStr := strings.TrimPrefix(parts[1], \"raw=\") rawVal, err := strconv.Atoi(rawStr) if err != nil { return KeyAction{}, button1Pressed, button2Pressed } if state.prevPotValue == -1 { state.prevPotValue = rawVal state.prevPotTime = time.Now() return KeyAction{}, button1Pressed, button2Pressed } diff := rawVal - state.prevPotValue now := time.Now() if now.Sub(state.prevPotTime) <= 50*time.Millisecond { return KeyAction{}, button1Pressed, button2Pressed } var key int absDiff := diff if diff > 0 { key = keybd_event.VK_RIGHT } else if diff < 0 { key = keybd_event.VK_LEFT absDiff = -diff } else { return KeyAction{}, button1Pressed, button2Pressed } if absDiff < 50 { return KeyAction{}, button1Pressed, button2Pressed } duration := calculateDuration(absDiff) appLogger.Printf(\"[Serial Data] Potentiometer changed by %d. Sending key %v for %v.\\n\", diff, key, duration) state.prevPotValue = rawVal state.prevPotTime = now return KeyAction{Key: key, Duration: duration}, button1Pressed, button2Pressed } return KeyAction{}, button1Pressed, button2Pressed } func keyboardWorker(ch <-chan KeyAction) { appLogger.Println(\"[Keyboard Worker] Starting...\") kb, err := keybd_event.NewKeyBonding() if err != nil { appLogger.Fatalf(\"Fatal: failed to create KeyBonding in worker: %v\", err) return } for action := range ch { appLogger.Printf(\"[Keyboard Worker] Performing action: %+v\\n\", action) if action.Duration == 0 { kb.SetKeys(action.Key) kb.Launching() } else { kb.SetKeys(action.Key) kb.Press() time.Sleep(action.Duration) kb.Release() } } appLogger.Println(\"[Keyboard Worker] Exiting.\") } func calculateDuration(diff int) time.Duration { switch { case diff >= 1000: return 500 * time.Millisecond case diff >= 500: return 300 * time.Millisecond case diff >= 250: return 200 * time.Millisecond case diff >= 100: return 100 * time.Millisecond case diff >= 50: return 50 * time.Millisecond default: return 0 } } Este programa está diseñado para ejecutarse en un ESP32 utilizando AtomVM. Su función principal es leer el estado de los sensores de entrada (botones y potenciómetro) y enviar esta información por el puerto serial al Daemon en el computador. Adicionalmente, escucha el puerto serial para recibir comandos del Daemon (basados en eventos del juego TIC-80) y controlar el LED RGB. AtomVM Elixir defmodule Tic80 do @led_duty 1000 @rgb_duty 4000 @high_speed_timer 0 @led_r 22 @led_g 21 @led_b 23 @button_1_pin 26 @button_2_pin 25 @potentiometer_pin 32 def start do rgb_channels = setup_leds() setup_input(rgb_channels) LEDC.set_duty(LEDC.high_speed_mode(), 0, @led_duty) LEDC.update_duty(LEDC.high_speed_mode(), 0) spawn(fn -> button_monitor(@button_1_pin, \"Button 1\") end) spawn(fn -> button_monitor(@button_2_pin, \"Button 2\") end) spawn(fn -> potentiometer_monitor(@potentiometer_pin) end) Process.sleep(:infinity) end defp setup_leds() do ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_channel = [ [ {:channel, 1}, {:duty, 0}, {:gpio_num, @led_r}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 2}, {:duty, 0}, {:gpio_num, @led_g}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 3}, {:duty, 0}, {:gpio_num, @led_b}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) %{ red: Enum.at(ledc_channel, 0), green: Enum.at(ledc_channel, 1), blue: Enum.at(ledc_channel, 2) } end defp button_monitor(pin, name) do GPIO.set_pin_mode(pin, :input) GPIO.set_pin_pull(pin, :up) button_loop(pin, name, :released) end defp button_loop(pin, name, last_state) do current_state = case GPIO.digital_read(pin) do :low -> :pressed :high -> :released end if current_state != last_state do :io.format('~s: ~s~n', [name, current_state]) Process.sleep(50) button_loop(pin, name, current_state) else Process.sleep(100) button_loop(pin, name, last_state) end end defp potentiometer_monitor(pin) do :ok = :esp_adc.start(pin, bitwidth: :bit_max, atten: :db_12) pot_loop(pin, nil, nil) end defp pot_loop(pin, last_raw, last_mv) do case :esp_adc.read(pin, [:raw, :voltage, samples: 48]) do {:ok, {raw, mv}} -> if last_raw == nil || abs(raw - last_raw) > 50 do :io.format('Potentiometer: raw=~p mv=~p~n', [raw, mv]) Process.sleep(200) pot_loop(pin, raw, mv) else Process.sleep(200) pot_loop(pin, last_raw, last_mv) end error -> :io.format('ADC error: ~p~n', [error]) Process.sleep(500) pot_loop(pin, last_raw, last_mv) end end defp setup_input(rgb_channels) do uart = :uart.open(\"UART0\", rx: 3, tx: 1, speed: 115_200) :io.format('UART0 opened successfully. Sending and receiving on ~p~n', [uart]) spawn(fn -> loop_read(uart, rgb_channels) end) end defp loop_read(uart, rgb_channels) do data = :uart.read(uart) case data do '' -> Process.sleep(50) {:ok, string} -> :io.format('Received: ~p~n', [string]) process_command(string, rgb_channels) end loop_read(uart, rgb_channels) end defp process_command(<<\"red\">>, %{red: red_channel}) do apply_duty(red_channel, @rgb_duty) Process.sleep(1000) apply_duty(red_channel, 0) end defp process_command(<<\"green\">>, %{green: green_channel}) do apply_duty(green_channel, @rgb_duty) Process.sleep(1000) apply_duty(green_channel, 0) end defp process_command(<<\"blue\">>, %{blue: blue_channel}) do apply_duty(blue_channel, @rgb_duty) Process.sleep(1000) apply_duty(blue_channel, 0) end defp process_command(_, _), do: :io.format('Invalid input.~n') defp apply_duty(channel_config, duty) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, duty) :ok = LEDC.update_duty(speed_mode, channel) end end Luego de modificar el código fuente del juego, crear el proyecto de Go y flashear el programa al ESP32, el proyecto se puede ejecutar con el comando tic80 ./car_adventure.tic | sudo go run main.go. Esto conecta el stdout del juego TIC-80 con el Daemon de Go a través de una pipe. Para entender cómo todos los componentes interactúan, podemos seguir el flujo de datos y control a través del sistema: Entrada Física (Hardware - ESP32): El Potenciómetro y los Botones son manipulados por el jugador. El ESP32, ejecutando el programa Elixir, monitorea constantemente el estado de estos componentes. Lee el valor analógico del potenciómetro a través de un pin. Detecta los cambios de estado (presionado/liberado) de los botones a través de pines GPIO. Comunicación Serial (ESP32 a Computador): El programa del ESP32 imprime los valores y estados leídos (ej. Potentiometer: raw=XXXX, Button 1: pressed) a su output serial. Este output serial se envía al computador host a través de la conexión USB (que utiliza un puerto serial, típicamente /dev/ttyUSB0 en Linux). Procesamiento del Daemon (Computador): El Daemon Go se ejecuta en el computador host. La goroutine serialReaderGoroutine del Daemon lee continuamente los datos del puerto serial (provenientes del ESP32). La función getSerialKeyAction del Daemon procesa estas líneas. Por ejemplo, un cambio significativo en el potenciómetro se traduce en una acción de \"flecha derecha\" o \"flecha izquierda\", y una pulsación de botón en \"tecla X\" o \"tecla Z\". Estas acciones de teclado son enviadas a través del keyActionChan a la goroutine keyboardWorker. Control del Juego (Daemon a TIC-80): La goroutine keyboardWorker del Daemon utiliza la biblioteca keybd_event para simular pulsaciones de teclas en el sistema operativo. El juego TIC-80 (CAR ADVENTURE) está ejecutándose en el mismo computador y recibe estas pulsaciones de teclas como si un jugador estuviera interactuando directamente con el teclado. Esto permite controlar el auto, acelerar, etc. Eventos del Juego (TIC-80 a Daemon): Mientras el juego TIC-80 se ejecuta, las modificaciones hechas en su código (trace(\"event:score_milestone\"), trace(\"event:explode\")) envían eventos específicos a su salida estándar (stdout). La goroutine stdinProcessorGoroutine del Daemon (leyendo el stdout del proceso TIC-80) detecta estos eventos. Retroalimentación al Jugador (Daemon a ESP32 a Hardware): Cuando el Daemon detecta un evento (como \"explode\"), la función processStdinCommand envía un comando específico (ej. \"red\" para explosión, \"blue\" para hito de score) al serialWriteChan. La goroutine serialWriterGoroutine del Daemon envía estos comandos de vuelta al ESP32 a través del puerto serial. El programa del ESP32, en su loop_read y process_command, recibe e interpreta estos comandos. Finalmente, la función apply_duty del ESP32 controla el led RGB conectado a sus pines, encendiendo el color correspondiente (rojo para explosión, azul para score milestone) para dar retroalimentación visual al jugador. Your browser does not support the video tag.","title":"Proyecto: Videojuego Arcade","component":"ROOT","version":"","name":"arcade","url":"/atomvm/arcade.html","titles":[{"text":"Componentes del Proyecto","hash":"componentes-del-proyecto","id":1},{"text":"TIC-80","hash":"tic-80","id":2},{"text":"Modificación del codigo fuente","hash":"modificación-del-codigo-fuente","id":3},{"text":"Daemon","hash":"daemon","id":4},{"text":"Ejemplo de Daemon en Go","hash":"ejemplo-de-daemon-en-go","id":5},{"text":"Programa para ESP32 (Elixir/AtomVM)","hash":"programa-para-esp32-elixiratomvm","id":6},{"text":"Ejecución","hash":"ejecución","id":7},{"text":"Flujo de Datos y Control","hash":"flujo-de-datos-y-control","id":8},{"text":"Demo","hash":"demo","id":9}]},"3":{"id":3,"text":"AtomVM es una máquina virtual ligera que permite ejecutar bytecode de Erlang, Elixir y LFE (Lisp Flavored Erlang) en dispositivos incrustados con pocos recursos (como microcontroladores). Su objetivo es hacer posible usar lenguajes del ecosistema BEAM en hardware donde la máquina virtual de Erlang tradicional no puede correr por ser demasiado pesada. Permite usar lenguajes funcionales como Elixir en entornos de muy bajo nivel. Consume muy poca memoria (menos de 500 KB en muchos casos). Soporta concurrencia ligera y estructuras de datos funcionales. Ideal para el desarrollo de sistemas incrustados inteligentes y compactos AtomVM comenzó su desarrollo en el año 2018 por Pascal Gigler con el objetivo de llevar Elixir y Erlang a un hardware más pequeño. La comunidad fue creciendo, sumando desarrolladores que aportaron soporte para nuevos dispositivos y bibliotecas, llegando a poder realizarse proyectos industriales de IoT que necesitaban de un dispositivo con tolerancia a fallos, y concurrencia, las cuales tenia el dispositivo. Este ejemplo usa un sensor DHT11 conectado a un ESP32, leyendo temperatura y humedad usando Elixir sobre AtomVM. Requisitos: Microcontrolador ESP32 con AtomVM cargado. Sensor DHT11 conectado al pin GPIO 4 (puedes cambiarlo). Módulo nativo avm_dht disponible en el firmware de AtomVM. Código fuente en Elixir defmodule DHTReader do @dht_pin 4 def start do IO.puts(\"Iniciando lectura del sensor DHT11...\") loop() end defp loop do case :avm_dht.read(@dht_pin, :dht11) do {:ok, temperature, humidity} -> IO.puts(\"Temperatura: #{temperature} °C\") IO.puts(\"Humedad: #{humidity} %\") {:error, reason} -> IO.puts(\"Error al leer sensor: #{inspect(reason)}\") end :timer.sleep(5000) # Espera 5 segundos loop() end end DHTReader.start() Sensor DHT11 ESP32 VCC 3.3V DATA GPIO 4 GND GND Compila el archivo con elixirc dht_reader.ex. Sube el archivo .beam al ESP32 con las herramientas de AtomVM. Asegúrate de incluir el módulo nativo avm_dht en tu firmware. El ESP32 imprimirá por consola la temperatura y humedad cada 5 segundos. ESP32 sumado con Elixir Nerves permite crear sistemas más complejos, como sistemas de domotica, sistemas industriales, estaciones meteorológicas con panel, etc. AtomVM y Elixir Nerves permiten unir el mundo del hardware incrustado con la programación funcional moderna. Usarlos en conjunto puede llevar a soluciones más robustas, escalables y fáciles de mantener. Además, estas tecnologías permiten desarrollar soluciones completas de IoT, automatización y monitoreo sin depender de lenguajes más difíciles como C o C++, y aprovechando todo el ecosistema de Elixir. Atomvm. (n.d.). GitHub - atomvm/AtomVM: Tiny Erlang VM. GitHub. https://github.com/atomvm/AtomVM?utm_source=chatgpt.com atomvm.net. (n.d.). AtomVM. AtomVM. https://www.atomvm.net/ Sifoni, L. (2023, November 16). Lucas Sifoni - Hello AtomVM — Elixir & Erlang on ESP32. Lucas Sifoni. https://lucassifoni.info/blog/hello-atomvm/?utm_source=chatgpt.com Getting Started Guide — AtomVM 0.7.0-dev+git.65f16e87 documentation. (n.d.). https://www.atomvm.net/doc/master/getting-started-guide.html?utm_source=chatgpt.com","title":"AtomVM","component":"ROOT","version":"","name":"atomvm","url":"/atomvm/atomvm.html","titles":[{"text":"Características principales","hash":"características-principales","id":1},{"text":"Historia","hash":"historia","id":2},{"text":"Ejemplo práctico: Medición ambiental con AtomVM y DHT11","hash":"ejemplo-práctico-medición-ambiental-con-atomvm-y-dht11","id":3},{"text":"Conexiones del sensor DHT11 al ESP32","hash":"conexiones-del-sensor-dht11-al-esp32","id":4},{"text":"Instrucciones","hash":"instrucciones","id":5},{"text":"Referencias","hash":"referencias","id":6}]},"4":{"id":4,"text":"En esta sección se mostrará ejemplos de cómo conectar y utilizar distintos componentes de electrónica que podrían ser utilizados en los robots del coliseo atómico. El Motor DC requiere de una placa L298N para poder ser controlado desde la ESP32. Se recomienda una alimentación de 9V separada de la placa de desarrollo para alimentar los motores y tengan una buena velocidad. Son ideales para las ruedas que dan movimiento al carro. Figure 1. Motores DC Para controlar un motor DC con una ESP32 y un driver L298N, se requiere de una fuente de alimentación externa para el motor, ya que la ESP32 no puede suministrar la corriente necesaria. El L298N actúa como un \"puente H\" que permite a la ESP32 controlar tanto la dirección como la velocidad del motor. Conexión a la ESP32: ESP32 GND → L298N GND (es importante que compartan tierra) ESP32 GPIO26 → L298N IN1 ESP32 GPIO27 → L298N IN2 ESP32 GPIO25 → L298N ENA (si se va a usar PWM) Conexión de la Fuente de Alimentación Externa: Fuente Externa Positivo (+) ` → `L298N V12 Fuente Externa Negativo (-) ` → `L298N GND Conexión del Motor DC: Motor Terminal 1 → L298N OUT1 Motor Terminal 2 → L298N OUT2 Notas sobre el pin ENA y el control de velocidad (PWM): El módulo L298N suele venir con un jumper de plástico preinstalado en el pin ENA (y ENB). Si este jumper está puesto, el motor estará siempre habilitado a máxima potencia y no podrás controlar su velocidad mediante software. Para poder controlar la velocidad del motor con la ESP32, se debe retirar el jumper del pin ENA y conectar un pin GPIO de la ESP32 (como GPIO25) a ENA. La ESP32 enviará una señal PWM (Pulse Width Modulation) a este pin ENA. El PWM permite simular un voltaje variable controlando el \"tiempo de encendido\" de la señal, lo que a su vez controla la velocidad efectiva del motor. En AtomVM, esto se gestiona mediante el módulo LEDC. defmodule MotorTest do @left_motor_pin_1 26 @left_motor_pin_2 27 def start() do :gpio.set_pin_mode(@left_motor_pin_1, :output) :gpio.set_pin_mode(@left_motor_pin_2, :output) :io.format('Setup de motor finalizado~n') loop() end defp loop() do :io.format('Moviendo hacia adelante~n') set_motor_direction(:forward) Process.sleep(3000) :io.format('Deteniendo motor~n') set_motor_direction(:stop) Process.sleep(2000) :io.format('Moviendo hacia atrás~n') set_motor_direction(:reverse) Process.sleep(3000) loop() end defp set_motor_direction(direction) do case direction do :forward -> :gpio.digital_write(@left_motor_pin_1, :high) :gpio.digital_write(@left_motor_pin_2, :low) :reverse -> :gpio.digital_write(@left_motor_pin_1, :low) :gpio.digital_write(@left_motor_pin_2, :high) :stop -> :gpio.digital_write(@left_motor_pin_1, :low) :gpio.digital_write(@left_motor_pin_2, :low) _ -> :io.format('Dirección de motor inválida: ~p~n', [direction]) end end end A diferencia de un motor DC, el servomotor puede ser controlado con precisión, pero son más lentos. En este caso se utilizará un Micro servo SG90. Figure 2. Servomotor SG90 Para conectar un servomotor SG90 a la ESP32: Pines del servomotor SG90: Cable Rojo: VCC Cable Marrón: GND Cable Naranja: Señal PWM Conexión a la ESP32: VCC (Servo) → ESP32 3v3 GND (Servo) → ESP32 GND Signal (Servo) → ESP32 GPIO (Ej: GPIO13) defmodule ServoTest do @servomotor_pin 13 @servo_pwm_channel 0 # canal LEDC a usar para el servo @servo_pwm_timer 0 # timer LEDC a usar para el servo @servo_pwm_freq 50 # servos usan 50Hz @servo_pwm_resolution 10 # 10 bits de resolución (0-1023) # valores de duty cycle para ángulos comunes del SG90 # calculados para 10 bits de resolución (máx 1023) y 50Hz (periodo 20ms): # 1ms (0 grados) -> (1/20) * 1023 = ~51 # 1.5ms (90 grados) -> (1.5/20) * 1023 = ~77 # 2ms (180 grados) -> (2/20) * 1023 = ~102 @duty_0_degrees 51 @duty_90_degrees 77 @duty_180_degrees 100 def start() do set_up_servo() :io.format('Servo setup finished. Starting movement sequence...~n') set_servo_angle(@duty_0_degrees) Process.sleep(1500) set_servo_angle(@duty_90_degrees) Process.sleep(1500) set_servo_angle(@duty_180_degrees) Process.sleep(1500) :io.format('Movement sequence completed. Entering infinite sleep.~n') :timer.sleep(:infinity) end defp set_up_servo() do :ok = LEDC.timer_config( duty_resolution: @servo_pwm_resolution, freq_hz: @servo_pwm_freq, speed_mode: LEDC.high_speed_mode(), timer_num: @servo_pwm_timer ) :ok = LEDC.channel_config( channel: @servo_pwm_channel, duty: @duty_90_degrees, # iniciar el servo en una posición central gpio_num: @servomotor_pin, speed_mode: LEDC.high_speed_mode(), hpoint: 0, timer_sel: @servo_pwm_timer ) end defp set_servo_angle(duty_cycle_value) do :io.format('Setting servo duty to: ~p~n', [duty_cycle_value]) :ok = LEDC.set_duty(LEDC.high_speed_mode(), @servo_pwm_channel, duty_cycle_value) :ok = LEDC.update_duty(LEDC.high_speed_mode(), @servo_pwm_channel) end end El módulo de evitación de obstaulos utiliza un sensor infrarrojo para enviar una señal al detectar un obstáculo. Figure 3. Sensor de Obstáculos IR Para conectar un Sensor de Obstáculos IR a la ESP32: Pines del Sensor de Obstáculos IR: VCC: Alimentación GND: Tierra OUT: Salida digital Conexión a la ESP32: VCC (Sensor) → Pin 3V3 de la ESP32 GND (Sensor) → Pin GND de la ESP32 OUT (Sensor) → Pin GPIO de la ESP32 (Ej: GPIO33) Notas: Algunos módulos tienen un potenciómetro para ajustar la distancia de detección. La salida OUT es típicamente LOW cuando detecta un obstáculo y HIGH cuando no detecta nada. defmodule DetectTest do @led_pin 2 @detection_pin 33 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@detection_pin, :input) loop() end defp loop() do level = read_detection(@detection_pin) :gpio.digital_write(@led_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) result end end El módulo de DHT11 es un sensor digital que mide la temperatura ambiente y la humedad, usando un sensor de humedad capacitativo y un termistor, mostrando los datos a través de un pin digital. Requiere de un driver adicional: https://github.com/atomvm/atomvm_dht Figure 4. Sensor DHT11 Para conectar un sensor DHT11 a la ESP32: Pines del Sensor DHT: VCC (o +): Alimentación (3.3V) DATA (o SIG): Pin de datos GND (o -): Tierra (Nota: Algunos módulos DHT tienen 3 pines, otros tienen 4 y el pin no usado se deja flotante. Asegúrate de identificar VCC, DATA y GND correctamente). Conexión a la ESP32: VCC (DHT) → Pin 3V3 de la ESP32 GND (DHT) → Pin GND de la ESP32 DATA (DHT) → Pin GPIO de la ESP32 (Ej: GPIO21) defmodule DhtTest do @dht_pin 21 def start() do {:ok, dht} = :dht.start(%{pin: @dht_pin, device: :dht_11}) loop(dht) end defp loop(dht) do take_reading(dht) Process.sleep(5000) loop(dht) end defp take_reading(dht) do case :dht.take_reading(dht) do {:ok, {{temp, tempFractional}, {hum, humFractional}}} -> :io.format('Temperature: ~p.~pC Humidity: ~p.~p%~n', [ temp, tempFractional, hum, humFractional ]) error -> :io.format('Error taking reading: ~p~n', [error]) end end end mix.exs defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"}, {:dht, git: \"https://github.com/UncleGrumpy/atomvm_dht\"} ] end El sensor de movimiento PIR mide la luz infrarroja emitida en su campo de visión. Cada cuerpo libera energía térmica, lo que permite que el sensor los detecte. Figure 5. Sensor PIR Para conectar un Sensor de Movimiento PIR a la ESP32: Pines del Sensor PIR: VCC: Alimentación GND: Tierra OUT: Salida digital (HIGH cuando detecta movimiento, LOW en reposo) Conexión a la ESP32: VCC (PIR) → Pin 3V3 de la ESP32 GND (PIR) → Pin GND de la ESP32 OUT (PIR) → Pin GPIO de la ESP32 (Ej: GPIO26) defmodule SensorTest do @led_pin 2 @motion_pin 26 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@motion_pin, :input) loop() end defp loop() do level = read_detection(@motion_pin) :gpio.digital_write(@led_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) result end end La fotoresistencia son útiles para crear robots que sigan líneas o eviten obstáculos según el nivel de luz. Figure 6. Módulo de Fotoresistencia Para conectar un Módulo de Fotoresistencia a la ESP32: Pines del Módulo de Fotoresistencia: VCC: Alimentación GND: Tierra OUT (o DO): Salida digital Conexión a la ESP32: VCC → Pin 3V3 de la ESP32 GND → Pin GND de la ESP32 OUT → Pin GPIO de la ESP32 (Ej: GPIO26) Notas: Estos módulos suelen tener un potenciómetro para ajustar el umbral de luz que activa la salida digital. El ejemplo utilizado para el sensor de movimento también aplica para la fotoresistencia. Los pontenciómetros son útiles para configurar la intensidad de ciertas configuraciones. Figure 7. Potenciómetro Para conectar un Potenciómetro a la ESP32: Pines del Potenciómetro: Pin Exterior 1: VCC (Alimentación) Pin Exterior 2: GND (Tierra) Pin Central (Wiper): SIG (Salida de señal analógica) Conexión a la ESP32: Pin Exterior 1 → Pin 3V3 de la ESP32 Pin Exterior 2 → Pin GND de la ESP32 Pin Central → Pin ADC de la ESP32 (Ej: GPIO34) Notas: Los pines ADC de la ESP32 son específicos. GPIO32-39 son los más comunes para ADC1. La lectura del potenciómetro proporcionará un valor analógico que varía según la posición del eje. defmodule PotentiometerTest do @potentiometer_pin 34 def start do :ok = :esp_adc.start(@potentiometer_pin, bitwidth: :bit_max, atten: :db_12) loop() end def loop() do read_potentiometer(@potentiometer_pin) loop() end defp read_potentiometer(pin) do {:ok, {raw, mv}} = :esp_adc.read(pin, [:raw, :voltage, samples: 48]) :io.format('ADC pin ~p raw value=~p millivolts=~p~n', [pin, raw, mv]) end end Los zumbadores activos tienen un oscilador interno que produce un tono, lo que los hace fácil de usar. En cambio, los zumbadores pasivos requieren de una señal externa para generar un tono, ofreciendo mayor control a cambio de mayor complejidad. Figure 8. Zumbador Para conectar un Zumbador Activo a la ESP32: Pines del Zumbador Activo: Pin Positivo (+): Alimentación (pin más largo) Pin Negativo (-): Tierra (pin más corto) Conexión a la ESP32: Pin Positivo → Pin GPIO de la ESP32 (Ej: GPIO26) Pin Negativo → Pin GND de la ESP32 Notas: Un zumbador activo produce un tono fijo cuando se le aplica voltaje. No requiere una señal PWM para generar sonido. defmodule BuzzerTest do @led_pin 2 @detection_pin 33 @buzzer_pin 26 def start() do :gpio.set_pin_mode(@led_pin, :output) :gpio.set_pin_mode(@detection_pin, :input) :gpio.set_pin_mode(@buzzer_pin, :output) loop() end defp loop() do level = read_detection(@detection_pin) :gpio.digital_write(@led_pin, level) :gpio.digital_write(@buzzer_pin, level) Process.sleep(100) loop() end defp read_detection(pin) do result = :gpio.digital_read(pin) :io.format('Result = ~pn', [result]) result end end Un botón pulsador táctil común de 4 pines tiene sus contactos internos configurados de manera que los dos pines en cada uno de sus lados largos están siempre eléctricamente conectados entre sí. Al presionar el botón, se establece temporalmente una conexión entre estos dos lados que de otro modo estarían separados, cerrando el circuito. Esta configuración interna significa que para cablear el botón, solo necesitas usar un pin de cada lado opuesto, ya que el otro pin en el mismo lado ofrece un punto de conexión idéntico. Figure 9. Botón En el ejemplo se utiliza un pull-up interno. Para conectar un Botón Pulsador a la ESP32 con pull-up interno: Pines del Botón Pulsador: Dos terminales Conexión a la ESP32: Terminal 1 del Botón → Pin GPIO de la ESP32 (Ej: GPIO33) Terminal 2 del Botón → Pin GND de la ESP32 Notas: Con esta configuración, el pin GPIO estará HIGH (3.3V) cuando el botón no esté presionado (gracias al pull-up interno). Cuando el botón es presionado, el pin GPIO se conecta a GND y su lectura será LOW. Esto elimina la necesidad de un resistor externo. defmodule ButtonTest do @test_duty 3000 @test_fade_time 2000 @high_speed_timer 0 @low_speed_timer 1 @led_1 2 @led_2 23 @button_pin 33 def start do GPIO.set_pin_mode(@button_pin, :input) GPIO.set_pin_pull(@button_pin, :up) ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_ls_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.low_speed_mode()}, {:timer_num, @low_speed_timer} ] :ok = LEDC.timer_config(ledc_ls_timer) ledc_channel = [ [ {:channel, 0}, {:duty, 0}, {:gpio_num, @led_1}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ], [ {:channel, 1}, {:duty, 0}, {:gpio_num, @led_2}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) loop(ledc_channel) end def loop(ledc_channel) do if read_button(@button_pin) == :pressed do wait_for_release(@button_pin) end :io.format('1. LEDC fade up to duty = p~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_1(channel_config) end) Process.sleep(@test_fade_time) :io.format('2. LEDC fade down to duty = 0~n') Enum.each(ledc_channel, fn channel_config -> do_stage_2(channel_config) end) Process.sleep(@test_fade_time) loop(ledc_channel) end defp do_stage_1(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, @test_duty, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_2(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, 0, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp read_button(pin) do result = GPIO.digital_read(pin) :io.format('Result = ~p~n', [result]) case result do :low -> :pressed :high -> :released end end defp wait_for_release(pin) do Process.sleep(50) if read_button(pin) == :pressed do wait_for_release(pin) else :ok end end end La pantalla OLED SSD1306 utiliza el protocolo de comunicación I2C para conectarse a la ESP32. Para la transmisión de datos, el pin SDA del display se conecta al pin de datos I2C de la ESP32 (generalmente GPIO21), y el pin SCL del display al pin de reloj I2C de la ESP32 (comúnmente GPIO22). Requiere de un driver adicional: https://github.com/atomvm/atomgl Figure 10. Pantalla SSD1306 Para conectar una Pantalla OLED (SSD1306 I2C) a la ESP32: Pines de la Pantalla OLED: VCC: Alimentación GND: Tierra SCL: Línea de reloj I2C SDA: Línea de datos I2C Conexión a la ESP32: VCC (OLED) → Pin 3V3 de la ESP32 GND (OLED) → Pin GND de la ESP32 SCL (OLED) → Pin GPIO22 de la ESP32 (Pin SCL I2C por defecto) SDA (OLED) → Pin GPIO21 de la ESP32 (Pin SDA I2C por defecto) defmodule SsdTest do @sda_pin 21 @scl_pin 22 def start do i2c_opts = [ sda: @sda_pin, scl: @scl_pin, clock_speed_hz: 40000, peripheral: \"i2c0\" ] i2c_host = :i2c.open(i2c_opts) display_opts = [ width: 128, height: 64, compatible: \"solomon-systech,ssd1306\", i2c_host: i2c_host, reset: 18 ] display = :erlang.open_port({:spawn, \"display\"}, display_opts) {:ok, pid} = HelloScene.start_link([], display_server: {:port, display} ) Process.sleep(:infinity) end end defmodule HelloScene do def start_link(args, opts) do :avm_scene.start_link(__MODULE__, args, opts) end def init(_args) do :erlang.send_after(100, self(), :update_display) {:ok, %{width: 320, height: 240}} end def handle_info(:update_display, %{width: width, height: height} = state) do items = [ {:text, 10, 20, :default16px, 0x000000, 0xFFFFFF, \"Hello, World!\"}, {:rect, 0, 0, width, height, 0xFFFFFF} ] {:noreply, state, [{:push, items}]} end end mix.exs defp deps do [ {:avm_scene, git: \"https://github.com/atomvm/avm_scene/\"}, {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"} ] end","title":"Componentes Electrónicos","component":"ROOT","version":"","name":"components","url":"/atomvm/components.html","titles":[{"text":"Motor DC","hash":"motor-dc","id":1},{"text":"Guía de Conexiones","hash":"guía-de-conexiones","id":2},{"text":"Código de Ejemplo","hash":"código-de-ejemplo","id":3},{"text":"Ejemplo de Funcionamiento","hash":"ejemplo-de-funcionamiento","id":4},{"text":"Servomotor","hash":"servomotor","id":5},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-2","id":6},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-2","id":7},{"text":"Ejemplo de Funcionamiento","hash":"ejemplo-de-funcionamiento-2","id":8},{"text":"Evitar Obstáculos","hash":"evitar-obstáculos","id":9},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-3","id":10},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-3","id":11},{"text":"Sensor de temperatura y humedad","hash":"sensor-de-temperatura-y-humedad","id":12},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-4","id":13},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-4","id":14},{"text":"Sensor de movimiento","hash":"sensor-de-movimiento","id":15},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-5","id":16},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-5","id":17},{"text":"Fotoresistencia","hash":"fotoresistencia","id":18},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-6","id":19},{"text":"Potenciometro","hash":"potenciometro","id":20},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-7","id":21},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-6","id":22},{"text":"Zumbador activo y pasivo","hash":"zumbador-activo-y-pasivo","id":23},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-8","id":24},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-7","id":25},{"text":"Botones","hash":"botones","id":26},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-9","id":27},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-8","id":28},{"text":"Pantalla OLED","hash":"pantalla-oled","id":29},{"text":"Guía de Conexiones","hash":"guía-de-conexiones-10","id":30},{"text":"Código de Ejemplo","hash":"código-de-ejemplo-9","id":31}]},"5":{"id":5,"text":"En esta sección se mostrará cómo configurar el entorno de desarrollo y compilar AtomVM para ser ejecutado en la ESP32 utilizando un sistema operativo Linux. Se recomienda usar Devenv para gestionar dependencias del sistema. El siguiente archivo devenv.nix define todas las dependencias necesarias para compilar un proyecto Elixir a avm, y luego flashear el resultado a un ESP32: devenv.nix { lib, pkgs, ... }: { languages.elixir.enable = true; packages = [ pkgs.inotify-tools pkgs.esptool pkgs.picocom ] ++ lib.optionals pkgs.stdenv.isDarwin [ # for ExUnit notifier pkgs.terminal-notifier # for package - file_system pkgs.darwin.apple_sdk.frameworks.CoreFoundation pkgs.darwin.apple_sdk.frameworks.CoreServices ]; scripts.flash.exec = '' mix atomvm.packbeam && sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 \\ write-flash 0x250000 serial_test.avm ''; scripts.monitor.exec = '' sudo picocom -b 115200 /dev/ttyUSB0 ''; scripts.format.exec = '' sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 erase-flash ''; } El entorno también incluye un alias para flashear el programa (flash) y un alias para monitorear la salida serial (monitor). Estos alias se pueden ejectuar directamente a través de la shell. Para entrar a la shell de devenv, se debe ejecutar el comando devenv shell. Se asume que la entrada de ESP32 se encuentra en /dev/ttyUSB0. En caso de no encontrarse ahí (se puede verificar con ls /dev/ttyUSB*), se debe cambiar en la definición de los scripts. También es una opción el utilizar la herramienta mise para la instalación de esptool. $ mise use -g pipx $ pipx --version $ mise use -g pipx:esptool $ esptool version Para Windows se recomienda la instalación de una máquina virtual con Linux o utilizar WSL. Para correr programas Elixir compilados a avm, es necesario primero flashear la imagen de AtomVM (con soporte para Elixir) en la ESP32. # eliminar memoria flash sudo esptool --chip auto --port /dev/ttyUSB0 --baud 921600 erase-flash # flashear AtomVM (descarga en https://github.com/atomvm/AtomVM/releases) sudo esptool \\ --chip auto \\ --port /dev/ttyUSB0 --baud 921600 \\ --before default_reset --after hard_reset \\ write_flash -u \\ --flash_mode dio --flash_freq 40m --flash_size detect \\ 0x1000 \\ ./AtomVM-esp32-elixir-v0.6.6.img mix.exs defmodule LedTest.MixProject do use Mix.Project def project do [ app: :led_test, version: \"0.1.0\", elixir: \"~> 1.18\", start_permanent: Mix.env() == :prod, deps: deps(), atomvm: [ start: LedTest, flash_offset: 0x250000 ] ] end # Run \"mix help compile.app\" to learn about applications. def application do [ extra_applications: [:logger] ] end # Run \"mix help deps\" to learn about dependencies. defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"} ] end end lib/led_test.ex defmodule LedTest do @test_duty 3000 @test_fade_time 2000 @led_1 2 # led de ESP32 def start do ledc_hs_timer = [ {:duty_resolution, 13}, {:freq_hz, 5000}, {:speed_mode, LEDC.high_speed_mode()}, {:timer_num, @high_speed_timer} ] :ok = LEDC.timer_config(ledc_hs_timer) ledc_channel = [ [ {:channel, 0}, {:duty, 0}, {:gpio_num, @led_1}, {:speed_mode, LEDC.high_speed_mode()}, {:hpoint, 0}, {:timer_sel, @high_speed_timer} ] ] Enum.each(ledc_channel, fn channel_config -> :ok = LEDC.channel_config(channel_config) end) :ok = LEDC.fade_func_install(0) loop(ledc_channel) end def loop(ledc_channel) do :io.format('1. LEDC fade up to duty = ~p~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_1(channel_config) end) Process.sleep(@test_fade_time) :io.format('2. LEDC fade down to duty = 0~n') Enum.each(ledc_channel, fn channel_config -> do_stage_2(channel_config) end) Process.sleep(@test_fade_time) :io.format('3. LEDC set duty = ~p without fade~n', [@test_duty]) Enum.each(ledc_channel, fn channel_config -> do_stage_3(channel_config) end) Process.sleep(@test_fade_time) :io.format('4. LEDC set duty = 0 without fade~n') Enum.each(ledc_channel, fn channel_config -> do_stage_4(channel_config) end) Process.sleep(@test_fade_time) loop(ledc_channel) end defp do_stage_1(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, @test_duty, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_2(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_fade_with_time(speed_mode, channel, 0, @test_fade_time) :ok = LEDC.fade_start(speed_mode, channel, LEDC.fade_no_wait()) end defp do_stage_3(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, @test_duty) :ok = LEDC.update_duty(speed_mode, channel) end defp do_stage_4(channel_config) do speed_mode = :proplists.get_value(:speed_mode, channel_config) channel = :proplists.get_value(:channel, channel_config) :ok = LEDC.set_duty(speed_mode, channel, 0) :ok = LEDC.update_duty(speed_mode, channel) end end Luego, en una shell con devenv: flash Si logras ejecutar éste código y el Led prende. Exitosamente has configurado el entorno de desarrollo para AtomVM.","title":"Entorno de Desarrollo","component":"ROOT","version":"","name":"devenv","url":"/atomvm/devenv.html","titles":[{"text":"Linux/MacOS","hash":"linuxmacos","id":1},{"text":"Mise","hash":"mise","id":2},{"text":"Windows","hash":"windows","id":3},{"text":"Preparar ESP32","hash":"preparar-esp32","id":4},{"text":"Encender un LED con AtomVM","hash":"encender-un-led-con-atomvm","id":5}]},"6":{"id":6,"text":"En esta sección se verá como extender AtomVM para incorporar componentes y funcionalidades adicionales.","title":"Extender AtomVM","component":"ROOT","version":"","name":"extensions","url":"/atomvm/extensions.html","titles":[{"text":"Pantalla OLED","hash":"pantalla-oled","id":1}]},"7":{"id":7,"text":"En esta sección se mostrará como conectar un celular Android o iPhone al ESP32 y poner enviar comandos via Wi-fi Access Point. Es posible crear un Access Point directamente desde un ESP32 para facilitar su conexión a dispositivos. Esta funcionalidad permite que cualquier dispositivo conectado al Access Point pueda acceder al servidor hosteado en el ESP32 a través de navegador. Para obtener acceso a la librería httpd de Erlang, es necesario incluir atomvm_lib en el archivo mix.exs. mix.exs defp deps do [ {:exatomvm, git: \"https://github.com/atomvm/ExAtomVM/\"}, {:atomvm_lib, git: \"https://github.com/atomvm/atomvm_lib/\"} ] end A continuación, se incluye un módulo de ejemplo que implementa httpd para servir archivos y una API desde un servidor hosteado en la ESP32. defmodule ApTest do @behaviour :httpd_api_handler @port 8080 def start() do ap_config = [ ssid: \"robot test\", psk: \"passpass\", ap_started: fn -> :io.format('Punto de acceso iniciado en 192.168.4.1~n') end ] {:ok, _network_pid} = :network.start(ap: ap_config) Process.sleep(1000) httpd_config = [ # handler para ruta /api {[<<\"api\">>], %{ handler: :httpd_api_handler, handler_config: %{ module: __MODULE__ } }}, # handler de archivos para ruta /, expone archivos en directorio /priv {[], %{ handler: :httpd_file_handler, handler_config: %{ app: :serial_test } }} ] {:ok, _httpd_pid} = :httpd.start_link(@port, httpd_config) :io.format('Servidor web iniciado en http://192.168.4.1:8080~n') :timer.sleep(:infinity) end def handle_api_request(:post, [<<\"move\">>], http_request, _args) do direction = http_request.body move_robot(direction) {:ok, %{status: \"ok\"}} end def handle_api_request(method, path, _http_request, _args) do :io.format('Petición no soportada: ~p ~p~n', [method, path]) :not_found end defp move_robot(direction) do :io.format('Comando de movimiento recibido: ~p~n', [direction]) # aqui iría el código para mover el robot end end También es necesario incluir un archivo index.html en el directorio /priv del proyecto (se debe crear si no existe), para acceder a la API a través de una interfaz. priv/index.html <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <meta name=\"viewport\" content=\"width=device-width, initial-scale=1\"> <style> :root { --bg: #0f1220; --panel: #1a1e35; --btn: #2a2f55; --btn-hover: #3a4090; --btn-active: #4c53c7; --text: #e8eaff; --danger: #c0392b; } body { margin: 0; min-height: 100vh; font-family: system-ui, sans-serif; background: radial-gradient(circle at top, #1a1e35, #0f1220); color: var(--text); display: flex; flex-direction: column; align-items: center; justify-content: center; } h1 { margin-bottom: 24px; font-weight: 600; } .controls { background: var(--panel); padding: 20px; border-radius: 20px; display: grid; grid-template-columns: repeat(3, 80px); gap: 12px; box-shadow: 0 10px 30px rgba(0,0,0,0.4); } .controls button { width: 80px; height: 80px; border-radius: 18px; border: none; background: linear-gradient(180deg, var(--btn), #1f2340); cursor: pointer; display: flex; align-items: center; justify-content: center; box-shadow: 0 6px 0 #14172b, 0 10px 20px rgba(0,0,0,0.4); transition: transform 0.05s ease, box-shadow 0.05s ease, background 0.15s; } .controls button:hover { background: linear-gradient(180deg, var(--btn-hover), #2b3090); } .controls button:active { transform: translateY(4px); box-shadow: 0 2px 0 #14172b, 0 4px 10px rgba(0,0,0,0.4); background: linear-gradient(180deg, var(--btn-active), #3a40b0); } .controls svg { width: 36px; height: 36px; fill: var(--text); } .forward { grid-column: 2; } .left { grid-column: 1; } .stop { grid-column: 2; background: linear-gradient(180deg, var(--danger), #8e1f17); } .right { grid-column: 3; } .back { grid-column: 2; } .stop:hover { background: linear-gradient(180deg, #e74c3c, #a93226); } .status { margin-top: 24px; font-size: 14px; opacity: 0.9; } </style> </head> <body> <h1>Control del Robot</h1> <div class=\"controls\"> <button class=\"forward\" onclick=\"moveRobot('forward')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M12 4l-8 8h5v8h6v-8h5z\"/> </svg> </button> <button class=\"left\" onclick=\"moveRobot('left')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M4 12l8 8v-5h8v-6h-8v-5z\"/> </svg> </button> <button class=\"stop\" onclick=\"moveRobot('stop')\"> <svg viewBox=\"0 0 24 24\"> <rect x=\"6\" y=\"6\" width=\"12\" height=\"12\"/> </svg> </button> <button class=\"right\" onclick=\"moveRobot('right')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M20 12l-8-8v5h-8v6h8v5z\"/> </svg> </button> <button class=\"back\" onclick=\"moveRobot('back')\"> <svg viewBox=\"0 0 24 24\"> <path d=\"M12 20l8-8h-5v-8h-6v8h-5z\"/> </svg> </button> </div> <div id=\"status\" class=\"status\">Estado: Listo</div> <script> function moveRobot(direction) { document.getElementById(\"status\").innerText = \"Estado: Enviando comando...\"\"; fetch(\"/api/move\", { method: \"POST\", headers: { \"Content-Type\": \"text/html\" }, body: direction }) .then(r => r.json()) .then(data => { document.getElementById(\"status\").innerText = \"Estado: \"\" + data.status; }) .catch(() => { document.getElementById(\"status\").innerText = \"Estado: Error de conexión\"; }); } </script> </body> </html> Para acceder a la API, el dispositivo primero se debe conectar a la red Wi-Fi llamada robot test, y luego acceder a 192.168.4.1:8080/index.html.","title":"Conexión Remota","component":"ROOT","version":"","name":"remote","url":"/atomvm/remote.html","titles":[{"text":"Conexión a través de Wi-Fi","hash":"conexión-a-través-de-wi-fi","id":1},{"text":"Dependencias de AtomVM","hash":"dependencias-de-atomvm","id":2},{"text":"Ejemplo","hash":"ejemplo","id":3}]},"8":{"id":8,"text":"Prepárate para entrar al fantástico mundo de las batallas de robots, de una forma tecnológica, divertida y con componentes con precios razonables, sin necesidad de soldadura o complicadas conexiones. En este capítulo se mostrarán proyectos relacionados a combates entre robots utilizando ESP32, AtomVM y componentes disponibles en el mercado. Los materiales para armar el carro están disponibles en el mercado chileno y tienen un valor razonable (menor a 2 UF). Carro y Motores DC: https://mcielectronics.cl/shop/product/kit-robotico-chasis-con-ruedas-motores-y-caja-reductoras-compatible-con-arduino-26429/ ESP32 (Dev Kit V1 - 30 pines): + Cables + Sensores + Actuadores: https://mcielectronics.cl/shop/product/kit-basico-de-inicio-de-componentes-electronicos-para-esp32-esp-32s/ L298N (Control de Motores): https://mcielectronics.cl/shop/product/contrzolador-de-motores-puente-h-l298n-25508/ Adaptador de Expansión de ESP32 de 30 pines (Opcional): https://altronics.cl/base-esp32-30p-st?search=expansion Pack de Servomotores: https://mcielectronics.cl/shop/product/pack-de-5-micro-servo-motores-sg90-9g/ Figure 1. Carro Motores DC Los motores DC son utilizados para la movilización principal del robot en dos de sus ruedas (la tercera es una rueda de apoyo omnidireccional). Estos motores necesitan una batería de 5 a 9v y un L298N para controlar la dirección de cada motor de forma independiente. Relaciones de Voltaje/Velocidad. DC 3V, 160mA, 120 rpm/min, 100 rpm/min, 0.45 kg.cm; DC 6V, 220mA, 200 rpm/min, 175 rpm/min, 1.0 kg.cm; DC 7.2V, 250mA, 250 rpm/min, 210 rpm/min, 1.5 kg.cm. Relación de los motores: 1:48 Tamaño de los motores: 65mm x 18mm x 22mm Alimentación Voltaje: 3~9V Corriente: 600mA Figure 2. Motores DC También es importante contar con un controlador L298N para controlar a los motores DC individualmente. Figure 3. L298N Servomotores SG90 Los servomotores son utilizados para herramientas que permitan complementar el robot o tener partes con movilidad controlada. Torque a 4.8 volts: 1.2 kg/cm Voltaje de operación: 4.0 a 7.2 volts Velocidad de giro a 4.8 volts: 120ms / 60 º Figure 4. Servomotor ESP32 Figure 5. KIT ESP32 Principal tarjeta de programación para AtomVM, cuenta con Wifi y Bluetooth incorporado y puede ser alimentada por USB. Adicionalmente y opcional es la compra de un adaptador de 30 pines para facilitar la conexión, caso contrario se puede usar cables hembra-macho para conectarlo a un protoboard y ocupar menos espacio. En el KIT de MCI incluye una variedad de componentes, aunque no necesariamente todos serán utilizados: 1 placa de desarrollo ESP32 1 x OLED de 0,96 pulgadas 1X Protoboard 830pts 1 X módulo para evitar obstáculos 1 módulo de fotorresistencia 1 X Módulo de temperatura y humedad DHT11 1 sensor de movimiento PIR de 2/2″ 1 potenciómetro X (10K) 1 cable micro USB 30X resistencias (220R/1K/10K) 1 zumbador pasivo 1 X zumbador activo 1 Módulo de relé de doble canal de 5V 6X interruptores de botón 10 x Cable DuPont 10 x cable DuPont de pulgadas 10 x Cable DuPont 5 x LED rojo 5 x LED amarillo 5 x LED verde 2 LEDs RGB Figure 6. ESP32 Dev Kit V1 30 Pines USB-C Figure 7. Placa Expansión ESP32 30 Pines Minifigura Lego Se recomienda una minifigura Lego que represente al Auriga. Ver https://www.tiendalego.cl/ o alguna tienda similar para saber que personajes están disponibles. Figure 8. Minifigura Lego Tal como en la roma antígüa y la era medieval se presentarán los siguientes eventos. Lucha de Gladiadores Carrera de Carros Justa Naumaquias (Batalla Naval) El Auriga es un personaje de lego pequeño que va sobre el carro robot. Si el auriga se cae del robot, el jugador pierde inmediatamente. Normalmente afirmado al carro de forma de que sea posible sacarlo con un golpe fuerte. Los globos son la \"vida\" que tiene el carro robot. Si el globo se despega del carro o es reventado, el jugador pierde inmediatamente. Se debe usar los globos largos que permiten ser moldeados a una forma específica alrededor del carro. El globo debe rodear apropiadamente el carro en forma de \"U\" y estar con un nivel de aire de modo que sea de consistencia firme. Cada carro debe tener un color de globo diferente. En un espacio circular de un diametro apropiado (como rueda de automóvil o bicicleta) dos carros y sus aurigas se enfrentan. El carro puede ser controlado remotamente via Wifi o Bluetooth. El carro debe contar con uno o más clavos (máximo 3) pequeños para reventar el globo. El carro consiste en un acrílico con dos motores dc y una rueda omnidireccional. Se permite que los clavos sean moviles con servomotores. Gana quien reviente primero el globo del adversario o derribe al auriga contrario. Si sale del círculo se penaliza con tarjeta amarilla. Dos tarjetas amarillas y el jugador pierde. Similar a la lucha de gladiadores en términos de fabricación de carros y aurigas. La pista puede tener obstáculos que pueden reventar los globos. El carro puede ser controlado remotamente via Wifi o Bluetooth. Solo 2 clavos permitidos (uno en cada rueda) Gana quien de 3 vueltas primero a la pista. Gana quien destruya los globos del adversario. Gana quien derriba al auriga adversario. Pierde inmediatamente quien se salga de los límites de la pista. La Justa consiste en derribar el auriga contrario con un palo ubicado en la parte superior del carro. Dos carros y sus arigas se enfrentan corriendo en línea recta y solamente separados por una línea. La pista es una \"O\" donde al llegar al final deben dar la vuelta y volver a intentar derriba al auriga oponente. Los muros y límites de la pista pueden reventar los globos. El carro puede ser controlado remotamente via Wifi o Bluetooth. Gana quien derriba primero al auriga oponente. Pierde si el carro va a la pista equivocada. Pierde si se revientan los globos en los muros o estos se salen del carro. Pierde si el carro deja de funcionar o sale de la pista. La naumaquia o batalla naval consiste en un robot náutico con el objetivo de derribar al auriga contrincante. Estas tienen un cañón de pelota de tenis de mesa (blanca), el cual puede ser usado para derribar al auriga contrario. También habrán pelotas de tenis de mesa de colores disponibles flotando en el agua que pueden ser recolectadas con redes del barco. Botellas de plástico de bebidas. 1 de 3 litros y 2 de 500 cc. El cañón puede ser impulsado con un sistema de catapulta onager. Habrá una canasta especial para recolectar las pelotas de tenis de cada barco. Puede haber una sola canasta y cada barco tiene pelotas de tenis de mesa de un color específico. Por ejemplo barco 1 tiene pelotas naranjas y barco 2 tiene pelotas verdes. Gana quien junte 2 pelotas de su color o derribe al auriga contrario con su cañón. Gana quien derriba el auriga oponente. Gana quien recolecte 2 pelotas de tenis de mesa de colores llevadas a la canasta del barco.","title":"Coliseo Atómico","component":"ROOT","version":"","name":"colosseo","url":"/colosseo/colosseo.html","titles":[{"text":"Materiales","hash":"materiales","id":1},{"text":"Colosseo","hash":"colosseo","id":2},{"text":"Auriga","hash":"auriga","id":3},{"text":"Globos","hash":"globos","id":4},{"text":"Lucha de Gladiadores","hash":"lucha-de-gladiadores","id":5},{"text":"Reglas","hash":"reglas","id":6},{"text":"Carrera de Carros","hash":"carrera-de-carros","id":7},{"text":"Reglas","hash":"reglas-2","id":8},{"text":"Justa","hash":"justa","id":9},{"text":"Reglas","hash":"reglas-3","id":10},{"text":"Naumaquias (Batalla Naval)","hash":"naumaquias-batalla-naval","id":11},{"text":"Reglas","hash":"reglas-4","id":12}]},"9":{"id":9,"text":"","title":"Arduino","component":"ROOT","version":"","name":"arduino","url":"/controllers/arduino.html","titles":[]},"10":{"id":10,"text":"En 1997, Parallax produjo la Board of Education, un portaplacas de pruebas (breadboard) y placa de proyectos para el BASIC Stamp 2. Educadores de USA solicitaron rápidamente que se montara en un robot, y así se creó el Boe-Bot. Combinado con el libro de Andy Lindsay \"Robotics with the Boe-Bot\" y \"What’s a Microcontroller\", esta combinación de hardware y tutoriales se convirtió en un producto educativo popular. Hoy en día, PBASIC sigue siendo uno de los lenguajes favoritos de muchos educadores y aulas, y gran parte de la investigación educativa inicial sobre la eficacia de los sistemas de computación física para enseñar programación utilizó el BASIC Stamp. El Boe-Bot utiliza el lenguaje PBASIC. Los robots Boe-Bot se encuentran en escuelas secundarias y preparatorias, escuelas técnicas y universidades, clubes de robótica y en los hogares de aficionados. Son excelentes compañeros para aprender o enseñar tecnología, mecatrónica y programas STEM. Este kit de robot puede utilizarse como una asignatura optativa en muchas escuelas. Figure 1. Basic Stamp Boe-Bot El siguiente código de PBasic muestra cómo reproducir una canción utilizando el formato de música RTTL utilizado por teléfonos Nokia de principios de la década del 2000. Ejemplo de PBasic ' What's a Microcontroller - MicroMusicWithRtttl.bs2 ' Play Nokia RTTTL format ringtones using DATA. '{$STAMP BS2} '{$PBASIC 2.5} DEBUG \"Program Running!\" ' -----[ I/O Definitions ]------------------------------------------------- SpeakerPin PIN 9 ' Piezospeaker connected to P9. ' -----[ Variables ]------------------------------------------------------- counter VAR Word ' General purpose counter. char VAR Byte ' Variable stores characters. index VAR Word ' Index for pointing at data. noteLetter VAR Byte ' Stores note character. noteFreq VAR Word ' Stores note frequency. noteOctave VAR Word ' Stores note octave. duration VAR Word ' Stores note duration. tempo VAR Word ' Stores tempo. default_d VAR Byte ' Stores default duration. default_o VAR Byte ' Stores default octave. default_b VAR Word ' Stores default beats/min. ' -----[ EEPROM Data ]----------------------------------------------------- RTTTL_File DATA \"Reveille:d=4,o=7,b=140:8g6,8c,16e,16c,8g6,8e,\", \"8c,16e,16c,8g6,8e,8c,16e,16c,8a6,8c,e,8c,8g6,\", \"8c,16e,16c,8g6,8e,8c,16e,16c,8g6,8e,8c,16e,\", \"16c,8g6,8e,c,p,8e,8e,8e,8e,g,8e,8c,8e,8c,8e,8c,\", \"e,8c,8e,8e,8e,8e,8e,g,8e,8c,8e,8c,8g6,8g6,c.\" Done DATA \",q,\" Notes DATA \"p\", \"a\", \"#\", \"b\", \"c\", \"#\", \"d\", \"#\", \"e\", \"f\", \"#\", \"g\", \"#\" Octave8 DATA Word 0, Word 3520, Word 3729, Word 3951, Word 4186, Word 4435, Word 4699, Word 4978, Word 5274, Word 5588, Word 5920, Word 6272, Word 6645 ' -----[ Initialization ]-------------------------------------------------- counter = 0 ' Initialize counter. GOSUB FindEquals ' Find first '=' in file. GOSUB ProcessDuration ' Get default duration. GOSUB FindEquals ' Find next '='. GOSUB ProcessOctave ' Get default octave. GOSUB FindEquals ' Find last '='. GOSUB GetTempo ' Get default tempo. ' -----[ Program Code ]---------------------------------------------------- DO UNTIL char = \"q\" ' Loop until 'q' in DATA. GOSUB ProcessDuration ' Get note duration. GOSUB ProcessNote ' Get index value of note. GOSUB CheckForDot ' If dot, 3/2 duration. GOSUB ProcessOctave ' Get octave. GOSUB PlayNote ' Get freq, play note, next. LOOP ' End of main loop. END ' End of program. ' -----[ Subroutine - Find Equals Character ]----------------------------- FindEquals: ' Go through characters in ' RTTTL file looking for DO ' '='. Increment counter READ RTTTL_File + counter, char ' until '=' is found, then counter = counter + 1 ' return. LOOP UNTIL char = \"=\" RETURN ' -----[ Subroutine - Read Tempo from RTTTL Header ]---------------------- ' Each keyboard character has a unique number called an ASCII value. ' The characters 0, 1, 2,...9 have ASCII values of 48, 49, 50,...57. ' You can always convert from the character representing a digit to ' to its value by subtracting 48 from the variable storing the digit. ' You can examine this by comparing DEBUG DEC 49 and DEBUG 49. GetTempo: ' Parse RTTTL file for Tempo. ' Convert characters to default_b = 0 ' digits by subtracting 48 DO ' from each character's ASCII READ RTTTL_File + counter, char ' value. Iteratively multiply IF char = \":\" THEN ' each digit by 10 if there default_b = default_b / 10 ' is another digit, then add counter = counter + 1 ' the most recent digit to EXIT ' one's column. ENDIF ' For example, the string default_b = default_b + char - 48 ' \"120\" is (1 X 10 X 10) counter = counter + 1 ' + (2 X 10) + 0. The '1' default_b = default_b * 10 ' is converted first, then LOOP UNTIL char = \":\" ' multiplied by 10. The '2' ' is then converted/added. RETURN ' 0 is converted/added, done. ' -----[ Subroutine - Look up Octave ]------------------------------------ ProcessOctave: ' Octave may or may not be ' included in a given note READ RTTTL_File + counter, char ' because any note that is SELECT char ' played in the default CASE \"5\" TO \"8\" ' octave does not specify noteOctave = char - \"0\" ' the octave. If a char counter = counter + 1 ' from '5' to '8' then use CASE ELSE ' it, else use default_o. noteOctave = default_o ' Characters are converted ENDSELECT ' to digits by subtracting IF default_o = 0 THEN ' '0', which is the same as default_o = noteOctave ' subtracting 48. The first ENDIF ' time this subroutine is ' called, default_o is 0. RETURN ' If 0, then set default_o. ' -----[ Subroutine - Find Index of Note ]-------------------------------- ProcessNote: ' Set index value for lookup ' of note frequency based on READ RTTTL_File + counter, char ' note character. If 'p', SELECT char ' index is 0. If 'a' to 'g', CASE \"p\" ' read character values in index = 0 ' DATA table and find match. counter = counter + 1 ' Record index value when CASE \"a\" TO \"g\" ' match is found. If next FOR index = 1 TO 12 ' char is a sharp (#), add READ Notes + index, noteLetter ' 1 to the index value to IF noteLetter = char THEN EXIT ' increase the index (and NEXT ' frequency) by 1 notch. counter = counter + 1 ' As with other subroutines, READ RTTTL_File + counter, char ' increment counter for each SELECT char ' character that is processed. CASE \"#\" index = index + 1 counter = counter + 1 ENDSELECT ENDSELECT RETURN ' -----[ Subroutine - Determine Note Duration ]--------------------------- ProcessDuration: ' Check to see if characters ' form 1, 2, 4, 8, 16 or 32. READ RTTTL_File + counter, char ' If yes, then convert from ' ASCII character to a value SELECT char ' by subtracting 48. In the CASE \"1\", \"2\", \"3\", \"4\", \"8\" ' case of 16 or 32, multiply duration = char - 48 ' by 10 and add the next counter = counter + 1 ' digit to the ones column. READ RTTTL_File + counter, char SELECT char CASE \"6\", \"2\" duration = duration * 10 + char - 48 counter = counter + 1 ENDSELECT CASE ELSE ' If no duration, use duration = default_d ' use default. ENDSELECT IF default_d <> 0 THEN ' If default_d not defined duration = 60000/default_b/duration*3 ' (if default_d = 0), then ELSE ' set default_d = to the default_d = duration ' duration from the d=#. ENDIF RETURN ' -----[ Subroutine - Check For '.' Indicating 1.5 Duration ]------------- CheckForDot: ' Check for dot indicating ' multiply duration by 3/2. READ RTTTL_File + counter, char ' If dot found, multiply by SELECT char ' 3/2 and increment counter, CASE \".\" ' else, do nothing and duration = duration * 3 / 2 ' return. counter = counter + 1 ENDSELECT RETURN ' -----[ Subroutine - Find Comma and Play Note/Duration ]----------------- PlayNote: ' Find last comma in the ' current note entry. Then, READ RTTTL_File + counter, char ' fetch the note frequency SELECT char ' from data, and play it, or CASE \",\" ' pause if frequency = 0. counter = counter + 1 READ Octave8 + (index * 2), Word noteFreq noteOctave = 8 - noteOctave noteFreq = noteFreq / (DCD noteOctave) IF noteFreq = 0 THEN PAUSE duration ELSE FREQOUT SpeakerPin, duration, noteFreq ENDIF ENDSELECT RETURN Un Basic Stamp en Chile puede ser adquirido en Rambal Robots.","title":"Parallax Basic Stamp","component":"ROOT","version":"","name":"basicstamp","url":"/controllers/basicstamp.html","titles":[]},"11":{"id":11,"text":"ESP32 es un único chip combinado de Wi-Fi y Bluetooth de 2.4 GHz, diseñado con la tecnología de bajo consumo de 40 nm de TSMC. Está diseñado para lograr el mejor rendimiento en cuanto a consumo de energía y radiofrecuencia (RF), mostrando solidez, versatilidad y fiabilidad en una amplia variedad de aplicaciones y escenarios de consumo energético. Figure 1. ESP32 Con su bajo consumo de energía, el ESP32 es una opción ideal para dispositivos IoT en las siguientes áreas: Hogar inteligente Automatización industrial Cuidado de la salud Electrónica de consumo Agricultura inteligente Máquinas POS Robots de servicio Dispositivos de audio Concentradores de sensores IoT de bajo consumo genéricos Registradores de datos IoT de bajo consumo genéricos Cámaras para transmisión de video Reconocimiento de voz Reconocimiento de imágenes Tarjeta de red SDIO Wi-Fi + Bluetooth Si has trabajado con Arduino y con las placas basadas en ESP8266, la ESP32 es muy similar. Es una placa con microcontrolador muchísimo más poderosa que Arduino y se puede programar con el mismo IDE de Arduino. Figure 2. Funciones del ESP32 Características Principales Microcontrolador Tensilica LX6 de doble núcleo a 240 MHz con 600 DMIPS SRAM integrada de 520 KB Transceptor Wi-Fi 802.11 b/g/n HT40 integrado, con banda base, pila y LwIP Bluetooth de modo dual integrado (clásico y BLE) Memoria flash de 4 MB, mapeada a la memoria de código de la CPU Voltaje de operación de 2.3V a 3.6V Temperatura de operación de -40°C a +125°C La placa de desarrollo ESP32-C6-DevKit Dual Tipo C es una solución avanzada y versátil para el desarrollo de aplicaciones IoT y dispositivos conectados. Basada en el microcontrolador ESP32-C6 de Espressif Systems, esta placa ofrece una serie de mejoras en conectividad y rendimiento, haciéndola ideal para una amplia gama de aplicaciones desde sistemas de monitoreo remoto hasta soluciones industriales y de hogar inteligente. Figure 3. ESP32 DevKit Tipo C Características Destacadas Microcontrolador Avanzado: Equipado con el ESP32-C6, esta placa proporciona un rendimiento mejorado y capacidades ampliadas en comparación con las versiones anteriores de la serie ESP32. Conectividad Superior: Ofrece conectividad mejorada con Bluetooth Low Energy (BLE) 5.0 y soporte para el protocolo IEEE 802.11ax, lo que asegura una comunicación eficiente y de alta velocidad. También es compatible con los protocolos IEEE 802.11b/g/n en anchos de banda de 20 MHz y 40 MHz, alcanzando velocidades de datos de hasta 150 Mbps. Memoria y Almacenamiento: Con 4 MB de memoria FLASH, 320 KB de ROM, 512 KB de HP SRAM, y 16 KB de LP SRAM, la placa proporciona suficiente capacidad para ejecutar aplicaciones complejas y almacenar datos de manera eficiente. Versatilidad en Puertos: Dispone de 32 GPIO, 3 SPI, 2 UART, 1 I2C, y 1 ADC, ofreciendo una amplia gama de opciones para conectar y controlar periféricos y sensores. Diseño Robusto: Con una temperatura de funcionamiento de -40 ℃ a 85 ℃, la placa está diseñada para operar en condiciones ambientales extremas, asegurando fiabilidad en entornos industriales y exteriores. Antena Integrada: Incluye una antena PCB integrada, que optimiza la conectividad sin necesidad de componentes externos adicionales. Conectividad Tipo C: La placa está equipada con un puerto USB Tipo C, facilitando la conexión y la programación, y proporcionando una interfaz moderna y eficiente. Disponibilidad en: https://www.mechatronicstore.cl/esp32-c6-devkit-pro-tipo-c/ El objetivo es crear un \"Gladiador Robot\" controlado por un smartphone via Wifi, este debe ser capaz de reventar un globo. El ganador es quien reviente el globo del oponente. Figure 4. Alumnos de Robótica UVM 2025 con su Gladiador Combate de Gladiadores Robot Your browser does not support the video tag. Ítem Descripción ¿Donde adquirir? ESP32 (Wifi) + Smartphone Principal componente. Se programará para enviar señales a los servomotores y crear un servidor web para ser controlado via Smartphone. https://altronics.cl/tarjeta-esp32-microusb Placa de desarrollo ESP32 Extensión del ESP32 que incluye regulador de voltaje para resistir hasta 16V de entrada (DC) y contiene hileras con voltaje, tierra y señal de forma más comoda. https://es.aliexpress.com/item/1005008212851634.html 2 motores DC 3 a 12V Principal fuente de movimiento del gladiador. La elección del motor y su necesidad de voltaje es a criterio del equipo (mayor velocidad = mayor voltaje). https://articulo.mercadolibre.cl/MLC-923623185-motor-dc-coche-gear-amarillo-3v-12v-_JM L298N Permite controlar dos motores de corriente continua o un motor paso a paso bipolar de hasta 2 amperes. https://altronics.cl/modulo-puente-h-l298 Chasis + Ruedas de Goma + Porta Pilas Principal fuente de poder y marco para armar. Alimentación entre 6v a 12v. 9v recomendado. https://altronics.cl/kit-chasis-2wd-1 Gladiador de Lego (A elección). Mini figura de lego versión dungeons and dragons o similar. https://www.tiendalego.cl/products/dungeons-dragons-71047?variant=41690791805046 Protoboard Marco para conexión de componentes. Recomendado 400 puntos. https://altronics.cl/protoboard-400ptos Cables Jumper Macho - Hembra, Macho - Macho. Permite conectar los componentes. https://altronics.cl/JW_MF_40_10 Globos largos (Colores diferentes para cada gladiador). Globos inflables + bombin. https://belina.cl/globos-largos-20cm-bombin-colores-surtidos-20-pcs Armas para reventar el Globo (A elección) Clavos, alfileres o materiales corto punzantes varios. https://www.masferret.cl/product/clavo-punta-1 Figure 5. Diagrama de conexión entre componentes Table 1. Tabla de conexiones ESP32 MONTADO EN PLACA MOTOR AC1 MOTOR AC2 L298N Batería Pin 16 IN1 Pin 17 IN2 Pin 18 IN3 Pin 19 IN4 (+) OUT1 (-) OUT2 (+) OUT3 (-) OUT4 IN12V (+) GND (-) Jack de carga (+)(-) La posición del globo depende de cada gladiador. Pero almenos debe tener dos puntos de anclaje inferior. Las pilas son conectadas a los motores y al ESP32 de forma separada, gracias a la placa de expansión se conecta al Jack de carga directamente a las pilas ya que este aguanta hasta 16v sin problemas. Código fuente del gladiador #include <WiFi.h> #include <WebServer.h> // Nombre de la red WiFi creada por el ESP32 const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; // Pines del L298N const int IN1 = 16; const int IN2 = 17; const int IN3 = 18; const int IN4 = 19; WebServer server(80); // Funciones de movimiento void parar() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void adelante() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void atras() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void izquierda() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void derecha() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } // Página web con botones String paginaHTML() { return R\"rawliteral( <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <style> body { text-align: center; font-family: Arial; } button { width: 100px; height: 50px; font-size: 18px; margin: 5px; } </style> </head> <body> <h1>Control del Robot</h1> <button onclick=\"location.href='/adelante'\">Adelante</button><br> <button onclick=\"location.href='/izquierda'\">Izquierda</button> <button onclick=\"location.href='/parar'\">Parar</button> <button onclick=\"location.href='/derecha'\">Derecha</button><br> <button onclick=\"location.href='/atras'\">Atrás</button> </body> </html> )rawliteral\"; } void setup() { Serial.begin(115200); // Configurar pines como salida pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); parar(); // Iniciar el ESP32 como Access Point WiFi.softAP(ssid, password); Serial.println(\"Red WiFi creada\"); Serial.print(\"IP del robot: \"); Serial.println(WiFi.softAPIP()); // Rutas del servidor server.on(\"/\", []() { server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/adelante\", []() { adelante(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/atras\", []() { atras(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/izquierda\", []() { izquierda(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/derecha\", []() { derecha(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/parar\", []() { parar(); server.send(200, \"text/html\", paginaHTML()); }); server.begin(); } void loop() { server.handleClient(); } Al construir el gladiador se tendrá acceso a una red Wifi llamada \"RobotESP32\" (cambiar el nombre para cada gladiador). La cual puede ser accedida desde cualquier smartphone o computador. const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; Esta red permite enviar comandos de dirección al hacer click en los enlaces. Se deja como ejercicio adicional la creación de una interfaz más adecuada para el control del robot, como un joystick virtual o físico. Figure 6. Figura de Lego a elección Hoy en día existen diversos robots para cumplir tareas específicas. En el área de restaurantes existen los robots meseros autónomos. Éstos robots permiten servir mesas y encontrar su camino por el restaurant. Entre los ejemplos disponibles esta el Segway ServeBot S1(“Restaurant Service Robot - Segway Robotics,” 2024) y el Bellabot (“Smart Delivery Robot-Pudu Robotics,” n.d.). Figure 7. Robot ServeBot S1 Figure 8. Bellabot Estos robots son de alta tecnología y cuentan con sensores e inteligencia artificial muy sofisticada. Lo que los hace tener un precio prohibitivo para la mayoría de los restaurantes. En Japón existe el concepto de \"Avatar Robot Café\". Donde un restaurant/café es atentido por avatares robots. Es decir, robots controlados por humanos remotamente. Estos robots no cuentan con IA debido a que se busca integrar a personas con dificultades motoras u otros problemas que les impide integrarse a la sociedad en trabajos tradicionales. Entre los avatares robots se puede encontrar meseros y baristas. Figure 9. Avatares Robot Figure 10. Robot OriHime Figure 11. Robot Barista Son controlados remotamente con una aplicación de tablet smartphone. Figure 12. Interfaz de Piloto Estos robots están ubicados en el Dawn Cafe Figure 13. Avatar Robot Cafe DAWN ver.β El “Avatar Robot Café DAWN ver.β” es un café experimental permanente operado por OryLab Inc., donde personas que tienen dificultades para salir de casa por diversas razones operan de forma remota nuestros robots avatar OriHime y OriHime-D desde sus hogares y hospitales para brindar servicios. (\"Avatar Robot Café\" n.d.) En Chile se han utilizado robots animatrónicos como el conocido restaurante \"África\" de Viña del Mar (SoyChile, 2019). Figure 14. Animatronicos del Restaurante África Jorge Fernández, gerente de El Japonés de Viña del Mar, calcula que desde que tienen al “Michi-robot” haciendo las veces de mesero la afluencia del público al local ha aumentado en un 20 por ciento. ¿La razón? La curiosidad de ver en acción al Bella-bot -o “Michi”, como le llaman en el restaurante-, que lleva pedidos a la mesa como un garzón más. (Transformadores, 2023). Como se puede apreciar, Chile está preparado para adoptar la inclusión de robots en el área de servicios, especialmente en robots meseros. Sin embargo los altos precios de adquisición impiden que más restaurantes adopten estas tecnologías. Para lograr disminuir la brecha tecnológica y aumentar la inclusión de personas con dificultades de trabajar presencialmente, se debe crear una alternativa de bajo costo e identidad local. Para esto se creará un \"Avatar Robot\" controlado remotamente via internet que pueda ser usado para atender comandas y servir como garzón en restaurantes. Este robot utilizará materiales reciclados o fáciles de adquirir a un costo moderado. Para el marco principal se debe considerar una estructura liviana que permita un movimiento para todas las direcciones, cuente con un lugar para dejar los platos y sea higiénica y estéticamente apropiado. Queda a discreción la selección del marco inicial. Acá se presentará unas opciones posibles. Nombre Fotografía Descripción Estante de Almacenamiento con Ruedas Giratorias y Cestas Metalicas Carrito Organizador Con Cesta Metal y Ruedas Bloqueables 3 Niveles Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/138001816/Carrito-Organizador-Metal-3-Niveles-Estante-Ruedas-Bloqueables-Negro/138001817?exp=so_com Marca VIDITA Color Negro Diseño de 3 niveles y 2 mangos Con ruedas giratorias (2 bloqueables) Material resistente de metal Medida 43x29x78cm (largo x ancho x alto) Organizador de frutas metal 3 canastos Cromado La Frutera con 3 canastos y 3 ruedas en la parte inferior. Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/110267804/Organizador-de-frutas-metal-3-canastos-Cromado/110267822?exp=so_com Marca: Just Home Collection Ancho: 29.5 cm Alto: 75.6 cm Color: Plateado Carro de compras colores 32 L Carro de compras colores 32 L Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/131705964/Carro-de-compras-colores-32-l/131705965?exp=so_com Marca: Just Home Collection Ancho: 30 cm Alto: 53 cm La recomendación es que permita al menos 3 niveles. Ya que se necesita espacio para: La batería y circuitería. Ubicados en el nivel inferior. La bandeja principal para almacenar los platos a servir. Una bandeja superior para almacenar la cámara y un robot o pantalla opcional para expresar emociones por parte del piloto operador. El carro será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. La batería puede ser un PowerBank o una batería de motocicleta con un adaptador para USB. Es importante recalcar que el amperaje mínimo necesario es 3 amperes. Menor a ese amperaje servirá para cargar un smartphone, más no para alimentar una Raspberry PI. Opción Imagen Descripción PowerBank de 30K mAh Batería portátil USB capacidad de 30000 mAh. Tres puertos USB con USB-A y USB-C. Carga rápida del dispositivo con puerto USB-C PD 3.0 de máximo 20 W o USB-A con salida QC3/0 de máximo 18 W. Disponible en: https://www.philips.cl/c-p/DLP1930CB_00/bateria-portatil-usb Batería 12v + Adaptador USB Batería de motocicleta combinada con un adaptador USB de alta potencia (QC3.0). Es una opción válida para alimentar el robot. Ventajas: Se tiene mayor voltaje para velocidad más rápida. Desventaja: Puede ser más pesado y requerir equipamiento especial para recargar la batería. Disponible en: https://es.aliexpress.com/item/1005006281134333.html https://www.autoplanet.cl/producto/bateria_pilot_lb4lb_4ah_56cca/141258 El Smartphone es necesario para proveer internet a la Raspberry PI y también actuar como cámara principal para la comunicación remota (utilizando una video llamada). Se recomienda un smartphone Android. Cualquiera que pueda hacer uso de redes 3G y sea relativamente moderno (entre 5 a 10 años de antigüedad) servirá como principal puente de comunicación. Se podría omitir este elemento si el restaurante cuenta con Wifi y añadir una cámara web a la Raspberry PI, pero requeriría de mayores configuraciones en el router del local y asegurar estabilidad de señal. Para la elaboración de la comunicación via video se utilizará los servicios de Jitsi Meet. El cual proporciona una solución de bajo costo y de código libre para ser utilizada. Raspberry PI 3 cuenta con un procesador Broadcom Quad-Core ARM Cortex-A53 a 1.2GHz combinados con 1GB de RAM LPDDR2. Figure 15. Raspberry Pi 3 Model B Será el computador principal conectado con Nerves, lo que permitirá enviar señales tanto al Emote Robot como al Carro utilizando USB, además de proporcionar un servidor web accesible mediante internet conectándose al Smartphone. Sistema Nerves: https://github.com/nerves-project/nerves_system_rpi3 Disponible en: https://altronics.cl/raspberry-pi-3-modelb-old?search=raspberry&page=4 El modelo de Raspberry Pi es a elección, simplemente debe ser compatible con Nerves (https://hexdocs.pm/nerves/supported-targets.html) Un modelo alternativo compatible es el Raspberry Pi Zero 2W. Figure 16. Raspberry Pi Zero 2 W Disponible en: https://mcielectronics.cl/shop/product/33107/ Para proporcionar una forma de mostrar emociones remotamente se puede utilizar un personaje de lego animatrónico. Esto es totalmente opcional, pero agrega personalidad y empatía al robot. También puede ser utilizada una smart tablet con un personaje animado y controlado remotamente. Puede ser adquirido en https://www.tiendalego.cl/collections/creator-3in1/products/dragon-rojo-31145 Figure 17. Personaje Lego Creator 3 en 1 El robot será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. Table 2. Lista de posibles componentes Componente Descripción 1 Raspberry PI Una versión compatible con Nerves y que permita conexión USB (UART) a la ESP32 2 ESP32 Devkit Un ESP32 para controlar el carro y un ESP32 para controlar el robot 4 Motor DC Cuatro motores DC de alto torque para movilidad del carro hasta 25 Kg. L298N Permite controlar al los motores DC. Android Smartphone Un Smartphone que actue como Hotspot y permita usar Jitsi Meet Baterías La batería necesaria para alimentar tanto a la Raspberry, ESP32 y Smartphone NoIP Servicio de DNS dinámico para acceder al servidor de la Raspberry PI Este proyecto grupal tiene como propósito la programación de una figura animatrónica con actuadores (servos), que es controlada a través de un microcontrolador ESP32 y un programa en C++. La figura elegida fue un búho, cuyas alas, cabeza y patas tienen movimiento mediante servomotores. Figure 18. Lego Búho (#31125) Table 3. Tabla de Componentes Componente Cantidad Descripción ESP32-WROOM 1 Microcontrolador principal Servomotor SG90 4 Uno por ala, uno en la cabeza, uno en las patas Fuente de alimentación 1 USB 5V (desde computadora o batería externa) Cables Dupont Varios Para Conexiones Bloques tipo LEGO Varios Para ensamblar la estructura del búho Protoboard / PCB 1 Para conexiones eléctricas (opcional) Acotaciones Se recomienda usar piezas tipo LEGO para facilitar el ajuste de los servos y permitir cambios de diseño de manera sencilla. Se cuidó el peso en el diseño para no sobrecargar los servos, especialmente en las alas. La alimentación por USB 5V es suficiente para los servos, pero se debe evitar hacer movimientos simultáneos prolongados para no sobrecargar la corriente disponible. La estructura fue validada para estabilidad durante los movimientos. El código debe incorporar retardos adecuados y límites de movimiento para evitar daños mecánicos. Código fuente del Búho #include <ESP32Servo.h> int pos = 0; Servo izquierdo; Servo derecho; Servo cabeza; Servo poto; int led = 16; bool inicializar = true; void setup() { Serial.begin(115200); // Pines válidos para ESP32, cambia si usas otros izquierdo.attach(13, 500, 2500); derecho.attach(14, 500, 2500); cabeza.attach(15, 500, 2500); poto.attach(18, 500, 2500); pinMode(led, OUTPUT); } void startPosition() { digitalWrite(led, HIGH); derecho.write(180); izquierdo.write(0); cabeza.write(180); poto.write(0); delay(500); digitalWrite(led, LOW); } void saludar(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(90-pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(pos-40); delay(velocidad); } digitalWrite(led, LOW); } void feliz(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); cabeza.write(pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); delay(velocidad); } digitalWrite(led, LOW); } void enojar(int velocidad) { digitalWrite(led, HIGH); for (pos =120; pos <= 180; pos += 1) { cabeza.write(pos); delay(velocidad); } digitalWrite(led, LOW); } // Lectura de los comandos por serial USB void leerComandoSerial() { if (Serial.available() <= 0) { return; } String comando = Serial.readStringUntil('\\n'); // Elimina espacios y saltos de línea comando.trim(); if (comando == \"saludar\") { cabeza.write(160); delay(15); saludar(10); saludar(10); saludar(10); startPosition(); } else if (comando == \"enojar\") { startPosition(); enojar(10); enojar(10); enojar(10); startPosition(); } else if (comando == \"resetear\") { startPosition(); } else if (comando == \"feliz\") { feliz(5); feliz(5); feliz(5); startPosition(); } else { Serial.println(\"Comando no reconocido.\"); } } void loop() { leerComandoSerial(); } Figure 19. Esquemático del Animatrónico Figure 20. Guía de Conexiones Video de Ejemplo de Funcionamiento Your browser does not support the video tag. Universidad EIA -canal institucional-. (2023, September 27). Master Class \"ESP32 en la Nube: Conectando microcontroladores a Amazon Web Service [Video]. YouTube. https://www.youtube.com/watch?v=YLP02lzla5U Restaurant Service Robot - Segway Robotics. (2024, June 12). Retrieved from https://robotics.segway.com/baobao/ Smart Delivery Robot-Pudu Robotics. (n.d.). Retrieved from https://www.pudurobotics.com/product/detail/bellabot Avatar Robot Café. (n.d.). Retrieved from https://dawn2021.orylab.com/en/ SoyChile. (2019, July 18). Viaje en el tiempo: “África” de Viña del Mar vuelve a rugir con los animatronics. Retrieved from https://www.soychile.cl/Valparaiso/Sociedad/2019/07/18/606350/Viaje-en-el-tiempo-Africa-de-Vina-del-Mar-vuelve-a-rugir-con-los-animatronics.aspx Transformadores. (2023, February 7). El “Michi-robot” que revoluciona a un restaurante de Viña del Mar. La Tercera. Retrieved from https://www.latercera.com","title":"ESP32","component":"ROOT","version":"","name":"esp32","url":"/controllers/esp32.html","titles":[{"text":"ESP32-DevKit","hash":"esp32-devkit","id":1},{"text":"Proyecto Gladiadores Robots","hash":"proyecto-gladiadores-robots","id":2},{"text":"Materiales","hash":"materiales","id":3},{"text":"Código fuente","hash":"código-fuente","id":4},{"text":"Proyecto Robot Animatrónico","hash":"proyecto-robot-animatrónico","id":5},{"text":"Pilotos OriHime","hash":"pilotos-orihime","id":6},{"text":"Restaurantes y Robots en Chile","hash":"restaurantes-y-robots-en-chile","id":7},{"text":"Descripción del Proyecto","hash":"descripción-del-proyecto","id":8},{"text":"Materiales","hash":"materiales-2","id":9},{"text":"Marco","hash":"marco","id":10},{"text":"Batería","hash":"batería","id":11},{"text":"Smartphone","hash":"smartphone","id":12},{"text":"Raspberry PI 3","hash":"raspberry-pi-3","id":13},{"text":"Emote Robot","hash":"emote-robot","id":14},{"text":"Búho Animatrónico","hash":"búho-animatrónico","id":15},{"text":"Referencias","hash":"referencias","id":16}]},"12":{"id":12,"text":"https://github.com/chipsalliance/chisel https://www.imm.dtu.dk/~masca/chisel-book.html","title":"FPGA","component":"ROOT","version":"","name":"fpga","url":"/controllers/fpga.html","titles":[]},"13":{"id":13,"text":"El temporizador 555 fue desarrollado por la firma Signetics en el 1971 con el nombre SE555/NE555 y se le conoce como el «Circuito Integrado Máquina del Tiempo» (The IC Time Machine). El IC 555 ha sido llamado \"la máquina del tiempo\" debido a su capacidad para manejar el tiempo en circuitos electrónicos. A pesar de su antigüedad, sigue siendo fabricado masivamente y es un pilar en la enseñanza y desarrollo de electrónica moderna (Hispavila, 2001). NE555 El 555 es un temporizador flexible, barato y fácil de encontrar. Es un buen punto de partida para multitud de proyectos de cualquier índole, debido a que su versátil salida, se puede conectar directamente a una carga a bajo o a alto. Es ideal para crear retardos de tiempo. En este modo, un disparador externo hace que el temporizador 555 genere un pulso de una duración ajustable. El modo astable está estrechamente relacionado con el modo monoestable. La diferencia importante es que, en modo astable, el pin de disparo, pin 2, está conectado a la patilla umbral pin 6, lo que hace que la salida pase a alternar continuamente entre los estados alto y bajo. En el modo astable, la salida del temporizador 555, es una forma de onda de pulso continuo. En realidad, el modo astable, se considera un sencillo generador de frecuencias, cuya frecuencia se puede controlar, modificando el valor del potenciómetro o cambiando el valor del condensador, para cambiar el rango de las frecuencias. Esta es un proyecto de luces de ferrocarril con un temporizador 555, en el cual dos luces se alternan, similar a una señal de cruce ferroviario. El temporizador 555 está configurado en modo astable, por lo que cambia continuamente su salida entre ALTA y BAJA, encendiendo y apagando así los dos LED conectados a la salida. Lista de Componentes 555 timer IC C1: Capacitor 10µF R1: Resistencia 47k R2: Resistencia 470 LED1 y LED2: Luces LED estándar Circuito Luces de Ferrocarril Conecta la batería de 9V al riel de alimentación y al riel de tierra para encender el circuito. Las luces intermitentes de ferrocarril con el temporizador 555 deberían comenzar a alternarse. Luces de Ferrocarril El proyecto usa un circuito integrado temporizador 555 para crear un efecto intermitente en dos LEDs rojos, que comúnmente se usan para simular las luces parpadeantes en un cruce ferroviario en maquetas de trenes. El temporizador 555 está configurado en modo “astable”, lo que significa que genera una secuencia continua de pulsos de encendido y apagado. Componentes de temporización: La resistencia (R1) y el condensador (C1) determinan la velocidad con la que parpadean los LEDs. El condensador se carga a través de R1 y, una vez que alcanza cierto voltaje, el temporizador cambia su salida para encender o apagar los LEDs. LEDs y resistencias: Los dos LEDs (LED1 y LED2) están conectados a la salida del temporizador a través de sus respectivas resistencias (R2 y R3), que limitan la corriente para evitar que los LEDs se quemen. Cuando la salida del 555 está en alto, la corriente fluye solo a través del LED inferior y este se enciende. Cuando la salida está en bajo, la corriente fluye solo a través del LED superior, encendiéndolo. Al alimentar este circuito, el temporizador 555 carga y descarga repetidamente el condensador a una velocidad determinada por R1 y C1, haciendo que el pin de salida alterne entre estados alto y bajo. Esto hace que los LEDs parpadeen, simulando las luces de advertencia que se ven en un cruce ferroviario real. Un metrónomo es un dispositivo utilizado por los músicos para mantener un tempo constante durante la práctica. En este proyecto, se construirá un metrónomo simple utilizando el circuito integrado temporizador 555. Lista de Componentes Batería 9V 555 Timer IC Potenciómetro, VR1 250kΩ Resistencia, R1 1kΩ 2 Capacitores, C1 & C2 22µF Altavoz (Parlante), 8Ω Circuito del Metrónomo Conecta el pin 8 (VCC) del temporizador 555 a la columna de alimentación positiva, y el pin 1 (GND) a la columna de alimentación negativa. Además, conecta el pin 4 (RESET) al pin 8 (VCC) para evitar que el temporizador se reinicie. Utiliza un cable para conectar el pin 6 (THR) al pin 2 (TRIG). Coloca VR1 y R1 en serie entre el pin 8 (VCC) y el pin 7 (DIS). Luego conecta el pin 7 (DIS) al pin 6 (THR), formando un lazo con las resistencias en serie y el temporizador. Conecta el terminal positivo de C1 a la unión entre VR1 y R1, y su terminal negativo al pin 1 (GND). Conecta el terminal positivo de C2 al pin 3 (OUT) y su terminal negativo a uno de los terminales del altavoz. Finalmente, conecta el otro terminal del altavoz al pin 1 (GND). Opcionalmente, conecta el pin 5 (CV) a tierra mediante un pequeño condensador de 10nF para estabilizar la frecuencia (no mostrado en el diagrama). Metrónomo El temporizador 555 está configurado en modo astable, lo que significa que genera una secuencia continua de pulsos. La frecuencia de estos pulsos determina el tempo del metrónomo. Componentes de temporización: Las resistencias (VR1 y R1) y el capacitor (C1) determinan el intervalo entre pulsos, el cual se puede ajustar modificando la resistencia de VR1. Descarga del capacitor: La salida alterna entre estados alto y bajo, lo que hace que C2 se cargue y se descargue, generando así el sonido en el altavoz. Salida al altavoz: Cuando el pin de salida (pin 3) está en alto, C2 se carga a través del altavoz, produciendo un sonido de clic. Toma su nombre de las antiguas computadoras Atari de los años 80 porque produce sonidos similares. Este circuito es perfecto si ya has construido un par de circuitos simples antes y quieres hacer algo más interesante. Lista de Componentes Una placa de pruebas (breadboard) para montar el circuito Cables de conexión (jumper wires) Altavoz (mínimo 0.3W) Dos circuitos integrados temporizadores 555 C1: Condensador de 10 nF C2: Condensador de 100 nF R1, R4: Resistencias de 1 kΩ R2, R3: Potenciómetros de 100k R5: Resistencia de 470 Ω Circuito de Atari Punk Atari Punk El circuito utiliza dos temporizadores 555. El temporizador 555 necesita algunos capacitores y resistencias para establecer el tono o la duración del pulso. Al combinar uno que establece la frecuencia y otro que controla la duración del pulso, puedes crear sonidos muy llamativos o incluso algo locos. Dahl, Ø. N. (2021, June 4). Build an Atari Punk Console this evening. Retrieved from https://www.build-electronic-circuits.com/atari-punk-console/ Dahl, Ø. N. (2024a, April 6). 555 timer Metronome Circuit. Retrieved from https://www.build-electronic-circuits.com/555-timer-metronome-circuit/ Dahl, Ø. N. (2024, April 6). 555 Timer Railroad Lights. Retrieved from https://www.build-electronic-circuits.com/555-timer-railroad-lights/ Hispavila. (2001, April 6). EL IC-555 – HISPAVILA.COM. Retrieved from https://www.hispavila.com/el-ic-555/","title":"IC555","component":"ROOT","version":"","name":"ic555","url":"/controllers/ic555.html","titles":[{"text":"Modo Monoestable","hash":"modo-monoestable","id":1},{"text":"Modo Astable","hash":"modo-astable","id":2},{"text":"Proyecto Luces del Ferrocarril","hash":"proyecto-luces-del-ferrocarril","id":3},{"text":"Proyecto Metrónomo","hash":"proyecto-metrónomo","id":4},{"text":"Proyecto Atari Punk","hash":"proyecto-atari-punk","id":5},{"text":"Referencias","hash":"referencias","id":6}]},"14":{"id":14,"text":"https://developer.nvidia.com/isaac https://www.amd.com/en/products/system-on-modules/kria/k26/robotics.html","title":"Nvidia Jetson & AMD Kria","component":"ROOT","version":"","name":"jetson","url":"/controllers/jetson.html","titles":[]},"15":{"id":15,"text":"El PIC16F877a es un microcontrolador de 8 bits desarrollado por Microchip Technology, lanzado a finales de los años 90 como parte de la familia PIC16. Tiene un bajo consumo de energía y alta capacidad para aplicaciones incrustadas, de acuerdo con su datasheet, cuenta con un procesador RISC de 20MHZ de velocidad de la CPU y 200ns de tiempos de ejecución de instrucción. Cuenta con 3 temporizadores (Timer0, Timer1 y Timer2), que permiten gestionar eventos y medir el paso del tiempo. Módulo Capture: Permite capturar el temporizador ante algún evento con una resolución de 12,5 ns. Módulo Compare: Permite comparar 2 valores de un máximo de 16 bits con una resolución de 200 ns. PWM (Modulación de Ancho de Pulso): Se encarga de enviar una señal de salida de ciclo variable, con una resolución de máximo 10 bits. SSP (Puerto serie síncrono) permite comunicación entre dispositvos con los siguientes protocolos: SSI (Serial Peripheral Interface) permiote la comunicación entre sensores, memorias y pantallas. I2C™ (Inter-Integrated Circuit) permite la comunicación maestro-esclavo, como al querer conectar multiples dispositivos a un bus de datos. USART/SCI (Receptor/Transmisor Asíncrono y Síncrono Universal) permite la comunicación serial de forma asincronica con otros dispositivos. PSP (Puerto esclavo paralelo) permite la comunicaicón en paralelo de instrucciones lectura, escritura y selección de chip. BOR (Brown-out reset) protege al dispositivo en caso de caídas de tensión. RISC CPU: procesadores que están diseñados para ejecutar un número reducido de tipos de instrucciones que les permite operar a una velocidad más elevada (Solé, R. 2021). Figure 1. Diagrama del microcontrolador 44 pins PIC16F877a Fuente: Microchip Technology Figure 2. Diagrama del microcontrolador 40 pins PIC16F877a Fuente: Microchip Technology A continuación, se describen las características básicas de acuerdo con Microchip Technology (Microchip, s.f.) del microcontrolador PIC16F877a Característica Valor Tamaño de memoria de programa (KB) 14 RAM (byte) 368 Data EEPROM (bytes) 256 Canitdad pines 40 o 44 Voltage Max. de operación (V) 5.5 Voltage Min. de operación (V) 2 A diferencia de los microprocesadores, el PIC16F877a (el cual es un microcontrolador) no consta de un sistema operativo para su funcionamiento. En lugar de eso, está diseñado para ejecutar directamente código incrustado escrito en lenguajes como C o ensamblador, sin necesidad de capas intermedias de software. Característica Microcontrolador (ej: PIC16F877a) Microprocesador Integración Incluye CPU, memoria, I/O y periféricos Solo contiene la unidad central de proceso (CPU) Propósito Aplicaciones incrustadas específicas Computadoras generales o sistemas complejos Programación Fácil de programar con lenguajes simples Requiere sistema operativo y software complejo Costo Bajo Alto Consumo de energía Bajo Generalmente más alto Los microcontroladores como el PIC16F877a están optimizados para tareas específicas, mientras que los microprocesadores son más potentes pero requieren más componentes externos y recursos. El PIC16F877a tiene usos en sistemas incrustados donde se requiere bajo consumo energético, una programación simplificada en C++ o assembly. Entre sus usos más comunes se encuentran: Automatización industrial (control de motores, monitoreo de sensores) Domótica (control de luces, cerraduras, temperatura) Equipos médicos portátiles Electrónica de consumo (juguetes inteligentes, electrodomésticos) Sistemas educativos para enseñanza de programación y electrónica básica Prototipos de IoT cuando se combinan con módulos de comunicación externa Para poder programar al PIC16F877a se utiliza el IDE MPLAB ® Xpress IDE ofrecido por Microship Technology (Microchip, s.f.) , siendo una herramienta que aporta flexibilidad, permitiendo programar, depurar y cargar el código al PIC16F877a. Figure 3. Logo de MPLAB Fuente: Microchip Technology Los ejemplos a demostrar son obtenidos del texto de bibliografía (Ruiz, 2021). Dentro de MCC se crea el nombre del proyecto (menú File → media de microcontroladores) con el nombre LED PULSADOR, luego en la ventasna Project Resources se asigna los terminales RA0 y RA5 como salida y entrada digital respectivamente, tal como muestra la figura 4. Figure 4. Asignación de terminales Fuente: MPLAB Xpress Figure 5. Cambio de nombre terminales Fuente: MPLAB Xpress Figure 6. Figure 6: Ajuste de reloj interno Fuente: MPLAB Xpress #include \"mcc_generated_files/system/system.h\" /* Main application */ int main(void) { SYSTEM_Initialize(); while(1) { if(PULSADOR_GetValue()==0) LED0_Toggle(); } } Codigo en assembly para una funcionalidad similar (Agkopian, 2016): ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Copyright (c) 2013 Manolis Agkopian ; ;See the file LICENCE for copying permission. ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; PROCESSOR '16F876A' INCLUDE <P16F876A.INC> __CONFIG _XT_OSC & _WDT_OFF & _PWRTE_OFF & _CP_OFF & _LVP_OFF & _BODEN_OFF DL_CNT EQU 0x20 ;DELAY COUNTER: COUNTS THE INTERUPS FROM TMR0 ORG 0x0000 GOTO INIT ORG 0x0004 GOTO TMR_CNT INIT: BSF STATUS, RP0 ;SELECT BANK 01 MOVLW B'11000111' ; PSA = 1/256 (THE TIMER WILL COUNT ONCE EVERY 256 CYCLES) MOVWF OPTION_REG ;AND USE INTERNAL INSTRUCTION CYCLE CLOCK BCF TRISB, 0 ;SET PB0 AS OUTPUT BCF STATUS, RP0 ;SELECT BANK 00 BCF PORTB, 0 MOVLW B'11100000' ;ENABLE TIMER 0 INTERUPT CLRF TMR0 MOVWF INTCON MOVLW 0x0F ;256 * 256 * 15 = ABOUT 1S MOVWF DL_CNT ;SO WE SET THE DELAY COUNTER TO COUNT 15 INTERUPTS MAIN: GOTO $ ;DO NOTHING, JUST WAIT FOR AN INTERUPT TMR_CNT: BCF INTCON, GIE ;DISABLE ALL INTERUPTS BCF INTCON, TMR0IF ;CLEAR TMR0 OVERFLOW FLAG DECFSZ DL_CNT ;WHEN THE DELAY COUNTER BECOMES ZERO GOTO CONTINUE BTFSC PORTB, 0 ;THEN IF PB0 IS SET GOTO CLR_PB0 ;CLEAR IT BSF PORTB, 0 ;ELSE IF IS CLEARED, THEN SET IT GOTO CONTINUE_0 CLR_PB0: BCF PORTB, 0 CONTINUE_0: MOVLW 0x0F ;RESET THE DELAY COUNTER MOVWF DL_CNT CONTINUE: BSF INTCON, GIE ;RENABLE THE INTERUPTS RETFIE END Figure 7. Ajuste CLC Fuente: MPLAB Xpress También hay opciones más modernas como el PIC18F4550 que tiene mayor capacidad de procesamiento y memoria interna. Se puede realizar una comparación entre las opciones en el sitio web de Microchip. Ambos son microcontroladores de 8 bits de Microchip, pero pertenecen a diferentes familias y niveles de capacidad. Table 1. Características Característica PIC16F877a PIC18F4550 Arquitectura PIC16 (Mid-range) PIC18 (High-end 8-bit) Velocidad de reloj Hasta 20 MHz Hasta 48 MHz (con PLL) Instrucciones por ciclo 1 cada 4 ciclos 1 por ciclo (en la mayoría) Número de instrucciones 35 75+ Table 2. Memoria Tipo de Memoria PIC16F877a PIC18F4550 Flash (programa) 14 KB 32 KB RAM 368 bytes 2 KB EEPROM 256 bytes 256 bytes Table 3. Periféricos y Funcionalidades Funcionalidad PIC16F877a PIC18F4550 Puertos I/O 33 35 Timers 3 (8 y 16 bits) 4 (8 y 16 bits) ADC 10-bit, 8 canales 10-bit, 13 canales PWM 2 canales 2 canales USART / UART 1 1 SPI / I2C Sí Sí (mejorado) USB No Sí (USB 2.0 Full-Speed) Interrupciones Básico Avanzado (prioridades) Table 4. Ventajas de Cada Uno Comparación PIC16F877a PIC18F4550 Facilidad de uso Muy fácil para principiantes Más complejo, más potente Costo Más barato Un poco más caro Capacidad de procesamiento Limitada Superior USB integrado ❌ No ✅ Sí Tamaño de programa 14 KB 32 KB Usa el PIC16F877a si: Estás empezando con microcontroladores. Tu proyecto es simple (sensores, control básico). No necesitas USB ni mucha memoria. Usa el PIC18F4550 si: Necesitas mayor velocidad y complejidad. Requieres comunicación USB integrada. Trabajas con interfaces humanas, data logging, etc. El microcontrolador PIC16F877a es una excelente opción para desarrolladores en busqueda de soluciones económicas y versátiles para sistemas incrustados. Sus periféricos integrados, bajo consumo de energía y facilidad de programación lo hacen ideal tanto para aplicaciones industriales como educativas. La principal ventaja frente a otras soluciones es que existe una garantía de que el programa se puede almacenar en la memoria flash o eeprom por 40 años o más. Agkopian, M. (2016). \"pic-assembly-examples\". https://github.com/magkopian/pic-assembly-examples/blob/master/led%20blink%20with%20TMR0%20and%20TMR1/TMR0_DELAY.asm Microchip Technology. (s.f.). \"MPLAB® Xpress Cloud-Based IDE\". https://www.microchip.com/en-us/tools-resources/develop/mplab-xpress Como recargas batería para optimizar el proceso Microchip Technology. (s.f.). \"PIC16F18855\". https://www.microchip.com/en-us/product/pic16f18855#Overview Ruiz, C. (2021). \"Programación de microcontroladores PIC paso a paso\". Macrocombo Solé, R. (2021). \"RISC: La arquitectura de procesadores usada por ARM para cambiar el mercado\". https://www.profesionalreview.com/2021/07/17/que-es-risc/#Que_es_RISC","title":"PIC16F877a","component":"ROOT","version":"","name":"pic16f877a","url":"/controllers/pic16f877a.html","titles":[{"text":"Características","hash":"características","id":1},{"text":"Diferencias entre un Microcontrolador y un Microprocesador","hash":"diferencias-entre-un-microcontrolador-y-un-microprocesador","id":2},{"text":"Usos del PIC16F877a","hash":"usos-del-pic16f877a","id":3},{"text":"Entorno de programación","hash":"entorno-de-programación","id":4},{"text":"Ejemplos de Aplicación","hash":"ejemplos-de-aplicación","id":5},{"text":"Control de un LED por pulsador","hash":"control-de-un-led-por-pulsador","id":6},{"text":"Comparación entre PIC16F877a y PIC18F4550","hash":"comparación-entre-pic16f877a-y-pic18f4550","id":7},{"text":"Conclusión","hash":"conclusión","id":8},{"text":"Referencias","hash":"referencias","id":9}]},"16":{"id":16,"text":"","title":"Raspberry Pi","component":"ROOT","version":"","name":"raspberry","url":"/controllers/raspberry.html","titles":[]},"17":{"id":17,"text":"El STM32 es una gran alternativa a ESP32 cuando se necesitan soluciones profesionales de bajo consumo de calidad industrial.","title":"STM32","component":"ROOT","version":"","name":"stm32","url":"/controllers/stm32.html","titles":[]},"18":{"id":18,"text":"Barrio Andrés, M. (2021). Internet de las cosas (IoT) (3.ª ed.). Editorial Reus. Recuperado de https://www.moisesbarrio.es/libro/internet-de-las-cosas-iot-3-edicion_9788429026092 Inria Chile. (2022). Libro blanco: Internet de las cosas (IoT). Recuperado de https://www.inria.cl/sites/default/files/2022-12/libro-blanco-iot-es.pdf Pizarro Peláez, J. (2020). Internet de las cosas (IoT) con ESP. Manual práctico. Ediciones Paraninfo. Recuperado de https://www.paraninfo.es/catalogo/9788428344968/internet-de-las-cosas—​iot—​con-esp—​manual-practico AWS. (s.f.). ¿Qué es LoRaWAN?. https://docs.aws.amazon.com/es_es/iot-wireless/latest/developerguide/what-is-lorawan.html XalDigital. (2023). Tecnologías y protocolos de comunicación de IoT. Recuperado de https://www.xaldigital.com/blog/tecnologias-y-protocolos-de-comunicacion-de-iot/","title":"","component":"ROOT","version":"","name":"bibliography","url":"/communication/bibliography.html","titles":[]},"19":{"id":19,"text":"El Internet de las Cosas (IoT) se refiere a la interconexión de dispositivos físicos cotidianos a través de Internet, permitiendo la recopilación y el intercambio de datos. Estos dispositivos, equipados con sensores y software, pueden ser desde electrodomésticos hasta dispositivos médicos o sistemas de ciudades inteligentes. Su objetivo es automatizar procesos y mejorar la eficiencia en diversas áreas. En 1982, una máquina expendedora de Coca-Cola en la Universidad Carnegie Mellon se convierte en el primer dispositivo conectado a Internet, capaz de informar sobre la disponibilidad y temperatura de las bebidas. En 1999, Kevin Ashton, del MIT, acuña el término \"Internet de las Cosas\" al proponer el uso de etiquetas RFID para mejorar la eficiencia en la cadena de suministro. Un ejemplo moderno serían las ampolletas inteligentes, que permiten encender o apagar luces y controlar electrodomésticos desde aplicaciones móviles o asistentes inteligentes. El Internet Industrial de las Cosas (IIoT) es una extensión del IoT enfocada en el ámbito industrial. Consiste en la integración de sensores, instrumentos y dispositivos autónomos conectados a través de Internet con aplicaciones industriales. Esto permite recopilar datos, realizar análisis y optimizar la producción, aumentando la eficiencia y reduciendo los costos en procesos de fabricación y prestación de servicios. En 2010, el IIoT se perfila como una tendencia revolucionaria, impulsada por la disponibilidad masiva de almacenamiento y capacidad computacional en la nube, permitiendo aplicaciones como el mantenimiento predictivo y la automatización industrial. Los sistemas SCADA, por ejemplo, permiten monitorear y controlar procesos industriales en tiempo real, como plantas eléctricas o estaciones de tratamiento de aguas, haciendo uso del IoT. Bluetooth Low Energy (BLE): Tecnología inalámbrica de corto alcance y bajo consumo energético, ideal para dispositivos portátiles y aplicaciones de salud. Permite transferencias de datos rápidas en distancias de hasta 10 metros. LoRaWAN: Protocolo de red basado en LoRa para redes de baja potencia y área amplia (LPWAN). Permite comunicaciones bidireccionales de largo alcance (hasta 15 km) con consumo energético mínimo, ideal para sensores en áreas rurales o remotas. MQTT: Protocolo ligero de mensajería basado en el modelo publicador/suscriptor. Es eficiente en conexiones remotas con bajo ancho de banda. CoAP: Protocolo de la capa de aplicación basado en UDP. Está diseñado para dispositivos con recursos limitados y es eficiente en aplicaciones donde el bajo consumo energético es clave. El avance del IoT y el IIoT ha transformado profundamente la forma en que interactuamos con la tecnología. Mientras que el IoT mejora la calidad de vida mediante dispositivos inteligentes, el IIoT impulsa la eficiencia operativa en sectores industriales como la manufactura, energía, agricultura y logística. Protocolos como LoRaWAN, Bluetooth LE, MQTT y CoAP permiten adaptar las comunicaciones según las necesidades específicas, priorizando el bajo consumo energético, la cobertura o la velocidad de transmisión. En conjunto, estos avances no solo optimizan procesos, sino que abren paso a nuevos modelos de negocio basados en datos en tiempo real. Con una infraestructura adecuada, una estrategia de seguridad sólida y la selección correcta de tecnologías, IoT y IIoT se consolidan como ejes de la transformación digital del presente y futuro.","title":"IOT","component":"ROOT","version":"","name":"iot","url":"/communication/iot.html","titles":[{"text":"Internet Industrial de las Cosas (IIoT)","hash":"internet-industrial-de-las-cosas-iiot","id":1},{"text":"Protocolos de Comunicación en IoT","hash":"protocolos-de-comunicación-en-iot","id":2},{"text":"Impacto y Futuro del IoT y IIoT","hash":"impacto-y-futuro-del-iot-y-iiot","id":3}]},"20":{"id":20,"text":"","title":"Meshtastic","component":"ROOT","version":"","name":"meshtastic","url":"/communication/meshtastic.html","titles":[]},"21":{"id":21,"text":"","title":"Sigfox","component":"ROOT","version":"","name":"sigfox","url":"/communication/sigfox.html","titles":[]},"22":{"id":22,"text":"","title":"Zigbee","component":"ROOT","version":"","name":"zigbee","url":"/communication/zigbee.html","titles":[]},"23":{"id":23,"text":"Electrones en Acción: Electrónica y Arduinos para tus propios Inventos. (2019, September 29). Retrieved from https://www.coursera.org/learn/electrones-en-accion Khan Academy: Ingeniería eléctrica. (2017, February 23). Retrieved from https://es.khanacademy.org/science/electrical-engineering Vieito, E. (2024, June 20). Historia del lenguaje de programación C: ¿por qué sigue estando tan presente? Retrieved from https://dinahosting.com/blog/historia-del-lenguaje-de-programacion-c-por-que-sigue-estando-tan-presente/ Microside. (n.d.). Retrieved from https://docs.microside.com/practicas/pic-c-compiler-ccs/pic16f887-or-pic16f877a/1-blink-led PIC Assembly Code Examples. (2017, March 28). Retrieved from https://www.teachmemicro.com/pic-microcontroller-tutorials/pic-assembly-code-examples/#blink Historia e Introducción de C++ | Aula Virtual. (n.d.). Retrieved from https://aulavirtual.fio.unam.edu.ar/mod/book/view.php?id=47577 Welcome to AtomVM! — AtomVM 0.7.0-dev+git.65f16e87 documentation. (n.d.). Retrieved from https://www.atomvm.net/doc/master/welcome-to-atomvm.html#why-erlang-elixir “Ada Core Documentation\". (n.d.). Retrieved from https://learn.adacore.com/courses/intro-to-ada/chapters/introduction.html#history","title":"","component":"ROOT","version":"","name":"bibliography","url":"/fundamentals/bibliography.html","titles":[]},"24":{"id":24,"text":"La electricidad es una forma de energía que es fácil de generar. Podemos generarla de diferentes maneras, por ejemplo, a través de un generador eléctrico, podemos generarla a través de una celda fotovoltaica. Es fácil de convertirla en otros tipos de energía. Los sensores nos permiten medir señales y los actuadores nos permiten convertir esas señales en alguna acción física. Esos actuadores y sensores muchas veces lo que están haciendo es convertir entre diferentes tipos de energía, por ejemplo, si tenemos un parlante. Un parlante lo que hace realmente es convertir una señal eléctrica en energía mecánica, que se manifiesta a través de ondas de presión en el aire. La electricidad además es fácil de transportar en grandes cantidades. Lo vemos en torres de alta tensión que nos permiten recibir energía eléctrica en un lugar remoto, energía que es generada en otra región del país. También es fácil de conducir en pequeñas cantidades y a gran velocidad y precisión. La electricidad puede ser utilizada en muchas aplicaciones. Esto es ideal para aplicaciones de potencia, donde queremos hacer actuar un motor, por ejemplo, un calefactor o un parlante de muy alta potencia. Pero también es ideal para manejar señales e información. Entonces aquí estamos distinguiendo entre dos tipos diferentes de usos: realizar señales y procesar datos. Existe electricidad estática y electricidad dinámica, principalmente nos vamos a centrar en la electricidad dinámica. La electricidad es el flujo de carga eléctrica a través de un material. La carga eléctrica es transportada por electrones, los electrones que forman parte de todos los átomos neutros nos permiten transportar electricidad. Los electrones, por convención, tienen carga eléctrica negativa y se mueven en respuesta a un campo eléctrico. Figure 1. Flujo de Electrones en un Conductor Eléctrico La figura muestra un conductor eléctrico y cada uno de estos puntos representa un electrón. Asumiendo que hay un campo eléctrico que está moviendo los electrones en esa dirección. La electricidad como flujo de carga eléctrica es el movimiento promedio de todos estos electrones. Vemos que no todos se mueven en la misma dirección. La gran mayoría se está moviendo en cualquier dirección, realmente, en promedio, estos electrones se mueven en una dirección. Se mueven lentamente, en general, un electrón en un conductor se mueve a velocidades del orden de un centímetro por segundo. Realmente la electricidad, si lo consideramos como transporte de carga, no es tan rápida. Un electrón puede moverse a un par de centímetros por segundo dentro de este conductor. Pero si entra un electrón nuevo por un lado, instantáneamente sale un electrón por el otro, vemos que la electricidad efectivamente sí se movió rápidamente. Esa transmisión de electricidad ocurre más o menos a la velocidad de la luz. Las ondas eléctricas viajan a la velocidad de la luz, aunque los portadores de carga viajen a velocidad finita. A medida que los electrones avanzan por su camino, van perdiendo energía. Cada vez que un electrón se mueve, debido a un campo eléctrico en un conductor, pierde algo de energía. Va convirtiéndola en otras forma de energía y una consecuencia indirecta de este efecto, es que podemos almacenar y procesar información usando electrones. Típicamente la electricidad se produce por el movimiento de cargas negativas. Pero el movimiento de cargas negativas en una dirección en términos matemáticos, es equivalente al movimiento de cargas positivas en la dirección contraria. Entonces, aunque los electrones se muevan una dirección, vamos a hablar de que la electricidad transportada por una corriente eléctrica va en la dirección contraria. Es decir, la corriente va en la dirección contraria al movimiento de los electrones. Bajo este supuesto, podríamos pensar que la electricidad es transportada por cargas positivas. Eso no es verdad, en la gran mayoría de los conductores, la electricidad es transportada por cargas negativas. La electricidad es provocada por movimiento de electrones, pero que produce corrientes que van en la dirección contraria al movimiento de estos. Tomemos una analogía sencilla para entender mejor la electricidad. Como el agua en el lecho de un río, que se mueve desde el punto más elevado al punto más bajo, mientras más alto, más energía potencial tiene el agua y a medida que va bajando, va perdiendo energía. Si está más alto, es capaz de desarrollar más trabajo útil. De la misma forma, las cargas eléctricas positivas en un conductor se mueven desde un punto de mayor voltaje o potencial a un punto de menor voltaje. Es una analogía directa entre la altura que tiene el agua y el potencial que tiene un electrón. A más alto potencial o voltaje, más energía tienen estos portadores de carga y son más capaces de desarrollar trabajo útil. Entonces, cuando le damos el voltaje a algo, en realidad estamos impartiendo más energía a los portadores de carga para que puedan realizar más trabajo útil. Entonces como una analogía, tenemos un río y el agua fluye desde un punto más alto hasta un punto más bajo. Si por ejemplo tenemos una batería, esta tiene un terminal positivo donde hay un mayor potencial. Entonces las cargas eléctricas se mueven desde un punto de mayor potencial (terminal positivo), hacia un punto de menor potencial (terminal negativo). Figure 2. Batería con Ampolleta En este caso estas cargas están pasando a través de una ampolleta. Al pasar por esta ampolleta estas cargas pierden energía y esa energía la convierten en calor y eventualmente en luz. Luego de que perdieron energía, esas cargas vuelven al terminal negativo de la batería, que se encarga de elevar el potencial para que luego salgan por el terminal positivo con más energía. Entonces, ¿qué es la electricidad? La electricidad es una forma de energía. Y además es el movimiento de cargas eléctricas a través de un circuito. La electricidad inevitablemente lidia con cantidades físicas o cantidades que podemos medir, por ejemplo podemos hablar de ondas de presión, que podemos eventualmente transformar en electricidad. O podemos hablar del color de un tipo de luz, que también podemos transformar en electricidad. Entonces siempre hay cantidades. Típicamente las variables físicas son traducidas a voltajes o corrientes en un circuito. Un tema interesante es que los voltajes y corrientes pueden abarcar órdenes de magnitud diferentes. Por ejemplo, hay circuitos que trabajan con un voltio de alimentación. Pero también hay sistemas de transmisión de energía que funcionan con 500.000 volts y cuando queremos medir señales muy pequeñas medimos milivoltios o microvoltios. Entonces, ¿cómo hacemos para diferenciar entre tantos órdenes de magnitud? lo que usamos normalmente para solucionar este tema son los prefijos. Existen giga, mega, kilo que son los más usados, para multiplicar un número por un factor. En estos casos son potencias de 10, 10 a la tres, 10 a la seis, 10 a la nueve. Entonces cada vez que hablemos de kilo, es 10 a la tres. De la misma forma que un kilogramo son 1.000 gramos, un kilovoltio, son 1.000 voltios, y un kiloamperio, son 1.000 amperios. Y tenemos sub múltiplos mili, micro, nano, pico, femto, atto, entre otros, y tienen una designación a través de una letra. Table 1. Tabla de Unidades Unidad Tipo Símbolo Potencia Giga Múltiplos G Mega Múltiplos M Kilo Múltiplos k Mili Sub-Múltiplos m Micro Sub-Múltiplos µ Nano Sub-Múltiplos n Pico Sub-Múltiplos p Femto Sub-Múltiplos n Atto Sub-Múltiplos a La electricidad puede ser considerada, a grandes rasgos, casi como un fluido. Antiguamente se pensaba que había, de hecho, 2 tipos de electricidad, positiva y negativa. Luego Benjamin Franklin describió a la electricidad como un fluido de un solo tipo y el exceso o déficit de este fluido podía ser considerado como que es carga positiva o carga negativa. La verdad es que estuvo bastante cerca con su apreciación. Y una de las mejores analogías para los circuitos eléctricos son los circuitos hidráulicos. Es solo una analogía, no siempre funciona bien, pero sirve para empezar a entender mejor cómo funciona la electricidad. En un rio, el agua pasa de una altura mayor a una altura menor y a medida que se mueve cada partícula de agua, cada molécula de agua va perdiendo energía. De la misma forma, cargas positivas que salen desde el terminal positivo de la batería van perdiendo energía hasta que entran finalmente por el terminal negativo. Las cantidades físicas sobre las que se fundamenta todo lo que sabemos son voltaje y corriente. El voltaje se designa con la letra V y se mide en volts. (Es como si fuera la altura del agua en un circuito hidráulico), tiene que ver con la energía en los portadores de carga. En un circuito eléctrico el voltaje 0 es arbitrario. Y nosotros definimos el voltaje 0 donde más convenga y ese voltaje 0 le llamamos tierra. Entonces, esa tierra es la referencia arbitraria en torno a la cual medimos el voltaje. Y luego está la corriente, que se relaciona con el flujo o caudal en un circuito hidráulico, tiene que ver con cuánta agua circula por una sección dada del río en un momento determinado. Tiene que ver con cuántos portadores de carga cruzan una sección del circuito en un tiempo determinado y se mide de manera absoluta, a diferencia del voltaje, que se mide en relación a una tierra, la corriente se mide de manera absoluta. El voltaje también se le llama tensión. A mayor voltaje en un punto, mayor energía tienen los portadores de carga en ese punto. Los portadores de carga con mayor energía pueden realizar más trabajo útil. Por ejemplo, pueden mover un motor más rápidamente o pueden encender una luz con mayor intensidad. Si 2 objetos con voltajes diferentes llegaran a tocarse producirían un cortocircuito y corriente. Es decir, si tenemos 2 voltajes diferentes que se tocan, hay corriente entre ellos. Figure 3. Fuentes de Voltaje Símbolo Descripción Es el símbolo más genérico para una fuente de voltaje en un circuito. Comunmente suele ser una fuente de poder. Es una buena práctica dibujar los signos + y - dentro del círculo. Este símbolo se utiliza cuando hay fuentes alternas. Es el símbolo para una fuente de voltaje variable. El garabato dentro del círculo sugiere que este símbolo en particular representa un generador de onda sinusoidal. Este símbolo se utiliza para baterías. La línea horizontal más larga en el símbolo representa la terminal positiva de la batería y la línea horizontal más corta representa la terminal negativa. La corriente es el flujo de portadores de carga en un circuito. Cuando hay corriente los portadores van cambiando su nivel de energía, cambian de voltaje, es decir, cuando van circulando por un circuito con corriente pierden energía. De la misma forma, que las moléculas de agua en el lecho de un río, cuando fluyen van perdiendo energía. Esa diferencia de energía realmente no se pierde sino que se convierte en otras formas de energía. La corriente fluye a través de conductores eléctricos, dispositivos electrónicos, motores, luces y objetos en general. Figure 4. Símbolo de Corriente Es el símbolo más común para la corriente constante. La flecha indica la dirección del flujo positivo de la corriente. Las señales eléctricas llevan información. En general las señales típicamente son de voltaje y no de corriente, varían en el tiempo. Figure 5. Gráfico de Voltaje en el Tiempo El gráfico muestra la amplitud (el punto más alto que llega el voltaje) que medimos en volts versus tiempo (segundos). En el segundo 0, 1, 2, 3, 4, 5, 6, etcétera, tenemos una señal que va variando de manera continua, es decir que tiene un voltaje que varía de manera continua. Las señales tienen una parte variable y una parte que es constante. La parte variable le llamamos AC y la parte constante le llamamos DC. DC viene de \"direct current\" o corriente directa. Mientras que la parte AC viene por corriente alterna. La parte DC de una señal es el promedio de la señal en el tiempo. Si nosotros tomamos una señal en el tiempo y promediamos su valor, el valor promedio de la señal es la parte DC y la parte AC es todo lo que sobra. Por lo tanto, si sumamos parte DC más parte AC tendremos la señal completa. Las señales varían y tienen frecuencia y período. Entonces las señales variables pueden ser descompuestas en una suma de señales fundamentales de diferentes frecuencias. Descomponerlas en sus frecuencias fundamentales resulta sumamente útil para el análisis. Diferentes señales a diferentes frecuencias nos permiten componer cualquier otra señal. Por lo tanto, cualquier señal que se nos ocurra puede ser descompuesta en diferentes frecuencias. Figure 6. Señal Sinusoidal Para describir esta señal en el tiempo usamos funciones. En este caso A(t) (A de t). A sub 0 es la amplitud (El valor máximo al que llega esta señal). La constante 2π (2 * pi, es necesaria) y luego viene ƒ (frecuencia) y t (el tiempo), sumado a Φ (phi, la cantidad de desfase respecto a un valor cero). El tiempo y la frecuencia tiene que ver con cuántos ciclos (períodos) ocurren en una unidad de tiempo. Un ciclo se puede considerar desde un punto inicial a su amplitud máxima, su amplitud mínima y volver al punto inicial. Lo que se demore la señal en cumplir un ciclo lo consideramos como t. Este t se mide en segundos. La frecuencia es . Por lo tanto este ƒ va a ser 1 partido por el período. Luego Φ es el desfase y tiene que ver con cuánto más adelante o atrás está esta señal respecto de un 0. Existen 3 valores importantes en una señal sinusoidal, amplitud, frecuencia y fase. Y si nosotros sumamos muchas señales sinusoidales terminamos con cualquier señal arbitraria que se nos pueda ocurrir. Las señales eléctricas también pueden realizar acciones, no solamente nos permiten procesar información. == Energía y Potencia Los portadores de carga (electrones) tienen diferente nivel de energía. Cuando un portador de carga circula por un circuito puede ganar o perder energía. Imaginemos una carga positiva que está circulando a través de un circuito. Cada vez que la carga pasa por la ampolleta, pierde energía. No es que la pierda realmente, sino que esta se convierte en calor y, eventualmente, en luz. Cuando esa carga perdió energía, sigue circulando allí, y la batería le aumenta la energía y hace que la carga pueda seguir circulando, perder energía, crecer en energía, perder energía, etcéra. Figure 7. Circuito de Ampolleta Y esto es un poco parecido a una montaña rusa, donde un motor permite que un carro suba hasta una cierta altura, que es como una batería que está haciendo subir esta carga, hasta un cierto potencial y, luego, ese carro cae. La energía que llevaba, es decir, la energía potencial, se convierte en calor. La energía en el circuito es una propiedad física que podemos medir, es cuantificable y que describe el estado de un sistema, o de un objeto, o de un circuito. En un sistema eléctrico, mecánico, químico, nuclear, etcétera. No confundir energía con \"buenas vibras\", la energía es medible todo el tiempo. Existen diferentes formas de medir energía. La típica unidad que usamos es el Joule. Pero hay otras formas, por ejemplo, quienes cuentan calorías, cuentan la energía que consumen. La energía puede ser transformada en otros tipos de energía y puede producir trabajo útil. La potencia es la velocidad a la cual la energía va cambiando, ya sea convirtiéndose desde un sistema a otro, transformándose entre diferentes formas de energía. siendo consumida o generada. Por ejemplo, el motor del auto puede desarrollar una cierta potencia, como 100 HP (horse power, caballos de potencia). HP es una medida de potencia. La medida que usamos en electricidad es el Watt. Un motor de un auto puede producir una cierta cantidad de watts, por ejemplo, 100 kilowatts. Y la energía que requiere ese auto para funcionar viene desde el combustible que trae energía química, que luego se va convirtiendo en movimiento. Esa energía química se puede medir en joules. Es posible calcular la potencia de un componente de un circuito electrónico como el producto entre voltaje y corriente. La corriente en un componente por el voltaje en sus terminales, el producto entre ambos me da la potencia que está siendo consumida o entregada por ese componente y la energía es la acumulación de esa potencia en el tiempo. Por lo tanto, la energía es la integral, en el tiempo, de una potencia. La energía eléctrica puede ser almacenada en baterías y en otros medios. Hay diversas opciones de batería, que es la forma más común que tenemos para almacenar energía eléctrica. Table 2. Tipos de Baterías Imagen Tipo Descripción - Alcalina No se pueden recargar (muy peligroso) y generalmente tienen del orden de 1.5 volts por celda. - Recargables (NiMH, NiCd) Están las baterías recargables de Niquel-Hidruro metálico o Niquel-Cadmio que tienen del orden de 1.2 volts por celda. - Plomo ácido o gel Típicamente 6 volts o 12 volts, sirven para encender un auto, por ejemplo. - Ión-Litio o polímero de Litio Tienen 3.7 volts por celda. Éstas son las que se utilizan, por ejemplo, en muchos teléfonos celulares o computadores. Las baterías de polímero de litio tienen una mayor capacidad que las de ión-litio, pero son un poco más peligrosas de manejar.","title":"Fundamentos de Electricidad","component":"ROOT","version":"","name":"electricity","url":"/fundamentals/electricity.html","titles":[{"text":"¿De qué está hecha la electricidad?","hash":"de-qué-está-hecha-la-electricidad","id":1},{"text":"Flujo de la Electricidad","hash":"flujo-de-la-electricidad","id":2},{"text":"Unidades de Medida","hash":"unidades-de-medida","id":3},{"text":"Señales Eléctricas","hash":"señales-eléctricas","id":4},{"text":"Voltaje","hash":"voltaje","id":5},{"text":"Corriente","hash":"corriente","id":6},{"text":"Señales","hash":"señales","id":7},{"text":"Medición de Energía","hash":"medición-de-energía","id":8},{"text":"Almacenamiento de Energía","hash":"almacenamiento-de-energía","id":9}]},"25":{"id":25,"text":"Los portadores de carga (electrones) tienen diferente nivel de energía. Cuando un portador de carga circula por un circuito puede ganar o perder energía. Imaginemos una carga positiva que está circulando a través de un circuito. Cada vez que la carga pasa por la ampolleta, pierde energía. No es que la pierda realmente, sino que esta se convierte en calor y, eventualmente, en luz. Cuando esa carga perdió energía, sigue circulando allí, y la batería le aumenta la energía y hace que la carga pueda seguir circulando, perder energía, crecer en energía, perder energía, etcéra. Figure 1. Circuito de Ampolleta Y esto es un poco parecido a una montaña rusa, donde un motor permite que un carro suba hasta una cierta altura, que es como una batería que está haciendo subir esta carga, hasta un cierto potencial y, luego, ese carro cae. La energía que llevaba, es decir, la energía potencial, se convierte en calor. La energía en el circuito es una propiedad física que podemos medir, es cuantificable y que describe el estado de un sistema, o de un objeto, o de un circuito. En un sistema eléctrico, mecánico, químico, nuclear, etcétera. No confundir energía con \"buenas vibras\", la energía es medible todo el tiempo. Existen diferentes formas de medir energía. La típica unidad que usamos es el Joule. Pero hay otras formas, por ejemplo, quienes cuentan calorías, cuentan la energía que consumen. La energía puede ser transformada en otros tipos de energía y puede producir trabajo útil. La potencia es la velocidad a la cual la energía va cambiando, ya sea convirtiéndose desde un sistema a otro, transformándose entre diferentes formas de energía. siendo consumida o generada. Por ejemplo, el motor del auto puede desarrollar una cierta potencia, como 100 HP (horse power, caballos de potencia). HP es una medida de potencia. La medida que usamos en electricidad es el Watt. Un motor de un auto puede producir una cierta cantidad de watts, por ejemplo, 100 kilowatts. Y la energía que requiere ese auto para funcionar viene desde el combustible que trae energía química, que luego se va convirtiendo en movimiento. Esa energía química se puede medir en joules. Es posible calcular la potencia de un componente de un circuito electrónico como el producto entre voltaje y corriente. La corriente en un componente por el voltaje en sus terminales, el producto entre ambos me da la potencia que está siendo consumida o entregada por ese componente y la energía es la acumulación de esa potencia en el tiempo. Por lo tanto, la energía es la integral, en el tiempo, de una potencia. La energía eléctrica puede ser almacenada en baterías y en otros medios. Hay diversas opciones de batería, que es la forma más común que tenemos para almacenar energía eléctrica. Table 1. Tipos de Baterías Imagen Tipo Descripción - Alcalina No se pueden recargar (muy peligroso) y generalmente tienen del orden de 1.5 volts por celda. - Recargables (NiMH, NiCd) Están las baterías recargables de Niquel-Hidruro metálico o Niquel-Cadmio que tienen del orden de 1.2 volts por celda. - Plomo ácido o gel Típicamente 6 volts o 12 volts, sirven para encender un auto, por ejemplo. - Ión-Litio o polímero de Litio Tienen 3.7 volts por celda. Éstas son las que se utilizan, por ejemplo, en muchos teléfonos celulares o computadores. Las baterías de polímero de litio tienen una mayor capacidad que las de ión-litio, pero son un poco más peligrosas de manejar.","title":"","component":"ROOT","version":"","name":"energy","url":"/fundamentals/energy.html","titles":[{"text":"Energía y Potencia","hash":"energía-y-potencia","id":1},{"text":"Medición de Energía","hash":"medición-de-energía","id":2},{"text":"Almacenamiento de Energía","hash":"almacenamiento-de-energía","id":3}]},"26":{"id":26,"text":"En este capítulo se dará un vistazo general a los hitos relevantes para la robótica y mecatrónica, desde los primeros autómatas hasta la actualidad con sistemas que utilizan machine learning para tomar decisiones y analizar su entorno. El ser humano ha ideado mecanismos que permitan automatizar tareas cotidianas o laboriosas utilizando el poder del agua, viento o fuego desde las primeras civilizaciones (por ejemplo el Molino Hidráulico). La Edad Media proporcionó a Europa una nueva invención: el reloj mecánico, un ingenio fascinante que transformó la vida de los habitantes de las ciudades e introdujo en el mundo occidental los valores de precisión y eficacia. En monasterios y ciudades el ritmo de trabajo era artificial, a diferencia de lo que ocurría en el campo, cuyo ritmo de trabajo era natural, regido por la trayectoria del sol. Y un ritmo de trabajo artificial debía medirse con un tiempo artificial y un mecanismo que no tenía por qué emular el ritmo de los astros. Así surgió en Occidente el reloj mecánico, que se convertiría en el representante más genuino de su filosofía de la vida y de su filosofía económica, introduciendo valores nuevos como la precisión y la eficacia. A la vez que se construían campanas y campanarios, se fabricaron mecanismos capaces de mover aquellos carillones, y tales artilugios, que importaron la tecnología de los monasterios, fueron los precedentes de los relojes mecánicos. El objeto de estos primitivos relojes era \"dar la hora\" con el sonido de una campana; de ahí que el término inglés clock, \"reloj\", sea muy cercano al alemán glocke y al francés cloche, que significan \"campana\". Figure 1. Reloj Medieval El tiempo era un fluir continuo, pero para construir el reloj era necesario cortarlo, convertirlo en una sucesión de fragmentos: las unidades de tiempo que ahora llamamos minutos y segundos. La historia del reloj es parte de la historia de la miniaturización: los pesos se sustituyeron por muelles, los relojes pasaron de las torres a las habitaciones, después a los aparadores de las casas, luego a los bolsillos de sus poseedores y finalmente a las muñecas de su propietario. Este proceso de miniaturización estuvo acompañado por el interés en mejorar la precisión; si la campana debía sonar a una hora convenía que fuera lo más exacta posible. Con la invención del reloj mecánico se establecieron las bases para mecanismos cada vez más diminutos y portátiles, que sin necesidad de electricidad podían trasladarse y efectuar sofisticados movimientos. El término \"Karakuri\" en japonés se traduce aproximadamente como \"mecanismo\" o \"truco\", capturando el aspecto encantador de estas creaciones. Los autómatas karakuri se desarrollaron principalmente durante el período Edo (1603–1867), una época de relativo aislamiento para Japón bajo el shogunato Tokugawa. Aunque Japón estaba en gran medida aislado del mundo occidental, sí mantuvo un contacto restringido con algunos comerciantes europeos, lo que permitió que ciertas influencias externas, como la tecnología de medición del tiempo, se filtraran en el país. Los relojeros japoneses, inspirados por los mecanismos de engranajes europeos, adaptaron esas ideas a su propio contexto cultural. En lugar de replicar los dispositivos europeos, los artesanos japoneses encontraron expresiones únicas, fusionando la practicidad con el juego. Experimentaron con engranajes de madera, levas y mecanismos de cuerda para crear pequeñas y maravillosas muñecas que no solo eran entretenidas, sino también reflejo de la estética japonesa. En el corazón de cada autómata karakuri se encuentra una meticulosa artesanía que une el arte y la ingeniería. Quizás la versión más icónica sea el chahakobi ningyō, o muñeca que sirve té. Cuando se coloca una taza de té sobre la bandeja de madera que sostiene el autómata, un mecanismo oculto activa a la muñeca, que se desliza hacia adelante. Figure 2. chahakobi ningyō Una vez que la taza es retirada, la muñeca se detiene en su lugar, como si esperara cortésmente su taza vacía o una amabl e inclinación de cabeza. En su interior, un conjunto de engranajes, resortes y poleas trabaja de manera armoniosa para crear este movimiento elegante. Un karakuri bien construido no requiere electricidad; en su lugar, depende de la tensión de resortes enrollados o de pesas cuidadosamente colocadas, de forma similar a los relojes de cuerda. Otro modelo cautivador es el moji-kaki ningyō, o muñeca escritora, que sumerge un pequeño pincel en tinta y traza caracteres sobre el papel. Observar cómo la creación mueve su brazo con una precisión asombrosa pone de manifiesto la búsqueda, con siglos de antigüedad, de replicar el movimiento humano mediante medios puramente mecánicos. Figure 3. moji-kaki ningyō La durabilidad y la belleza estética de los autómatas karakuri son testimonio de la dedicación de Japón al arte y a la búsqueda de la perfección. Estas piezas trascienden la mera curiosidad y encarnan el significado cultural de la armonía, el respeto y el servicio ritualizado, conectando al artesano y al público de una manera profundamente humana. Figure 4. Karakuri A pesar de que construyeron muchos más autómatas durante sus carreras se conoce como autómatas de Jaquet-Droz al dibujante, la pianista y el escritor, diseñados y fabricados entre 1768 y 1774 por el relojero suizo Pierre Jaquet-Droz, su hijo Henri-Louis y Jean-Frédéric Leschot. Formado por unas 2.000 piezas, es capaz de hacer cuatro dibujos distintos a la vez que sigue el movimiento del lápiz con el que los hace con los ojos y, de vez en cuando, sopla su punta para eliminar restos de carbon. Formada con unas 2.000 piezas, toca cinco piezas distintas en un órgano. Pero no es una caja de música sino que toca las piezas de verdad, moviendo sus dedos para presionar las teclas. Cada vez que termina con una de ellas saluda a su público. Igual que el dibujante, mueve los ojos para seguir sus manos, su cuerpo al ritmo de la música, e incluso simula que respira, pues su pecho sube y baja. Formado por algo más de 6.000 piezas no sólo mueve los ojos para seguir la pluma con la que escribe y la cabeza cuando va a mojarla en el tintero sino que es capaz de escribir cualquier texto con un máximo de 40 caracteres en cuatro líneas. Cualquier texto, pues lo que va a escribir se programa mediante unas piezas que se insertan en un disco que tiene en su parte posterior, lo que lo convierte en una de las primeras máquinas programables de la historia. Figure 5. Autómatas de Jaquet-Droz El telar de Jacquard es un telar mecánico inventado por Joseph Marie Jacquard en diciembre de 1800 y presentado en público en la 2ª Exposición industrial celebrada en París del 19 al 25 de septiembre de 1801 donde recibió una medalla de bronce en un concurso de tejido de redes de pesca. Considerado el primer robot programable, el artilugio utilizaba tarjetas perforadas para conseguir tejer patrones en la tela, permitiendo que hasta los usuarios más inexpertos pudieran elaborar complejos diseños. El telar de Joseph Marie Jacquard supuso, aparte de un gran avance en la industria textil debido a su mecanización, un antecedente fundamental en la codificación de imágenes que casi dos siglos más tarde vería la luz. La base del telar, las tarjetas perforadas de Jean Falcon eran una prefiguración binaria (muy sencilla eso sí) de cómo almacenar imágenes, como guardar la información para poderlas reproducir a posterior. Las tarjetas daban información sobre patrones y dibujos de una manera fácil: con agujeros o sin; de esta manera se conseguían producir en masa las mismas formas, se estaba copiando una sola imagen. El concepto de archivo de una fotografía es similar ya que se parece a un telar sólo que con mucha más información pero al fin y al cabo cada puntada es un píxel. La maquinaria conforma uno de los antecedentes más antiguos de la computación y de la generación de “bases de datos” en lenguaje binario. Hasta la llegada de la invención de Jacquard entre cada paso de la lanzadera con la trama había que subir o bajar los hilos de la urdimbre, según correspondiera, a mano. Este proceso era lento y sujeto a errores, por lo que los diseños que se hacían no eran muy complicados. Pero el dispositivo de Jacquard, sin embargo, era capaz de manejar hasta varios cientos de hilos de urdimbre a la vez y de manera extremadamente rápida, lo que sirvió para una mejora exponencial en la velocidad de producción de las telas y en la calidad y complejidad de los diseños que se podían hacer. Figure 6. Telar programable con tarjetas perforadas La palabra “robot” fue usada por primera vez en 1921 cuando el escritor checo Karel Čapek (1890 – 1938) estrena su obra Rossum’s Universal Robot en el teatro nacional de Praga. En realidad, el crédito va a su hermano Josef Čapek, quien la inventó. Karel solo la empleo en su obra. Su origen viene de la palabra eslava robota o roboti (plural), que se refiere al trabajo forzado. La trama de la obra de Čapek era simple, ya que designa a unos autómatas, también conocidos como robots a trabajar de obreros. La palabra “robot” fue utilizada en el imperio austro-húngaro hasta 1848 para referirse a los esclavos y la servidumbre. De acuerdo a la definición ofrecida por Oxford Languages, un robot es una “Máquina automática programable capaz de realizar determinadas operaciones de manera autónoma y sustituir a los seres humanos en algunas tareas, en especial las pesadas, repetitivas o peligrosas; puede estar dotada de sensores, que le permiten adaptarse a nuevas situaciones.” Figure 7. Karel Capek/; Rossum’s Universal Robots (RUR) 1921 La palabra “robot” deriva del término checo robota, que puede significar trabajo que realmente no quieres hacer o trabajo tedioso. Su obra ha sido representada en todo el mundo, y la palabra “robot” fue posteriormente hecha realmente famosa por Isaac Asimov en la década de 1940 (relatos recopilados como Yo, robot en 1950). Konrad Zuse (Berlín, 1910- Hünfeld, 1995) pensaba y soñaba con gigantescos ductos de información, atravesando los espacios exteriores e interiores de las ciudades. El ser humano tendría entonces más tiempo y podría dedicarse a asuntos más interesantes y desafiantes, como el arte. Zuse tenía un sueño y una idea: “Metrópolis”, como el mismo nombre de la película. La idea era una ciudad en la que todos los procesos de transporte e intercambio de bienes y personas se realizaría a través de una compleja red de trenes y pistas, facilitándole a sus ciudadanos, con el ritmo armónico de una nueva naturaleza, un nuevo bienestar. Zuse soñaba con una máquina que piense por nosotros. Aunque no las preguntas fundamentales, relacionadas con el universo o el origen y destino de las cosas y los seres; sino máquinas que realizaran de manera automática miles de cálculos. Desde el 1 + 1 y el 1 + 2 hasta los algoritmos y los números complejos. Necesitábamos asistencia para liberarnos de las tareas más monótonas. Para calcular. Algo así como contadores. Ordenadores. Computadoras. La Z1 fue el primer intento. La máquina consistía en una estructura de lata, llena de interruptores de dos posiciones. El aparato era totalmente electromecánico, compuesto de interruptores mecánicos y una memoria hecha a partir de láminas de metal. La Z1 podía ser programada a través de tarjetas perforadas, hojas con información codificada en forma de agujeros.“Con la ayuda de esta suerte de primitivo cerebro mecánico será posible resolver todas las operaciones que están al alcance de un mecanismo” escribiría en la tarde del 20 de junio de 1937 Konrad Zuse en su diario de vida. El principio era sencillo, las aspiraciones ambiciosas, los resultados, premonitorios. Lo que hacía Zuse era “calcular con latas”, construyendo el principio matemático de lo que hoy conocemos como “operaciones booleanas”, en las que se basan cosas tan cotidianas como los buscadores de Internet. Él le llamaba “Schaltalgebra”, algo así como “álgebra de encendidos y apagados”, aludiendo a los circuitos compuestos de elementos metálicos que tenían contacto entre sí o lo perdían. Los interruptores se basaban en un principio sencillo, el de resumir grandes números en muchas operaciones simples: adiciones, sustracciones, multiplicaciones y divisiones de unos y ceros. Ya en 1937 la Z1 estaba terminada. El paso siguiente sería la nueva versión, la Z2, terminada en 1939, otro experimento que le permitiría indagar en lo realmente necesario para la construcción de una máquina pensante. En 1941 estaría terminada la primera computadora que funcionaba realmente “como relojito”: la Z3 ¿La innovación? En vez de interruptores, la máquina se componía de relés, dispositivos electromagnéticos que sustituían a los interruptores y que se componían de electroimanes y pulsadores sensibles al impulso eléctrico generado al activarse cada uno de ellos. Estos pulsadores se ven como los pulsadores de un clavecín, y eran parte esencial del antiguo sistema telefónico análogo. Zuse comenzaba a gestar el primer lenguaje computacional. Plankalkül era su nombre. Algo así como “cálculo para proyectos” y llegaría a manifestarse de manera plena en la Z4 en 1945. Figure 8. Réplica de la máquina Z1 La mecatrónica surge de la combinación sinérgica de distintas ramas de la ingeniería, entre las que destacan: la mecánica de precisión, la electrónica, la informática y los sistemas de control. Su principal propósito es el análisis y diseño de productos y de procesos de manufactura automatizados. Nace en Japón a final de la década de los sesenta con la integración de las ingenierías mecánica y electrónica con el objetivo de incorporar las dos ingenierías en los productos electrónicos. El ingeniero japonés Tetsuro Mori acuñó \"mecatrónica\" (meca-trónica) en 1969, derivado de \"mecanismo\" y \"electrónica\". La Yaskawa Electric Corporation popularizó el término en los 70, enfocándose en la integración de la electrónica en sistemas mecánicos de alta precisión. En resumen, la mecatrónica evolucionó de una disciplina enfocada en la automatización a un campo multidisciplinario que fusiona la ingeniería mecánica, electrónica, informática y de control para diseñar sistemas complejos y autónomos. Figure 9. Brave Raideen 1975 Un transistor es un componente semiconductor, generalmente con al menos tres terminales que se conectan a un circuito electrónico, que restringe o permite el flujo de corriente eléctrica entre dos contactos según la presencia o ausencia de corriente en un tercer contacto. El término transistor proviene del acrónimo transfer resistor (en español resistor de transferencia). El primer transistor comercial de silicio fue producido por Texas Instruments en 1954 gracias al trabajo del experto Gordon Teal quien había trabajado previamente en los Laboratorios Bell en el crecimiento de cristales de alta pureza. El primer transistor MOSFET fue construido por el coreano-estadounidense Dawon Kahng y el egipcio Martin Atalla, ambos ingenieros de los Laboratorios Bell, en 1960. Los transistores se utilizan en casi todos los dispositivos electrónicos modernos. Son la base de los circuitos integrados (IC), los microchips, los microprocesadores, las FPGA, los chips de memoria, los conmutadores electrónicos, las fuentes de alimentación y mucho más. Como resultado, casi todos los dispositivos electrónicos modernos constan, al menos, de un transistor o de millones de ellos. Para la década de 1960, la tecnología de transistores se había convertido en una fuerza tecnológica dominante y las válvulas termoiónicas pronto quedaron obsoletas. En 1965, Gordon Moore, el fundador de Fairchild Semiconductor e Intel, predijo que la cantidad de transistores en microchips se duplicaría cada dos años. La Ley de Moore define una relación logarítmica lineal de esta densidad de transistores a lo largo del tiempo. En 1970, los circuitos integrados tenían alrededor de 2000 transistores. Para 2020, los circuitos integrados de última generación tenían más de 10.000 millones. Figure 10. Transistores y Válvulas Termoiónicas Muchos de los primeros micro ordenadores fueron diseñados pensando en las calculadoras, como fue el caso, por ejemplo, del Intel 4004. Los fabricantes de calculadoras impulsaron individualmente los avances en el silicio de los procesadores, y en Texas Instruments (TI) esto condujo al desarrollo, en 1971, de los primeros microcontroladores integrados en un solo chip, creados como CPU preprogramadas diseñadas para proporcionar una calculadora en un chip. Pasarían algunos años más, hasta 1974, antes de que produjeran el TMS1000, un microcontrolador de un solo chip destinado a un uso de propósito general y el primero de este tipo en salir a la venta. Figure 11. TMS1000 Había cuatro variantes en la gama original, todas compartiendo el mismo procesador de 4 bits con arquitectura Harvard, y con diferentes cantidades de líneas de E/S y tamaños de ROM y RAM. Las familias TMS1000 y TMS1200 tenían 8192 bits de ROM de programa y 265 bits de RAM, mientras que las familias TMS1100 y TMS1300 tenían el doble de esas cifras. Existían versiones con salidas tolerantes a alto voltaje para manejar pantallas fluorescentes de vacío, y estaban disponibles en encapsulados de 28 y 40 pines. No se podía encontrar este chip a la venta en unidades individuales para experimentadores, porque su ROM de máscara integrada solo podía programarse en el momento de la fabricación por TI. Por ello, toda la programación se realizaba en un simulador sobre un mainframe de tiempo compartido operado por TI. Esto generaba un conjunto de tarjetas perforadas que, tras un proceso muy complejo de depuración y pruebas, se utilizaban para crear las máscaras necesarias para la codificación de la ROM. La programación mediante máscara también significa que cualquier TMS1000 que se encuentre hoy en día seguirá conteniendo el software con el que fue fabricado; sin el hardware circundante original que le dé contexto, tienen poca utilidad más allá de ser una curiosidad histórica. Para la década de 1980 el mundo ya pertenecía a los microprocesadores y microcontroladores de 8 y 16 bits, por lo que, aparte de sobrevivir unos años más de forma discreta como núcleos para los chips de calculadoras de TI, la serie TMS1000 acabó siendo retirada y desde entonces se ha deslizado casi sin dejar rastro en la historia de la electrónica. Resulta interesante señalar que algunos de sus contemporáneos siguen muy presentes hoy en día: todavía se pueden comprar muchos derivados de PIC, 8051, Z80 e incluso del 6502, mientras que no hubo sucesores directos de los procesadores TI de 4 bits. El avance imparable de la tecnología es uno de los responsables de esto, pero quizá el desarrollo de software tan arcano también contribuyó a su desaparición. Esos CPU de 8 bits siguen con nosotros porque cualquiera podía hacerse con una placa de desarrollo y un programador de EPROM y empezar a programar, lo que atrajo a un núcleo de desarrolladores muy familiarizados con sus arquitecturas. En comparación, los desarrolladores del TMS1000 debieron de ser muy pocos, y desde luego no los suficientes como para justificar un silicio sucesor. Hubo algunas versiones especiales de desarrollo del procesador que aceptaban una ROM externa, pero para entonces el mercado ya había avanzado cuatro bits más. Figure 12. TMS1000 Arquitectura https://historia.nationalgeographic.com.es/a/inventos-medievales_6644 https://www.milwaukeeindependent.com/explainers/karakuri-automata-mechanical-bridge-japanese-craftsmanship-milwaukees-german-heritage/ https://en.wikipedia.org/wiki/Karakuri_puppet https://www.microsiervos.com/archivo/ingenieria/-fascinantes-automatas-jaquet-droz.html https://www.microsiervos.com/archivo/ordenadores/telar-jacquard-primera-maquina-programable-de-la-historia.html https://es.wikipedia.org/wiki/Telar_de_Jacquard https://einsrobotics.com/el-origen-de-la-palabra-robot/ https://mediartinnovation.com/2014/06/11/karel-capek-rossums-universal-robots-rur-1921/ https://en.wikipedia.org/wiki/Z1_(computer) https://alemaniaparati.diplo.de/mxdz-es/aktuelles/konradzuse-1087764 https://mecatronicaito.wordpress.com/2015/11/26/la-historia-de-la-mecatronica/ https://teinco.edu.co/resumen-historico-de-la-ingenieria-mecatronica/ https://www.tin-robot.com/tr-64-brave-raideen https://es.wikipedia.org/wiki/Transistor https://www.arrow.com/es-mx/research-and-events/articles/the-transistor-revolution-how-transistors-changed-the-world https://hackaday.com/2020/02/18/the-tms1000-the-first-commercially-available-microcontroller/","title":"Historia de la Robótica y Automatización","component":"ROOT","version":"","name":"history","url":"/fundamentals/history.html","titles":[{"text":"La creación del reloj mecánico","hash":"la-creación-del-reloj-mecánico","id":1},{"text":"Autómatas Karakuri","hash":"autómatas-karakuri","id":2},{"text":"Autómatas de Jaquet-Droz","hash":"autómatas-de-jaquet-droz","id":3},{"text":"El dibujante","hash":"el-dibujante","id":4},{"text":"La pianista","hash":"la-pianista","id":5},{"text":"El escritor","hash":"el-escritor","id":6},{"text":"El telar programable","hash":"el-telar-programable","id":7},{"text":"La palabra Robot","hash":"la-palabra-robot","id":8},{"text":"Máquinas de Zuse","hash":"máquinas-de-zuse","id":9},{"text":"La Mecatrónica","hash":"la-mecatrónica","id":10},{"text":"El Transistor","hash":"el-transistor","id":11},{"text":"Microcontrolador TMS1000","hash":"microcontrolador-tms1000","id":12},{"text":"Referencias","hash":"referencias","id":13}]},"27":{"id":27,"text":"¿Qué es la electrónica?. Es el campo de la ingeniería y de la física aplicada que estudia el diseño y fabricación de circuitos y dispositivos electrónicos. A través de la electrónica es posible medir y procesar señales para luego realizar acciones sobre el mundo. La electrónica ofrece una cantidad de opciones increíbles para capturar señales, procesarlas y entregarlas de vuelta. Estos apuntes no son un curso profundo de electrónica. En este apartado vamos a dar una pequeña pincelada a la electrónica tratando de ver cómo aplicarla en su forma más sencilla a proyectos electromecánicos que podamos tener. La electrónica se nos presenta como una herramienta muy versátil que nos permite hacer un montón de cosas. Por ejemplo, podemos adquirir señales; podemos tomar señales del mundo físico y llevarlas al mundo electrónico. Podemos procesar información. Eso también nos permite, por supuesto, trabajar sobre esas señales que hemos adquirido. Y luego esas señales nos permiten realizar acciones sobre el mundo físico. Entonces, es un lazo que parte desde la adquisición, luego sigue con el procesamiento, y, posteriormente, continúa con la realización de acciones a través de señales. La electrónica nos permite disponer de un ejército de electrones anónimos que trabajan para uno. Todos estos millones de electrones están trabajando para lo que se les programe. Sensores y transductores, estos son los que nos permiten adquirir señales, y funcionan para diferentes variables. Sensores de temperatura, presión, sonido, luz, distancia, aceleración, ángulo, contacto, señales eléctricas, gas, partículas, etcétera. Existen muchos otros tipos de sensores que nos permiten capturar señales desde el mundo físico. Luego tenemos el procesador que permite procesar información. Hay diversos tipos, analógicos, digitales; y, dentro de los digitales, están programables o no programables, están los procesadores incrustado, que son parte de un sistema electrónico más complicado, que puede incluir sensores y actuadores. Existen procesadores de propósito general y, en general, estos procesadores nos permiten diversos niveles de prestaciones. Existen procesadores con miles de millones de compuertas lógicas, literalmente. En cambio, nosotros podemos usar procesadores analógicos, que pueden incluir, por ejemplo, un par de operaciones matemáticas y puede ser suficiente para hacer algo. Table 1. Tipos de Procesador Ítem Descripción Circuito Integrado (IC) Un circuito integrado (CI), también conocido como chip o microchip, es una estructura de pequeñas dimensiones de material semiconductor, habitualmente silicio. (IC, Wikipedia). Uno de los más comunes es el temporizador IC 555, que se utiliza en la generación de temporizadores, pulsos y oscilaciones. El 555 puede ser utilizado para proporcionar retardos de tiempo, como un oscilador, y como un circuito integrado flip flop. (IC555, Wikipedia). Si bien no es un procesador, es un componente importante de ellos y se pueden realizar múltiples proyectos solo usando este microchip. Procesador Analógico Los ejemplos de procesamiento analógico de señales incluyen: el filtro pasa banda y filtro pasa bajos, entre otros filtros de señales para baja frecuencia y radio frecuencia, los controles de volumen, graves y agudos en equipos de música, y los controles de contraste y brillo en los televisores. El procesamiento analógico de la señal incluye elementos comunes como capacitores, resistencias, inductores, transistores o circuitos integrados. (Procesador Analógico, Wikipedia). Procesador Digital No Programable Un procesador digital no programable es un dispositivo digital que realiza tareas específicas sin la posibilidad de ser reprogramado por el usuario. En otras palabras, su función está definida por su hardware y no por software o instrucciones que puedan ser modificadas. Ejemplos: FPGAs (Field-Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), Procesadores de Señales Digitales (DSP). (DSP, Wikipedia). Procesador Digital Programable Un procesador digital programable (PDSP) es un microprocesador de propósito general, diseñado específicamente para aplicaciones de procesamiento de señales digitales (DSP). Estos procesadores permiten realizar operaciones numéricas a alta velocidad sobre señales digitales, como audio, video o datos de sensores, para tareas como filtrado, ecualización, compresión, entre otras. (DSP, Wikipedia) Microcontrolador La principal diferencia entre un microprocesador y un microcontrolador radica en su diseño y aplicación. Un microprocesador es un procesador de propósito general que se utiliza en computadoras y otros dispositivos que requieren potencia de cálculo considerable. Los microcontroladores, por otro lado, son circuitos integrados que integran un procesador, memoria y periféricos en un solo chip, diseñados para aplicaciones específicas e incrustadas. (Microcontrolador vs Microprocesador, AWS) Entre ellos el màs popular es el PIC16f877a, un microcontrolador de 8 bits de la familia PIC ideal para proyectos simples, debido a su arquitectura de 8 bits, 18 pines, y un conjunto de instrucciones RISC muy amigable para memorizar y fácil de entender. (PIC1687X, Wikipedia) Luego tenemos actuadores y transductores (dispositivo que transforma una forma de energía en otra) que nos permiten realizar acciones. Tenemos de diverso tipo, sonido, por ejemplo, un parlante; transductores de luz como, por ejemplo, encender una luz que indique algo, o pueden ser también una pantalla donde yo puedo mirar algo, y esto también es una forma de un transductor. de luz que tiene diferentes píxeles. Cada uno de estos puntos de la pantalla es un píxel y cada uno de estos se ilumina independientemente. Existen también actuadores de movimiento como, por ejemplo, un motor, que nos permite realizar acciones físicas. Existen transductores de calor como una estufa o una resistencia eléctrica, entre otros. La electricidad es crucial cuando queremos procesar información; cuando pensamos en capturar, procesar o entregar señales, esto es sensor, procesar, procesador, y entregar señales a través de un actuador, inevitablemente, terminamos pensando en el uso de la electricidad y ¿por qué será eso?, ¿por qué no podemos, por ejemplo, capturar señales en otro medio, que no sea eléctrico? Podríamos hacerlo tal vez en un medio hidráulico, o un medio mecánico o, tal vez, de otra forma, en un medio óptico. El problema es que los fotones viajan a la velocidad de la luz y luego se van; en caso del sistema mecánico, a veces es muy complicado hacer que un sistema mecánico opere rápidamente; en caso de la electricidad, las respuestas son comparables a las de la velocidad de la luz pero, además, podemos guardar señales, y eso permite un nivel de procesamiento que solo la electricidad es capaz de otorgar. El siguiente esquema presenta el funcionamiento de un sistema electrónico en general. Los sensores son los que nos permiten capturar señales del mundo físico; el procesador, que nos permite procesar estas señales y, luego, los actuadores, que nos permiten actuar sobre el mundo físico. Figure 1. Esquema General de Sistema Electrónico La siguiente es una pequeña lista de los científicos que dan nombre a las distintas unidades que se utilizan en electrónica y electricidad. Nombre Descripción Alessandro Volta (18 de febrero de 1745, 5 de marzo de 1827) Fue un químico y físico italiano​ famoso principalmente por el descubrimiento del metano en 1776 y la invención y desarrollo de la pila eléctrica en 1799. La unidad de fuerza electromotriz del Sistema Internacional de Unidades ha llevado el nombre de voltio en su honor desde 1881. André-Marie Ampère (20 de enero de 1775, 10 de junio de 1836) Fue un matemático y físico francés. Formuló en 1827 la teoría de la electrodinámica, esencial al desarrollo del electromagnetismo, inventó el solenoide, e imaginó la primera teoría microscópica del magnetismo de materiales y una teoría del magnetismo terrestre. El amperio (en francés ampère) se llama así en su honor. James Prescott Joule (24 de diciembre de 1818, 11 de octubre de 1889) Fue un físico inglés, conocido sobre todo por sus investigaciones en termodinámica. Descubrió su relación con el trabajo mecánico, lo cual le condujo a la teoría de la energía. La unidad internacional de energía, calor y trabajo, el joule, fue bautizada en su honor. Michael Faraday (22 de septiembre de 1791, 25 de agosto de 1867) Fue un científico británico que estudió el electromagnetismo y la electroquímica. Sus principales descubrimientos incluyen la inducción electromagnética, el diamagnetismo y la electrólisis. La unidad nombrada en su honor se denomina faradio, La cual es la unidad de capacidad eléctrica del Sistema Internacional de Unidades (SI). Heinrich Rudolf Hertz (22 de febrero de 1857, 1 de enero de 1894) Fue un físico alemán que descubrió el efecto fotoeléctrico, la propagación de las ondas electromagnéticas y las formas para producirlas y detectarlas. La unidad de medida de la frecuencia, el hercio (Hertz, en la mayoría de los idiomas), lleva ese nombre en su honor. James Watt (19 de enero de 1736, 25 de agosto de 1819) Fue un ingeniero mecánico, inventor y químico escocés. El vatio o watt​ (símbolo: W) es la unidad para la potencia. Es igual a 1 julio por segundo (1 J/s). Georg Simon Ohm (16 de marzo de 1789, 6 de julio de 1854) Fue un físico y matemático alemán que aportó a la teoría de la electricidad la ley de Ohm. Conocido principalmente por su investigación sobre las corrientes eléctricas. La unidad de resistencia eléctrica, el ohmio, recibe este nombre en su honor.","title":"Introducción a la Electrónica","component":"ROOT","version":"","name":"introduction","url":"/fundamentals/introduction.html","titles":[{"text":"¿Cómo se pasa del mundo físico al eléctrico?","hash":"cómo-se-pasa-del-mundo-físico-al-eléctrico","id":1},{"text":"Sensores","hash":"sensores","id":2},{"text":"Procesadores","hash":"procesadores","id":3},{"text":"Actuadores y Transductores","hash":"actuadores-y-transductores","id":4},{"text":"Electricidad","hash":"electricidad","id":5},{"text":"Esquema de un Sistema Electrónico","hash":"esquema-de-un-sistema-electrónico","id":6},{"text":"Científicos Destacados","hash":"científicos-destacados","id":7}]},"28":{"id":28,"text":"Entre los distintos lenguajes de programación disponibles para elaborar proyectos de Electrónica, Robótica e IOT se pueden mencionar los siguientes. Uno de los lenguajes de bajo nivel más emblemáticos. Se recomienda para entornos de recursos muy limitados y donde la eficiencia sea escencial. Es especialmente bueno para usarlo junto al microcontrolador PIC16f877a. Si bien usar C es posible para reemplazar a Assembler en una gran variedad de casos de uso, el utilizar Assembler permite una granularidad exacta y fina sobre el uso de memoria del microcontrolador, logrando programas que puedan exprimir todo el potencial del mismo. Encender un Led para PIC16f877a, fuente: (\"PIC Assembly Code Examples\" 2017) list p=16f84a include COUNT1 EQU 08h COUNT2 EQU 09h org 0x00 goto start start bsf STATUS, RP0 ;bank 1 movlw 0xFE movwf TRISB ;set all PORTB input except for RB0 bcf STATUS, RP0 ;bank 0 main bsf PORTB, 0 ;make RB0 high call delay ;delay subroutine bcf PORTB, 0 ;make RB0 low goto main delay loop1 decfsz COUNT1,1 ;decrement COUNT1 variable until zero goto loop1 decfsz COUNT2,1 ;decrement COUNT2, if not zero, go back to loop1 goto loop1 return end El lenguaje de programación C es uno de los lenguajes de programación más antiguos y populares. Fue desarrollado por Dennis Ritchie en los laboratorios Bell en la década de 1970 como parte del sistema operativo UNIX. Desde entonces, ha sido ampliamente utilizado en una variedad de aplicaciones, desde sistemas operativos hasta aplicaciones de usuario y juegos. C es conocido por su eficiencia y su capacidad para acceder directamente a las funciones del sistema operativo y al hardware de la computadora. Es un lenguaje de programación de nivel medio, lo que significa que combina características de lenguajes de programación de bajo nivel, como la capacidad de manipular directamente la memoria, con características de lenguajes de alto nivel, como estructuras de datos avanzadas y abstracciones de programación. Uno de los aspectos más destacados de C es su sintaxis clara y concisa, lo que lo hace relativamente fácil de leer y escribir. Sin embargo, también es un lenguaje poderoso y flexible que permite a los programadores realizar una amplia variedad de tareas, desde el desarrollo de sistemas operativos hasta la creación de aplicaciones de usuario. (Vieito, 2024) C++ fue creado por Bjarne Stroustrup en 1979 como una extensión del lenguaje C, con la intención de añadir mecanismos orientados a objetos. Inicialmente llamado \"C con clases\", posteriormente se adoptó el nombre C++ en 1983. El objetivo era combinar la eficiencia de C con la capacidad de modelar problemas complejos usando objetos. (\"Historia e Introducción de C++\" n.d.) Encender un Led para PIC16f877a, fuente: (\"Microside\" n.d.) #include <16F877A.h> // Incluye el microcontrolador con el que se va a trabajar #use delay(clock=20Mhz, crystal) // Tipo de oscilador y frecuencia dependiendo del microcontrolador #define LED PIN_A1 // Pin donde está conectado el LED del X-TRAINER void main(void) { set_tris_a(0xFD); // Pin RA1 como salida while(1) { output_HIGH (LED); // Cambio de estado en el pin RA1 delay_ms (500); // Retardo output_LOW (LED); // Cambio de estado en el pin RA1 delay_ms (500) ; // Retardo } } En la década de 1970, el Departamento de Defensa de los Estados Unidos (DOD) sufrió una explosión en la cantidad de lenguajes de programación, con diferentes proyectos utilizando distintos dialectos no estándar o subconjuntos/superconjuntos de lenguajes. El DOD decidió resolver este problema emitiendo una solicitud de propuestas para un lenguaje de programación común y moderno. La propuesta ganadora fue presentada por Jean Ichbiah, de CII Honeywell-Bull. El primer estándar de Ada se publicó en 1983; posteriormente fue revisado y mejorado en 1995, 2005, 2012 y 2022, con cada revisión incorporando características nuevas y útiles. Ada es un lenguaje de programación muy bien diseñado y una excelente alternativa a C, C++ y Rust, en el sentido de que toma las grandes y monolíticas características de otros lenguajes y las descompone en sus partes constituyentes, de modo que puedes elegir qué porciones de esas características deseas usar. Ada descompone la programación orientada a objetos en características separadas como: encapsulamiento, reutilización, herencia, y despacho dinámico. En Ada, puedes optar por cada una de esas cosas por separado, dependiendo de para qué necesitas la \"programación orientada a objetos\". Esto contrasta mucho con Java, donde escribes la palabra clave “class” y todo eso viene incluido automáticamente. Hoy en día, Ada se utiliza ampliamente en sistemas incrustados en tiempo real, muchos de los cuales son críticos para la seguridad. Aunque Ada puede usarse como un lenguaje de propósito general, realmente destaca en aplicaciones de bajo nivel: Sistemas incrustados con requisitos de poca memoria (no se permite recolector de basura). Interfaz directa con hardware. Sistemas en tiempo real, ya sean blandos o estrictos. Programación de sistemas de bajo nivel. Algunos dominios específicos donde se utiliza Ada incluyen el aeroespacial y defensa, aviación civil, ferrocarriles, entre muchos otros. Ada es una excelente alternativa para la programación de microcontroladores del tipo ARM Cortex-M como Arduino. Los sistemas incrustados que carecen de una unidad de punto flotante representan un problema para los programadores en C, ya que las dos clasificaciones de tipos primitivos en C son tipos enteros y tipos de punto flotante. La ausencia de un procesador de punto flotante en un sistema incrustado requiere que todas las representaciones y operaciones en punto flotante se implementen por software en lugar de hardware. Esta limitación incrementa el tamaño del software de punto flotante en C y reduce la velocidad de cálculo de las operaciones de punto flotante. Ada proporciona tipos enteros, tipos de punto flotante y tipos de punto fijo. Los tipos de punto fijo pueden sustituirse fácilmente por tipos de punto flotante en sistemas que carecen de un procesador de punto flotante. Las operaciones con punto fijo utilizan el procesador de enteros del hardware y no requieren espacio de memoria para una mantisa y un exponente. Ada cuenta con facilidades integradas para enlazarse con bibliotecas en C o C+\\+, lo que permite que los programas en Ada interactúen con bibliotecas del procesador escritas en C. Ada facilita la programación incrustada con menos esfuerzo por parte del programador que el requerido para implementar los mismos datos y comportamientos usando C. (“Ada Core Documentation\",” n.d.) Encender un Led con Ada, fuente: https://github.com/kylelk/blink-example/ with GPIO; with Ada.Text_IO; procedure main is package TIO renames Ada.Text_IO; Pin_Num : constant GPIO.Pin_Number := 0; Button_Pin : constant GPIO.Pin_Number := 1; Blink_Delay : constant Float := 0.25; type LED_Modes is (LED_Off, LED_Blink, LED_On); task type Blinking_Light is entry Mode (Mode_Value : LED_Modes); end Blinking_Light; task body Blinking_Light is Current_Mode : LED_Modes := LED_Off; begin loop select accept Mode (Mode_Value : LED_Modes) do Current_Mode := Mode_Value; end Mode; else if Current_Mode = LED_Off then GPIO.Digital_Write (Pin_Num, GPIO.Low); elsif Current_Mode = LED_Blink then GPIO.Digital_Write (Pin_Num, GPIO.High); delay Duration (Blink_Delay); GPIO.Digital_Write (Pin_Num, GPIO.Low); delay Duration (Blink_Delay); elsif Current_Mode = LED_On then GPIO.Digital_Write (Pin_Num, GPIO.High); end if; end select; end loop; end Blinking_Light; Light : Blinking_Light; Light_Mode : LED_Modes := LED_Off; Down_Press : Boolean := True; procedure Button_Clicked is begin if Down_Press then TIO.Put_Line (\"button clicked \" & LED_Modes'Image (Light_Mode)); Light.Mode (Light_Mode); if Light_Mode = LED_Modes'Last then Light_Mode := LED_Modes'First; else Light_Mode := LED_Modes'Val (LED_Modes'Pos (Light_Mode) + 1); end if; end if; Down_Press := not Down_Press; end Button_Clicked; begin GPIO.Setup; GPIO.Pin_Mode (Pin_Num, GPIO.Output); GPIO.Pin_Mode (Button_Pin, GPIO.Input); -- register button callback GPIO.Pin_Interrupt (Button_Pin, GPIO.Edge_Both, Button_Clicked'Access); end main; El ESP32 típico viene con 520 KB de RAM y 4 MB de almacenamiento flash, aproximadamente las especificaciones de una computadora de escritorio de mediados de los años 80. Además, la mayoría de los entornos de microcontroladores no admiten APIs POSIX nativas para interactuar con un sistema operativo y, en muchos casos, las abstracciones comunes de un sistema operativo, como procesos, hilos o archivos, simplemente no están disponibles. Sin embargo, dado que la BEAM proporciona un entorno de multitarea con planificación preventiva (pre-emptive), muchas de las abstracciones comunes de los sistemas operativos, especialmente las relacionadas con hilos y concurrencia, simplemente no son necesarias. Como lenguajes orientados a la concurrencia, Erlang y Elixir admiten “procesos” ligeros, con el paso de mensajes como mecanismo para la comunicación entre procesos (de Erlang), multitarea con planificación preventiva, y asignación de memoria y recolección de basura por proceso. En muchos aspectos, el modelo de programación de Erlang y Elixir se asemeja más al de un sistema operativo con múltiples procesos concurrentes ejecutándose en él, donde los procesos del sistema operativo son unidades individuales de ejecución, se comunican mediante el paso de mensajes (señales) y no comparten estado entre sí. Esto contrasta con la mayoría de los lenguajes de programación populares en la actualidad (C, C++, Java, Python, etc.), que utilizan abstracciones de hilos para lograr concurrencia dentro de un único espacio de memoria, y que, por lo tanto, requieren especial atención en los casos en que múltiples CPUs operan sobre una región de memoria compartida, lo cual exige el uso de hilos, bloqueos, semáforos, etc. La BEAM permite desarrollar aplicaciones en dispositivos pequeños (AtomVM). Esto hace que escribir código concurrente para microcontroladores (por ejemplo, una aplicación que lea datos de sensores, atienda solicitudes HTTP y actualice el reloj del sistema, todo al mismo tiempo) sea increíblemente simple y natural, mucho más fácil que escribir programas concurrentes en C, C++ o incluso, por ejemplo, en MicroPython (“Welcome to AtomVM! — AtomVM Documentation,” n.d.). Ejemplo de Blinky en Erlang -module(blinky). -export([start/0]). -define(PIN, 2). start() -> gpio:set_pin_mode(?PIN, output), loop(?PIN, low). loop(Pin, Level) -> io:format(\"Setting pin ~p ~p~n\", [Pin, Level]), gpio:digital_write(Pin, Level), timer:sleep(1000), loop(Pin, toggle(Level)). toggle(high) -> low; toggle(low) -> high. Existen otras alternativas válidas como: MicroPython. Espruino. PicoRuby. TinyGo. TinyBasic. Embedded Rust.","title":"Lenguajes de Programación","component":"ROOT","version":"","name":"programming","url":"/fundamentals/programming.html","titles":[{"text":"Assembler","hash":"assembler","id":1},{"text":"C y C++","hash":"c-y-c","id":2},{"text":"Ada","hash":"ada","id":3},{"text":"Erlang y Elixir","hash":"erlang-y-elixir","id":4},{"text":"Otros","hash":"otros","id":5}]},"29":{"id":29,"text":"La siguiente es una pequeña lista de los científicos que dan nombre a las distintas unidades que se utilizan en electrónica y electricidad. Nombre Descripción Alessandro Volta (18 de febrero de 1745, 5 de marzo de 1827) Fue un químico y físico italiano​ famoso principalmente por el descubrimiento del metano en 1776 y la invención y desarrollo de la pila eléctrica en 1799. La unidad de fuerza electromotriz del Sistema Internacional de Unidades ha llevado el nombre de voltio en su honor desde 1881. André-Marie Ampère (20 de enero de 1775, 10 de junio de 1836) Fue un matemático y físico francés. Formuló en 1827 la teoría de la electrodinámica, esencial al desarrollo del electromagnetismo, inventó el solenoide, e imaginó la primera teoría microscópica del magnetismo de materiales y una teoría del magnetismo terrestre. El amperio (en francés ampère) se llama así en su honor. James Prescott Joule (24 de diciembre de 1818, 11 de octubre de 1889) Fue un físico inglés, conocido sobre todo por sus investigaciones en termodinámica. Descubrió su relación con el trabajo mecánico, lo cual le condujo a la teoría de la energía. La unidad internacional de energía, calor y trabajo, el joule, fue bautizada en su honor. Michael Faraday (22 de septiembre de 1791, 25 de agosto de 1867) Fue un científico británico que estudió el electromagnetismo y la electroquímica. Sus principales descubrimientos incluyen la inducción electromagnética, el diamagnetismo y la electrólisis. La unidad nombrada en su honor se denomina faradio, La cual es la unidad de capacidad eléctrica del Sistema Internacional de Unidades (SI). Heinrich Rudolf Hertz (22 de febrero de 1857, 1 de enero de 1894) Fue un físico alemán que descubrió el efecto fotoeléctrico, la propagación de las ondas electromagnéticas y las formas para producirlas y detectarlas. La unidad de medida de la frecuencia, el hercio (Hertz, en la mayoría de los idiomas), lleva ese nombre en su honor. James Watt (19 de enero de 1736, 25 de agosto de 1819) Fue un ingeniero mecánico, inventor y químico escocés. El vatio o watt​ (símbolo: W) es la unidad para la potencia. Es igual a 1 julio por segundo (1 J/s). Georg Simon Ohm (16 de marzo de 1789, 6 de julio de 1854) Fue un físico y matemático alemán que aportó a la teoría de la electricidad la ley de Ohm. Conocido principalmente por su investigación sobre las corrientes eléctricas. La unidad de resistencia eléctrica, el ohmio, recibe este nombre en su honor.","title":"","component":"ROOT","version":"","name":"scientists","url":"/fundamentals/scientists.html","titles":[{"text":"Científicos Destacados","hash":"científicos-destacados","id":1}]},"30":{"id":30,"text":"La electricidad puede ser considerada, a grandes rasgos, casi como un fluido. Antiguamente se pensaba que había, de hecho, 2 tipos de electricidad, positiva y negativa. Luego Benjamin Franklin describió a la electricidad como un fluido de un solo tipo y el exceso o déficit de este fluido podía ser considerado como que es carga positiva o carga negativa. La verdad es que estuvo bastante cerca con su apreciación. Y una de las mejores analogías para los circuitos eléctricos son los circuitos hidráulicos. Es solo una analogía, no siempre funciona bien, pero sirve para empezar a entender mejor cómo funciona la electricidad. En un rio, el agua pasa de una altura mayor a una altura menor y a medida que se mueve cada partícula de agua, cada molécula de agua va perdiendo energía. De la misma forma, cargas positivas que salen desde el terminal positivo de la batería van perdiendo energía hasta que entran finalmente por el terminal negativo. Las cantidades físicas sobre las que se fundamenta todo lo que sabemos son voltaje y corriente. El voltaje se designa con la letra V y se mide en volts. (Es como si fuera la altura del agua en un circuito hidráulico), tiene que ver con la energía en los portadores de carga. En un circuito eléctrico el voltaje 0 es arbitrario. Y nosotros definimos el voltaje 0 donde más convenga y ese voltaje 0 le llamamos tierra. Entonces, esa tierra es la referencia arbitraria en torno a la cual medimos el voltaje. Y luego está la corriente, que se relaciona con el flujo o caudal en un circuito hidráulico, tiene que ver con cuánta agua circula por una sección dada del río en un momento determinado. Tiene que ver con cuántos portadores de carga cruzan una sección del circuito en un tiempo determinado y se mide de manera absoluta, a diferencia del voltaje, que se mide en relación a una tierra, la corriente se mide de manera absoluta. El voltaje también se le llama tensión. A mayor voltaje en un punto, mayor energía tienen los portadores de carga en ese punto. Los portadores de carga con mayor energía pueden realizar más trabajo útil. Por ejemplo, pueden mover un motor más rápidamente o pueden encender una luz con mayor intensidad. Si 2 objetos con voltajes diferentes llegaran a tocarse producirían un cortocircuito y corriente. Es decir, si tenemos 2 voltajes diferentes que se tocan, hay corriente entre ellos. Figure 1. Fuentes de Voltaje Símbolo Descripción Es el símbolo más genérico para una fuente de voltaje en un circuito. Comunmente suele ser una fuente de poder. Es una buena práctica dibujar los signos + y - dentro del círculo. Este símbolo se utiliza cuando hay fuentes alternas. Es el símbolo para una fuente de voltaje variable. El garabato dentro del círculo sugiere que este símbolo en particular representa un generador de onda sinusoidal. Este símbolo se utiliza para baterías. La línea horizontal más larga en el símbolo representa la terminal positiva de la batería y la línea horizontal más corta representa la terminal negativa. La corriente es el flujo de portadores de carga en un circuito. Cuando hay corriente los portadores van cambiando su nivel de energía, cambian de voltaje, es decir, cuando van circulando por un circuito con corriente pierden energía. De la misma forma, que las moléculas de agua en el lecho de un río, cuando fluyen van perdiendo energía. Esa diferencia de energía realmente no se pierde sino que se convierte en otras formas de energía. La corriente fluye a través de conductores eléctricos, dispositivos electrónicos, motores, luces y objetos en general. Figure 2. Símbolo de Corriente Es el símbolo más común para la corriente constante. La flecha indica la dirección del flujo positivo de la corriente. Las señales eléctricas llevan información. En general las señales típicamente son de voltaje y no de corriente, varían en el tiempo. Figure 3. Gráfico de Voltaje en el Tiempo El gráfico muestra la amplitud (el punto más alto que llega el voltaje) que medimos en volts versus tiempo (segundos). En el segundo 0, 1, 2, 3, 4, 5, 6, etcétera, tenemos una señal que va variando de manera continua, es decir que tiene un voltaje que varía de manera continua. Las señales tienen una parte variable y una parte que es constante. La parte variable le llamamos AC y la parte constante le llamamos DC. DC viene de \"direct current\" o corriente directa. Mientras que la parte AC viene por corriente alterna. La parte DC de una señal es el promedio de la señal en el tiempo. Si nosotros tomamos una señal en el tiempo y promediamos su valor, el valor promedio de la señal es la parte DC y la parte AC es todo lo que sobra. Por lo tanto, si sumamos parte DC más parte AC tendremos la señal completa. Las señales varían y tienen frecuencia y período. Entonces las señales variables pueden ser descompuestas en una suma de señales fundamentales de diferentes frecuencias. Descomponerlas en sus frecuencias fundamentales resulta sumamente útil para el análisis. Diferentes señales a diferentes frecuencias nos permiten componer cualquier otra señal. Por lo tanto, cualquier señal que se nos ocurra puede ser descompuesta en diferentes frecuencias. Figure 4. Señal Sinusoidal Para describir esta señal en el tiempo usamos funciones. En este caso A(t) (A de t). A sub 0 es la amplitud (El valor máximo al que llega esta señal). La constante 2π (2 * pi, es necesaria) y luego viene ƒ (frecuencia) y t (el tiempo), sumado a Φ (phi, la cantidad de desfase respecto a un valor cero). El tiempo y la frecuencia tiene que ver con cuántos ciclos (períodos) ocurren en una unidad de tiempo. Un ciclo se puede considerar desde un punto inicial a su amplitud máxima, su amplitud mínima y volver al punto inicial. Lo que se demore la señal en cumplir un ciclo lo consideramos como t. Este t se mide en segundos. La frecuencia es . Por lo tanto este ƒ va a ser 1 partido por el período. Luego Φ es el desfase y tiene que ver con cuánto más adelante o atrás está esta señal respecto de un 0. Existen 3 valores importantes en una señal sinusoidal, amplitud, frecuencia y fase. Y si nosotros sumamos muchas señales sinusoidales terminamos con cualquier señal arbitraria que se nos pueda ocurrir. Las señales eléctricas también pueden realizar acciones, no solamente nos permiten procesar información.","title":"","component":"ROOT","version":"","name":"signals","url":"/fundamentals/signals.html","titles":[{"text":"Señales Eléctricas","hash":"señales-eléctricas","id":1},{"text":"Voltaje","hash":"voltaje","id":2},{"text":"Corriente","hash":"corriente","id":3},{"text":"Señales","hash":"señales","id":4}]},"31":{"id":31,"text":"Elixir Circuits es una colección de bibliotecas Elixir diseñadas para facilitar la interacción con hardware, facilitando el control de periféricos y la interacción con sensores. Proporciona herramientas para trabajar con diversas interfaces de hardware como GPIO, I2C, SPI y UART. Estas bibliotecas permiten a los desarrolladores escribir código Elixir que interactúa directamente con el hardware, lo que facilita la creación de sistemas incrustados, dispositivos IoT y más.","title":"","component":"ROOT","version":"","name":"circuits","url":"/nerves/circuits.html","titles":[{"text":"Elixir Circuits","hash":"elixir-circuits","id":1}]},"32":{"id":32,"text":"Es un framework para crear firmware de sistemas embebidos de con Elixir que corre sobre la maquina virtual de Erlang: \"BEAM\". Es ideal para trabajar con dispositivos potentes como Raspberry Pi, BeagleBone Black, etc. y permite trabajar con sistemas robustos con interfaces conectadas a hardware real (GPIO, 12C, SPI, etc). Se puede desarrollar tu firmware en Elixir Soporta actualizaciones Tiene integración con Phoenix para paneles de control web Usa herramientas modernas de Elixir como Mix, OTP y GenServer. ESP32 con AtomVM mide la humedad del suelo. Si la humedad es baja, activa una electroválvula. Se comunica vía WiFi con una Raspberry Pi con Nerves, que: Muestra datos en una interfaz web. Permite configurar umbrales de riego. Guarda histórico en una base de datos. Este sistema permite combinar lo mejor de ambos mundos: Microcontroladores pequeños y eficientes (ESP32 con AtomVM). Sistemas completos y robustos (Raspberry con Nerves). ESP32 ESP32-S2 o ESP32-C3 STM32 (más potente, pero más complejo de programar). Placas con mínimo 512 KB de RAM y 2 MB de Flash. Raspberry Pi 3 o 4 (mejor soporte). BeagleBone Black. GRiSP (especial para Elixir, ejecuta directamente BEAM sin sistema operativo). Cualquier SBC (single board computer) compatible con Linux y GPIO. Código funcional, fácil de razonar y mantener. Alta concurrencia con procesos ligeros. Alta tolerancia a fallos (modelo de actores de Erlang). Ideal para IoT, domótica, robots, monitoreo industrial y sistemas distribuidos. Usas el mismo lenguaje para la nube y el hardware. Elixir Circuits es una colección de bibliotecas Elixir diseñadas para facilitar la interacción con hardware, facilitando el control de periféricos y la interacción con sensores. Proporciona herramientas para trabajar con diversas interfaces de hardware como GPIO, I2C, SPI y UART. Estas bibliotecas permiten a los desarrolladores escribir código Elixir que interactúa directamente con el hardware, lo que facilita la creación de sistemas incrustados, dispositivos IoT y más. Soleil, una placa de control de sueño y gestión de energía de código abierto para Raspberry Pi y Nerves. Nerves Framework: Getting Started guide. (2025, February 4). https://daily.dev/blog/nerves-framework-getting-started-guide?utm_source=chatgpt.com Nerves · Elixir school. (n.d.). https://elixirschool.com/es/lessons/misc/nerves?utm_source=chatgpt.com","title":"Elixir Nerves","component":"ROOT","version":"","name":"nerves","url":"/nerves/nerves.html","titles":[{"text":"Caracteristicas","hash":"caracteristicas","id":1},{"text":"Proyecto ejemplo: Sistema de riego automático inteligente","hash":"proyecto-ejemplo-sistema-de-riego-automático-inteligente","id":2},{"text":"Para AtomVM (microcontroladores):","hash":"para-atomvm-microcontroladores","id":3},{"text":"Para Nerves","hash":"para-nerves","id":4},{"text":"Ventajas de usar Elixir + AtomVM/Nerves","hash":"ventajas-de-usar-elixir-atomvmnerves","id":5},{"text":"Elixir Circuits","hash":"elixir-circuits","id":6},{"text":"Soleil","hash":"soleil","id":7},{"text":"Referencias","hash":"referencias","id":8}]},"33":{"id":33,"text":"Soleil, una placa de control de sueño y gestión de energía de código abierto para Raspberry Pi y Nerves.","title":"","component":"ROOT","version":"","name":"soleil","url":"/nerves/soleil.html","titles":[{"text":"Soleil","hash":"soleil","id":1}]},"34":{"id":34,"text":"https://www.youtube.com/watch?v=kcsHsoWmbDI https://www.espressif.com/en/products/sdks/esp-idf https://www.youtube.com/watch?v=s5DnmeOwkxo https://www.youtube.com/watch?v=F321087yYy4 https://www.youtube.com/watch?v=Z_7y_4O7yTw&list=PLEQVp_6G_y4iFfemAbFsKw6tsGABarTwp&index=1 https://www.youtube.com/watch?v=jR5E5Kz9A-k https://sirinsoftware.com/blog/rtos-wars-freertos-vs-zephyr-a-decision-you-cant-afford-to-get-wrong https://www.youtube.com/watch?v=Qq5qD8OxTtY https://os.mbed.com/ https://www.arduinolibraries.info/libraries/rt-thread https://www.rt-thread.io/ https://threadx.io/ https://www.ros.org/","title":"Sistemas Operativos en Tiempo Real","component":"ROOT","version":"","name":"rtos","url":"/os/rtos.html","titles":[{"text":"FreeRTOS","hash":"freertos","id":1},{"text":"Zephyr","hash":"zephyr","id":2},{"text":"Mbed","hash":"mbed","id":3},{"text":"R-Thread","hash":"r-thread","id":4},{"text":"Eclipse Thread-X","hash":"eclipse-thread-x","id":5},{"text":"ROS","hash":"ros","id":6}]},"35":{"id":35,"text":"","title":"Energía Solar","component":"ROOT","version":"","name":"solar","url":"/solar/solar.html","titles":[]},"36":{"id":36,"text":"Your Gateway to Embedded Software Development Excellence — PlatformIO latest documentation. (n.d.). Retrieved from https://docs.platformio.org/en/latest/","title":"","component":"ROOT","version":"","name":"bibliography","url":"/tools/bibliography.html","titles":[]},"37":{"id":37,"text":"https://www.labcenter.com/simulation/ https://wokwi.com/esp32 https://www.tinkercad.com/ https://www.autodesk.com/latam/products/inventor/overview https://www.freecad.org/ https://www.autodesk.com/br/products/eagle/overview.acessado https://www.kicad.org/ https://easyeda.com/ PCBWay https://pcbchile.cl/ https://pcb-chile.cl/ https://ing.mcielectronics.cl/circuito-impreso-placa-pcb/ https://sltech.cl/services/pcb/pcb.html https://www.ciga.cl/","title":"Herramientas de Computer Asisted Design (CAD)","component":"ROOT","version":"","name":"cad","url":"/tools/cad.html","titles":[{"text":"Proteus","hash":"proteus","id":1},{"text":"Wokwi","hash":"wokwi","id":2},{"text":"Thinkercad","hash":"thinkercad","id":3},{"text":"Autodesk Inventor","hash":"autodesk-inventor","id":4},{"text":"FreeCad","hash":"freecad","id":5},{"text":"Autodesk Eagle","hash":"autodesk-eagle","id":6},{"text":"KiCad","hash":"kicad","id":7},{"text":"EasyEDA","hash":"easyeda","id":8},{"text":"Impresión de PCB","hash":"impresión-de-pcb","id":9}]},"38":{"id":38,"text":"https://github.com/thingsboard/thingsboard https://github.com/openremote/openremote","title":"Dashboards","component":"ROOT","version":"","name":"dashboards","url":"/tools/dashboards.html","titles":[{"text":"Thingboard","hash":"thingboard","id":1},{"text":"OpenRemote","hash":"openremote","id":2},{"text":"Grafana","hash":"grafana","id":3}]},"39":{"id":39,"text":"","title":"Home Assistant","component":"ROOT","version":"","name":"home-assistant","url":"/tools/home-assistant.html","titles":[]},"40":{"id":40,"text":"PlatformIO es una herramienta profesional para ingenieros de sistemas incrustados y desarrolladores de software que crean aplicaciones para productos incrustados. Es multiplataforma, compatible con múltiples arquitecturas y frameworks de desarrollo. PlatformIO es una herramienta imprescindible para ingenieros profesionales de sistemas incrustados que desarrollan soluciones en más de una plataforma específica. Además, al contar con una arquitectura descentralizada, PlatformIO ofrece tanto a desarrolladores nuevos como a los ya establecidos una vía rápida de integración para desarrollar productos listos para el mercado, reduciendo el tiempo total de comercialización. La principal razón que aleja a muchas personas del mundo de los sistemas incrustados es el proceso complicado para configurar el entorno de desarrollo para un MCU o placa específica: Toolchains, entornos de desarrollo (IDE) propietarios del fabricante (que a veces no son gratuitos) y, además, la necesidad de contar con una computadora con un sistema operativo compatible con ese software. Múltiples plataformas de hardware (MCUs, placas) requieren diferentes toolchains, IDEs, etc., lo que implica invertir tiempo en aprender nuevos entornos de desarrollo. Dificultad para encontrar bibliotecas adecuadas y ejemplos de código que muestren cómo usar sensores, actuadores y otros componentes populares. Compartir proyectos incrustados entre miembros del equipo, independientemente del sistema operativo que prefieran usar. ¿Cómo funciona? Los usuarios seleccionan la(s) placa(s) que les interesan en el archivo “platformio.ini” (archivo de configuración del proyecto). Con base en esta lista de placas, PlatformIO descarga automáticamente los toolchains necesarios e instala todo lo requerido. Los usuarios desarrollan el código, y PlatformIO se encarga de que sea compilado, preparado y cargado en todas las placas seleccionadas. PlatformIO está disponible para una multitud de editores. Entre los cuales se puede nombrar: Emacs Vim VSCode Se recomienda el uso de VSCode Figure 1. PlatformIO para VSCode","title":"PlatformIO IDE","component":"ROOT","version":"","name":"platformio","url":"/tools/platformio.html","titles":[{"text":"Editores","hash":"editores","id":1}]},"41":{"id":41,"text":"El siguiente es un listado (no exhaustivo) de las tiendas disponibles en Chile para poder adquirir diversos componentes de electrónica y robótica. Se recomienda cotizar y comparar. No tienen un orden en específico más allá de agruparlos por ciudad. Table 1. Lista de Tiendas en Chile Tienda Website Dirección Comentario Global Chile https://globalelectronica.cl/ Pasaje Lautaro 37, Viña del Mar (Metro Hospital) (Perpendicular con calle Cancha) Tienda de electrónica y robótica en la ciudad de Viña del Mar desde 1999. Gran variedad de productos. Electrónica HB https://www.electronicahb.cl/ Calle San Antonio 1232, Viña del Mar Tienda de electrónica en Viña del Mar desde 1950. Electrónica Villanelo https://www.facebook.com/ElectronicaVillanelo/ Villanelo 271, Viña del Mar Tienda de electrónica en el centro de la ciudad de Viña. Cuenta con reparación de electrodomésticos como televisores. Infinito https://share.google/87nDXz3DfWGc3BkH3 Claudio Vicuña 919, Quilpué - Almte. Latorre 74, Villa alemana - Ramón Freire 015, Quillota Artículos de electricidad y repuestos varios desde 1985. No tiene mucho de electrónica pero se encuentran algunos complementos como pilas y cables. Radiovisión https://radiovision.cl/ Andrés Bello 610, Quilpué - Galeria Arcadia, Local 107, Viña del Mar Tienda de electricidad y repuestos computacionales. No tiene mucho de electrónica pero se puede encontrar complementos. Telectra https://www.telectra.cl/ Independencia 1761, Valparaíso Principalmente elementos de radio y telecomunicaciones. Max Electrónica https://maxelectronica.cl/ Solo Online, Valparaíso Tiene algunos componentes de arduino y electrónica. Makers Chile https://makerschile.cl/ Av. Valparaíso 1327, Viña del Mar Especialidad en impresion 3D. Cuenta con componentes electrónicos. Mechastronic Store https://www.mechatronicstore.cl/ Manuel Rodriguez 212, local 1, Curicó Tienda de robótica y electrónica. Envío a todo Chile. Rambal https://rambal.com/ Jose Manuel Infante 901 Providencia, Santiago (Metro Salvador) Tienda de robótica en Chile desde 1996. Se pueden adquirir multitud de partes de calidad industrial. También ofrecen cursos de robótica y electrónica presenciales. MCI Electronics https://mcielectronics.cl/ Luis Thayer Ojeda 0115, Of.1104 (Piso 11) Providencia, Santiago (Metro Tobalaba) Tienda de electrónica en Santiago, variedad de componentes. Precios algo elevados. Afel https://afel.cl/ Obispo Donoso 6 oficina 302, Providencia, Santiago Tienda de electrónica e impresión 3D. Altronics https://altronics.cl/ Tienda Online, Santiago Tienda de Electrónica y diversos componentes. Envío a todo Chile. Electrónica Ibarra https://electronicaibarra.cl/ San Diego 928, Santiago Diversos componentes electrónicos. Envío a todo Chile. Electrónica Hobby https://electronicahobby.cl/ San Diego 945, Santiago Herramientas y componentes de electrónica. Envío a todo Chile. Triacs https://triacs.cl/ Vicuña Mackenna #10.178 La Florida, Santiago Componentes de electrónica y robótica. Envío a todo Chile. Mouser Electronics https://www.mouser.cl/ Tienda Online, Santiago Componentes electrónicos. Envío a Todo Chile. Electro Art https://www.electroart.cl/ Catayalud 334, La Reina, Santiago Diversos componentes y controladores. Envío a Todo Chile. Hubot https://hubot.cl/ Tienda Online, Santiago Especializada en robótica y mecatrónica desde 2017. Victronics https://www.victronics.cl/ Tienda Online, Santiago Diversos componentes electrónicos. Prodeind https://prodeind.cl Tienda Online, Santiago Precios por mayor. Componentes electrónicos de uso educativo e industrial. CiMech3D https://www.cimech3d.cl/ Alcalde Eduardo Castillo Velasco 1409, Ñuñoa, Santiago. Especializado en la impresión 3D. Artillec https://artilec.com/ Av. Sta. Marta de Huechuraba 6570, Huechuraba, Santiago Antenas, cables y dispositivos de comunicación. Automa https://www.automa.cl/ José Domingo Cañas 1025, Ñuñoa, Santiago Cámaras de seguridad. La página de AliExpress es muy utilizada en Chile para comprar artículos electrónicos, sobre todo piezas muy difíciles de encontrar en el país. Se debe tener en consideración los siguientes puntos: Desde el 25 de Octubre del 2025 todas las compras online fuera de Chile pagan IVA. Desde esa fecha el Impuesto al Valor Agregado (IVA, 19%) será cobrado directamente por las plataformas que estén inscritas en el Servicio de Impuestos Internos (SII) al momento de la compra, cuando el valor del producto no supere los US$ 500 (https://www.aduana.cl/compras-online-internacionales-iva-se-pagara-en-las-plataformas-y/aduana/2025-10-06/100335.html). Fijarse en el valor del envío, puede un componente \"ser más barato\" pero considerando el envío costará tanto o más que comprarlo en una tienda en Chile. El envío puede demorar más de la cuenta. Normalmente demora entre 2 a 4 semanas llegar un envío, pero puede tardar más o perderse en el camino. No hay garantía legal. Hay situaciones donde el vendedor no entrega el producto comprado o entrega un producto fallado o adulterado o de mala calidad. No hay ninguna garantía de devolución de dinero o cambio de producto, por lo que cada compra es una apuesta y se recomienda investigar bien cada tienda antes de comprar y documentar todo con video y fotos desde que llego el producto hasta abrirlo y verlo en funcionamiento.","title":"Tiendas","component":"ROOT","version":"","name":"stores","url":"/tools/stores.html","titles":[{"text":"AliExpress","hash":"aliexpress","id":1}]},"42":{"id":42,"text":"Hoy en día existen diversos robots para cumplir tareas específicas. En el área de restaurantes existen los robots meseros autónomos. Éstos robots permiten servir mesas y encontrar su camino por el restaurant. Entre los ejemplos disponibles esta el Segway ServeBot S1(“Restaurant Service Robot - Segway Robotics,” 2024) y el Bellabot (“Smart Delivery Robot-Pudu Robotics,” n.d.). Figure 1. Robot ServeBot S1 Figure 2. Bellabot Estos robots son de alta tecnología y cuentan con sensores e inteligencia artificial muy sofisticada. Lo que los hace tener un precio prohibitivo para la mayoría de los restaurantes. En Japón existe el concepto de \"Avatar Robot Café\". Donde un restaurant/café es atentido por avatares robots. Es decir, robots controlados por humanos remotamente. Estos robots no cuentan con IA debido a que se busca integrar a personas con dificultades motoras u otros problemas que les impide integrarse a la sociedad en trabajos tradicionales. Entre los avatares robots se puede encontrar meseros y baristas. Figure 3. Avatares Robot Figure 4. Robot OriHime Figure 5. Robot Barista Son controlados remotamente con una aplicación de tablet smartphone. Figure 6. Interfaz de Piloto Estos robots están ubicados en el Dawn Cafe Figure 7. Avatar Robot Cafe DAWN ver.β El “Avatar Robot Café DAWN ver.β” es un café experimental permanente operado por OryLab Inc., donde personas que tienen dificultades para salir de casa por diversas razones operan de forma remota nuestros robots avatar OriHime y OriHime-D desde sus hogares y hospitales para brindar servicios. (\"Avatar Robot Café\" n.d.) En Chile se han utilizado robots animatrónicos como el conocido restaurante \"África\" de Viña del Mar (SoyChile, 2019). Figure 8. Animatronicos del Restaurante África Jorge Fernández, gerente de El Japonés de Viña del Mar, calcula que desde que tienen al “Michi-robot” haciendo las veces de mesero la afluencia del público al local ha aumentado en un 20 por ciento. ¿La razón? La curiosidad de ver en acción al Bella-bot -o “Michi”, como le llaman en el restaurante-, que lleva pedidos a la mesa como un garzón más. (Transformadores, 2023). Como se puede apreciar, Chile está preparado para adoptar la inclusión de robots en el área de servicios, especialmente en robots meseros. Sin embargo los altos precios de adquisición impiden que más restaurantes adopten estas tecnologías. Para lograr disminuir la brecha tecnológica y aumentar la inclusión de personas con dificultades de trabajar presencialmente, se debe crear una alternativa de bajo costo e identidad local. Para esto se creará un \"Avatar Robot\" controlado remotamente via internet que pueda ser usado para atender comandas y servir como garzón en restaurantes. Este robot utilizará materiales reciclados o fáciles de adquirir a un costo moderado. Para el marco principal se debe considerar una estructura liviana que permita un movimiento para todas las direcciones, cuente con un lugar para dejar los platos y sea higiénica y estéticamente apropiado. Queda a discreción la selección del marco inicial. Acá se presentará unas opciones posibles. Nombre Fotografía Descripción Estante de Almacenamiento con Ruedas Giratorias y Cestas Metalicas Carrito Organizador Con Cesta Metal y Ruedas Bloqueables 3 Niveles Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/138001816/Carrito-Organizador-Metal-3-Niveles-Estante-Ruedas-Bloqueables-Negro/138001817?exp=so_com Marca VIDITA Color Negro Diseño de 3 niveles y 2 mangos Con ruedas giratorias (2 bloqueables) Material resistente de metal Medida 43x29x78cm (largo x ancho x alto) Organizador de frutas metal 3 canastos Cromado La Frutera con 3 canastos y 3 ruedas en la parte inferior. Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/110267804/Organizador-de-frutas-metal-3-canastos-Cromado/110267822?exp=so_com Marca: Just Home Collection Ancho: 29.5 cm Alto: 75.6 cm Color: Plateado Carro de compras colores 32 L Carro de compras colores 32 L Disponible en: https://www.sodimac.cl/sodimac-cl/articulo/131705964/Carro-de-compras-colores-32-l/131705965?exp=so_com Marca: Just Home Collection Ancho: 30 cm Alto: 53 cm La recomendación es que permita al menos 3 niveles. Ya que se necesita espacio para: La batería y circuitería. Ubicados en el nivel inferior. La bandeja principal para almacenar los platos a servir. Una bandeja superior para almacenar la cámara y un robot o pantalla opcional para expresar emociones por parte del piloto operador. El carro será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. La batería puede ser un PowerBank o una batería de motocicleta con un adaptador para USB. Es importante recalcar que el amperaje mínimo necesario es 3 amperes. Menor a ese amperaje servirá para cargar un smartphone, más no para alimentar una Raspberry PI. Opción Imagen Descripción PowerBank de 30K mAh Batería portátil USB capacidad de 30000 mAh. Tres puertos USB con USB-A y USB-C. Carga rápida del dispositivo con puerto USB-C PD 3.0 de máximo 20 W o USB-A con salida QC3/0 de máximo 18 W. Disponible en: https://www.philips.cl/c-p/DLP1930CB_00/bateria-portatil-usb Batería 12v + Adaptador USB Batería de motocicleta combinada con un adaptador USB de alta potencia (QC3.0). Es una opción válida para alimentar el robot. Ventajas: Se tiene mayor voltaje para velocidad más rápida. Desventaja: Puede ser más pesado y requerir equipamiento especial para recargar la batería. Disponible en: https://es.aliexpress.com/item/1005006281134333.html https://www.autoplanet.cl/producto/bateria_pilot_lb4lb_4ah_56cca/141258 El Smartphone es necesario para proveer internet a la Raspberry PI y también actuar como cámara principal para la comunicación remota (utilizando una video llamada). Se recomienda un smartphone Android. Cualquiera que pueda hacer uso de redes 3G y sea relativamente moderno (entre 5 a 10 años de antigüedad) servirá como principal puente de comunicación. Se podría omitir este elemento si el restaurante cuenta con Wifi y añadir una cámara web a la Raspberry PI, pero requeriría de mayores configuraciones en el router del local y asegurar estabilidad de señal. Para la elaboración de la comunicación via video se utilizará los servicios de Jitsi Meet. El cual proporciona una solución de bajo costo y de código libre para ser utilizada. Raspberry PI 3 cuenta con un procesador Broadcom Quad-Core ARM Cortex-A53 a 1.2GHz combinados con 1GB de RAM LPDDR2. Figure 9. Raspberry Pi 3 Model B Será el computador principal conectado con Nerves, lo que permitirá enviar señales tanto al Emote Robot como al Carro utilizando USB, además de proporcionar un servidor web accesible mediante internet conectándose al Smartphone. Sistema Nerves: https://github.com/nerves-project/nerves_system_rpi3 Disponible en: https://altronics.cl/raspberry-pi-3-modelb-old?search=raspberry&page=4 El modelo de Raspberry Pi es a elección, simplemente debe ser compatible con Nerves (https://hexdocs.pm/nerves/supported-targets.html) Un modelo alternativo compatible es el Raspberry Pi Zero 2W. Figure 10. Raspberry Pi Zero 2 W Disponible en: https://mcielectronics.cl/shop/product/33107/ Para proporcionar una forma de mostrar emociones remotamente se puede utilizar un personaje de lego animatrónico. Esto es totalmente opcional, pero agrega personalidad y empatía al robot. También puede ser utilizada una smart tablet con un personaje animado y controlado remotamente. Puede ser adquirido en https://www.tiendalego.cl/collections/creator-3in1/products/dragon-rojo-31145 Figure 11. Personaje Lego Creator 3 en 1 El robot será controlado por una ESP32 que recibirá comandos por USB desde la Raspberry PI. Table 1. Lista de posibles componentes Componente Descripción 1 Raspberry PI Una versión compatible con Nerves y que permita conexión USB (UART) a la ESP32 2 ESP32 Devkit Un ESP32 para controlar el carro y un ESP32 para controlar el robot 4 Motor DC Cuatro motores DC de alto torque para movilidad del carro hasta 25 Kg. L298N Permite controlar al los motores DC. Android Smartphone Un Smartphone que actue como Hotspot y permita usar Jitsi Meet Baterías La batería necesaria para alimentar tanto a la Raspberry, ESP32 y Smartphone NoIP Servicio de DNS dinámico para acceder al servidor de la Raspberry PI Este proyecto grupal tiene como propósito la programación de una figura animatrónica con actuadores (servos), que es controlada a través de un microcontrolador ESP32 y un programa en C++. La figura elegida fue un búho, cuyas alas, cabeza y patas tienen movimiento mediante servomotores. Figure 12. Lego Búho (#31125) Table 2. Tabla de Componentes Componente Cantidad Descripción ESP32-WROOM 1 Microcontrolador principal Servomotor SG90 4 Uno por ala, uno en la cabeza, uno en las patas Fuente de alimentación 1 USB 5V (desde computadora o batería externa) Cables Dupont Varios Para Conexiones Bloques tipo LEGO Varios Para ensamblar la estructura del búho Protoboard / PCB 1 Para conexiones eléctricas (opcional) Acotaciones Se recomienda usar piezas tipo LEGO para facilitar el ajuste de los servos y permitir cambios de diseño de manera sencilla. Se cuidó el peso en el diseño para no sobrecargar los servos, especialmente en las alas. La alimentación por USB 5V es suficiente para los servos, pero se debe evitar hacer movimientos simultáneos prolongados para no sobrecargar la corriente disponible. La estructura fue validada para estabilidad durante los movimientos. El código debe incorporar retardos adecuados y límites de movimiento para evitar daños mecánicos. Código fuente del Búho #include <ESP32Servo.h> int pos = 0; Servo izquierdo; Servo derecho; Servo cabeza; Servo poto; int led = 16; bool inicializar = true; void setup() { Serial.begin(115200); // Pines válidos para ESP32, cambia si usas otros izquierdo.attach(13, 500, 2500); derecho.attach(14, 500, 2500); cabeza.attach(15, 500, 2500); poto.attach(18, 500, 2500); pinMode(led, OUTPUT); } void startPosition() { digitalWrite(led, HIGH); derecho.write(180); izquierdo.write(0); cabeza.write(180); poto.write(0); delay(500); digitalWrite(led, LOW); } void saludar(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(90-pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); poto.write(pos-40); delay(velocidad); } digitalWrite(led, LOW); } void feliz(int velocidad) { digitalWrite(led, HIGH); for (pos = 90; pos <= 180; pos += 1) { izquierdo.write(pos); derecho.write(180 - pos); cabeza.write(pos); delay(velocidad); } for (pos = 180; pos >= 90; pos -= 1) { izquierdo.write(pos); derecho.write(180 - pos); delay(velocidad); } digitalWrite(led, LOW); } void enojar(int velocidad) { digitalWrite(led, HIGH); for (pos =120; pos <= 180; pos += 1) { cabeza.write(pos); delay(velocidad); } digitalWrite(led, LOW); } // Lectura de los comandos por serial USB void leerComandoSerial() { if (Serial.available() <= 0) { return; } String comando = Serial.readStringUntil('\\n'); // Elimina espacios y saltos de línea comando.trim(); if (comando == \"saludar\") { cabeza.write(160); delay(15); saludar(10); saludar(10); saludar(10); startPosition(); } else if (comando == \"enojar\") { startPosition(); enojar(10); enojar(10); enojar(10); startPosition(); } else if (comando == \"resetear\") { startPosition(); } else if (comando == \"feliz\") { feliz(5); feliz(5); feliz(5); startPosition(); } else { Serial.println(\"Comando no reconocido.\"); } } void loop() { leerComandoSerial(); } Figure 13. Esquemático del Animatrónico Figure 14. Guía de Conexiones Video de Ejemplo de Funcionamiento Your browser does not support the video tag.","title":"","component":"ROOT","version":"","name":"animatronics","url":"/controllers/esp32/animatronics.html","titles":[{"text":"Pilotos OriHime","hash":"pilotos-orihime","id":1},{"text":"Restaurantes y Robots en Chile","hash":"restaurantes-y-robots-en-chile","id":2},{"text":"Descripción del Proyecto","hash":"descripción-del-proyecto","id":3},{"text":"Materiales","hash":"materiales","id":4},{"text":"Marco","hash":"marco","id":5},{"text":"Batería","hash":"batería","id":6},{"text":"Smartphone","hash":"smartphone","id":7},{"text":"Raspberry PI 3","hash":"raspberry-pi-3","id":8},{"text":"Emote Robot","hash":"emote-robot","id":9},{"text":"Búho Animatrónico","hash":"búho-animatrónico","id":10}]},"43":{"id":43,"text":"El objetivo es crear un \"Gladiador Robot\" controlado por un smartphone via Wifi, este debe ser capaz de reventar un globo. El ganador es quien reviente el globo del oponente. Figure 1. Alumnos de Robótica UVM 2025 con su Gladiador Combate de Gladiadores Robot Your browser does not support the video tag. Ítem Descripción ¿Donde adquirir? ESP32 (Wifi) + Smartphone Principal componente. Se programará para enviar señales a los servomotores y crear un servidor web para ser controlado via Smartphone. https://altronics.cl/tarjeta-esp32-microusb Placa de desarrollo ESP32 Extensión del ESP32 que incluye regulador de voltaje para resistir hasta 16V de entrada (DC) y contiene hileras con voltaje, tierra y señal de forma más comoda. https://es.aliexpress.com/item/1005008212851634.html 2 motores DC 3 a 12V Principal fuente de movimiento del gladiador. La elección del motor y su necesidad de voltaje es a criterio del equipo (mayor velocidad = mayor voltaje). https://articulo.mercadolibre.cl/MLC-923623185-motor-dc-coche-gear-amarillo-3v-12v-_JM L298N Permite controlar dos motores de corriente continua o un motor paso a paso bipolar de hasta 2 amperes. https://altronics.cl/modulo-puente-h-l298 Chasis + Ruedas de Goma + Porta Pilas Principal fuente de poder y marco para armar. Alimentación entre 6v a 12v. 9v recomendado. https://altronics.cl/kit-chasis-2wd-1 Gladiador de Lego (A elección). Mini figura de lego versión dungeons and dragons o similar. https://www.tiendalego.cl/products/dungeons-dragons-71047?variant=41690791805046 Protoboard Marco para conexión de componentes. Recomendado 400 puntos. https://altronics.cl/protoboard-400ptos Cables Jumper Macho - Hembra, Macho - Macho. Permite conectar los componentes. https://altronics.cl/JW_MF_40_10 Globos largos (Colores diferentes para cada gladiador). Globos inflables + bombin. https://belina.cl/globos-largos-20cm-bombin-colores-surtidos-20-pcs Armas para reventar el Globo (A elección) Clavos, alfileres o materiales corto punzantes varios. https://www.masferret.cl/product/clavo-punta-1 Figure 2. Diagrama de conexión entre componentes Table 1. Tabla de conexiones ESP32 MONTADO EN PLACA MOTOR AC1 MOTOR AC2 L298N Batería Pin 16 IN1 Pin 17 IN2 Pin 18 IN3 Pin 19 IN4 (+) OUT1 (-) OUT2 (+) OUT3 (-) OUT4 IN12V (+) GND (-) Jack de carga (+)(-) La posición del globo depende de cada gladiador. Pero almenos debe tener dos puntos de anclaje inferior. Las pilas son conectadas a los motores y al ESP32 de forma separada, gracias a la placa de expansión se conecta al Jack de carga directamente a las pilas ya que este aguanta hasta 16v sin problemas. Código fuente del gladiador #include <WiFi.h> #include <WebServer.h> // Nombre de la red WiFi creada por el ESP32 const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; // Pines del L298N const int IN1 = 16; const int IN2 = 17; const int IN3 = 18; const int IN4 = 19; WebServer server(80); // Funciones de movimiento void parar() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void adelante() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void atras() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void izquierda() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void derecha() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } // Página web con botones String paginaHTML() { return R\"rawliteral( <!DOCTYPE html> <html> <head> <title>Control del Robot</title> <style> body { text-align: center; font-family: Arial; } button { width: 100px; height: 50px; font-size: 18px; margin: 5px; } </style> </head> <body> <h1>Control del Robot</h1> <button onclick=\"location.href='/adelante'\">Adelante</button><br> <button onclick=\"location.href='/izquierda'\">Izquierda</button> <button onclick=\"location.href='/parar'\">Parar</button> <button onclick=\"location.href='/derecha'\">Derecha</button><br> <button onclick=\"location.href='/atras'\">Atrás</button> </body> </html> )rawliteral\"; } void setup() { Serial.begin(115200); // Configurar pines como salida pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); parar(); // Iniciar el ESP32 como Access Point WiFi.softAP(ssid, password); Serial.println(\"Red WiFi creada\"); Serial.print(\"IP del robot: \"); Serial.println(WiFi.softAPIP()); // Rutas del servidor server.on(\"/\", []() { server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/adelante\", []() { adelante(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/atras\", []() { atras(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/izquierda\", []() { izquierda(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/derecha\", []() { derecha(); server.send(200, \"text/html\", paginaHTML()); }); server.on(\"/parar\", []() { parar(); server.send(200, \"text/html\", paginaHTML()); }); server.begin(); } void loop() { server.handleClient(); } Al construir el gladiador se tendrá acceso a una red Wifi llamada \"RobotESP32\" (cambiar el nombre para cada gladiador). La cual puede ser accedida desde cualquier smartphone o computador. const char* ssid = \"RobotESP32\"; const char* password = \"12345678\"; Esta red permite enviar comandos de dirección al hacer click en los enlaces. Se deja como ejercicio adicional la creación de una interfaz más adecuada para el control del robot, como un joystick virtual o físico. Figure 3. Figura de Lego a elección","title":"","component":"ROOT","version":"","name":"gladiators","url":"/controllers/esp32/gladiators.html","titles":[{"text":"Materiales","hash":"materiales","id":1},{"text":"Código fuente","hash":"código-fuente","id":2}]},"44":{"id":44,"text":"El desarrollo del lenguaje de programación Ada comenzó en 1974, cuando el Ministerio de Defensa de los Estados Unidos llevó a cabo un estudio para encontrar una solución al problema de la diversidad de lenguajes de programación utilizados en sus sistemas. El objetivo era crear un único lenguaje estándar que permitiera mejorar la portabilidad, mantenibilidad y fiabilidad del software militar. El lenguaje fue oficialmente diseñado bajo encargo del Departamento de Defensa de los EE.UU. durante los años 1970. Ada fue diseñado por Jean Ichbiah y su equipo de CII Honeywell Bull como parte de un concurso organizado por el Departamento de Defensa de los EE.UU. El nombre \"Ada\" se eligió en honor a Augusta Ada Byron, conocida como Ada Lovelace, considerada la primera programadora de la historia. El lenguaje fue anunciado y patrocinado por el Departamento de Defensa de los EE.UU. en reconocimiento a su contribución pionera en computación. La sintaxis de Ada es clara y muy legible, similar a Pascal, e incluye palabras clave en inglés que facilitan la comprensión del código. Ada es un lenguaje fuertemente tipado y estáticamente tipado, lo que significa que cada variable debe tener un tipo definido en tiempo de compilación, y no se permiten conversiones implícitas entre tipos diferentes, evitando errores comunes en tiempo de ejecución. Fue diseñado pensando en la seguridad y confiabilidad, especialmente para aplicaciones críticas donde los fallos pueden tener consecuencias graves. Incluye verificaciones en tiempo de ejecución, manejo explícito de excepciones y detección temprana de errores gracias a su riguroso sistema de tipos. Ada tiene soporte nativo para programación concurrente, con mecanismos como tareas, protecciones y regiones críticas. También soporta programación orientada a objetos desde Ada 95, permitiendo encapsulamiento, herencia y polimorfismo. Ada se utiliza principalmente en industrias donde la seguridad y la fiabilidad son críticas, como la aeroespacial, defensa, transporte ferroviario y sistemas incrustados. Algunos casos más destacados incluyen: Sistemas de control de vuelo de aviones militares y civiles. Software para satélites y misiones espaciales. Sistemas ferroviarios de alta seguridad como los utilizados en trenes de alta velocidad en Europa. Aunque no es común en proyectos de inteligencia artificial modernos, Ada puede ser usado en componentes críticos dentro de sistemas que integran inteligencia artificial, especialmente cuando se requiere alta fiabilidad o seguridad. En comparación con lenguajes como Python, que domina el campo de la IA por su simplicidad y bibliotecas disponibles, Ada ofrece mayor seguridad y robustez, pero carece de un ecosistema amplio para machine learning o deep learning. Las ventajas de Ada frente a otros lenguajes incluyen: Verificación de tipos en tiempo de compilación. Soporte integrado para concurrencia. Alta fiabilidad y seguridad. Buen rendimiento en entornos incrustados. Sus desventajas son: Curva de aprendizaje más pronunciada. Menos herramientas y comunidades activas comparadas con lenguajes como Python o Java. Poco adoptado fuera de sectores especializados. Un ejemplo básico de programa en Ada es el siguiente: with Ada.Text_IO; use Ada.Text_IO; procedure Hola_Mundo is begin Put_Line(\"¡Hola Mundo!\"); end Hola_Mundo; Un programa en Ada consta de una o más unidades de compilación, como procedimientos, funciones o paquetes. La estructura básica incluye una sección de declaración (is) y una sección de ejecución (begin …​ end). Ejemplo de declaración de tipos, bucles y procedimientos: type Entero is range 1..100; procedure Ejemplo is I : Entero; begin for I in 1..10 loop Put_Line(Integer'Image(I)); end loop; end Ejemplo; Este ejemplo simula un sistema de control de vuelo básico, como los usados en aviones militares. Muestra las capacidades de Ada para manejar concurrencia, seguridad de tipos y temporización precisa, características esenciales en aplicaciones críticas. with Ada.Text_IO; use Ada.Text_IO; with Ada.Real_Time; use Ada.Real_Time; procedure Sistema_Control_Vuelo is -- Tipos definidos para mayor seguridad type Altitud is range 0 .. 50_000 with Default_Value => 0; type Velocidad is range 0 .. 1200 with Default_Value => 0; -- Variables globales simuladas por sensores Ultima_Altitud : Altitud := 0; Ultima_Velocidad : Velocidad := 0; -- Tareas concurrentes task Sistema_Sensores; task Sistema_Alarmas; task Sistema_Navegacion; -- Implementación de tareas task body Sistema_Sensores is Periodo : constant Time_Span := Milliseconds(1000); Next_Release : Time := Clock; begin loop -- Simulamos lecturas aleatorias de sensores Ultima_Altitud := Altitud (Unsigned_32 (Clock) mod 40_000); Ultima_Velocidad := Velocidad (Unsigned_32 (Clock) mod 1000); Put_Line (\"Sensor actualizado - Altitud: \" & Altitud'Image (Ultima_Altitud) & \" ft | Velocidad: \" & Velocidad'Image (Ultima_Velocidad) & \" kt\"); delay until Next_Release + Periodo; end loop; end Sistema_Sensores; task body Sistema_Alarmas is Periodo : constant Time_Span := Milliseconds(1500); Next_Release : Time := Clock; begin loop if Ultima_Altitud < 100 then Put_Line (\"⚠️ ALARMA: Altitud crítica!\"); end if; if Ultima_Velocidad > 950 then Put_Line (\"⚠️ ALARMA: Velocidad excesiva!\"); end if; delay until Next_Release + Periodo; end loop; end Sistema_Alarmas; task body Sistema_Navegacion is Periodo : constant Time_Span := Milliseconds(2000); Next_Release : Time := Clock; begin loop Put_Line (\"🧭 Navegación activa - Altitud objetivo: 30000 ft\"); delay until Next_Release + Periodo; end loop; end Sistema_Navegacion; begin Put_Line (\"✈️ Sistema de Control de Vuelo Iniciado...\"); delay 10.0; -- Simular ejecución durante 10 segundos Put_Line (\"🛑 Apagando sistema.\"); end Sistema_Control_Vuelo; Ada 83: Primera versión estándar oficial. Ada 95: Añadió soporte para programación orientada a objetos y mejoras en concurrencia. Ada 2005: Ampliaciones menores y soporte para interfaces gráficas. Ada 2012: Añadido contratos (precondiciones, postcondiciones) para verificar comportamiento. Ada 2022: Mejoras en la gestión de memoria, concurrencia y seguridad. Las herramientas más utilizadas para programar en Ada son: GNAT: Compilador GNU basado en GCC, ampliamente utilizado. GPS (GNAT Programming Studio): IDE para desarrollo en Ada. Otras herramientas incluyen análisis estático y depuración específicas para Ada. Ada sigue siendo ampliamente utilizado en industrias críticas y es mantenido por la Agencia de Defensa de Sistemas de Software (DSSA) y la comunidad GNAT/GCC. Algunas universidades ofrecen cursos sobre Ada, especialmente en programas enfocados en ingeniería de software seguro o sistemas incrustados. Ada ha sido ampliamente utilizado en proyectos militares de alta seguridad, como en sistemas de misiles, aviones de combate y submarinos nucleares, aunque muchos detalles siguen clasificados. El lenguaje fue elegido en 1979 después de un proceso competitivo que evaluó múltiples propuestas. Su diseño fue inspirado en gran parte por el lenguaje Pascal, pero con énfasis en modularidad y seguridad. Ada es un lenguaje de programación diseñado específicamente para aplicaciones donde la fiabilidad, seguridad y mantenibilidad son críticas. Su uso extendido en sectores como la defensa, aviación, ferrocarriles de alta velocidad y sistemas incrustados no es casualidad, sino el resultado de su arquitectura orientada a evitar errores comunes durante la ejecución. Gracias a su tipado fuerte y estático, manejo explícito de excepciones y soporte nativo para concurrencia, Ada se convierte en una herramienta poderosa para desarrollar software que opere bajo condiciones extremas o con altos requisitos de seguridad. A diferencia de lenguajes más modernos enfocados en rapidez de desarrollo, Ada prioriza la previsibilidad del comportamiento del sistema. Aunque su adopción en el ámbito comercial ha sido limitada comparado con lenguajes como Python o Java, Ada sigue siendo clave en proyectos donde los fallos pueden tener consecuencias graves. Además, su evolución constante —desde Ada 83 hasta Ada 2022— muestra su capacidad para adaptarse a nuevas necesidades sin perder su esencia. AdaCore. (2020, 5 de agosto). About Ada. https://www.adacore.com/about-ada Colaboradores de Wikipedia. (2024, 23 de agosto). Ada (lenguaje de programación). Wikipedia, la Enciclopedia Libre. https://es.wikipedia.org/wiki/Ada_ (lenguaje_de_programaci%C3%B3n) Lenguaje de programación Ada. (2017, 6 de marzo). EcuRed. https://www.ecured.cu/index.php?title=Lenguaje_de_programaci%C3%B3n_Ada&oldid=2824858 Mayuti. (2024, 8 de diciembre). Ada Lovelace, la primera programadora de la historia - La BioZona Blog. 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diff --git a/modules/atomvm/examples/tic80/atomvm/avm_deps/atomvmlib-v0.6.6.avm b/modules/atomvm/examples/tic80/atomvm/avm_deps/atomvmlib-v0.6.6.avm
new file mode 100644
index 0000000..5aebddb
Binary files /dev/null and b/modules/atomvm/examples/tic80/atomvm/avm_deps/atomvmlib-v0.6.6.avm differ
diff --git a/modules/atomvm/images/components/motoresdc.jpg b/modules/atomvm/images/components/motoresdc.jpg
new file mode 100644
index 0000000..37df340
Binary files /dev/null and b/modules/atomvm/images/components/motoresdc.jpg differ
diff --git a/modules/atomvm/images/components/servo.png b/modules/atomvm/images/components/servo.png
new file mode 100644
index 0000000..c74bffc
Binary files /dev/null and b/modules/atomvm/images/components/servo.png differ
diff --git a/modules/atomvm/pages/components.adoc b/modules/atomvm/pages/components.adoc
index 4b6eb95..2abbd86 100644
--- a/modules/atomvm/pages/components.adoc
+++ b/modules/atomvm/pages/components.adoc
@@ -9,6 +9,9 @@ El https://mcielectronics.cl/shop/product/motor-gear-dc-caja-reductora-motorredu
 Se recomienda una alimentación de 9V separada de la placa de desarrollo para alimentar los motores 
 y tengan una buena velocidad. Son ideales para las ruedas que dan movimiento al carro.
 
+.Motores DC
+image::components/motoresdc.jpg[]
+
 === Guía de Conexiones
 
 Para controlar un motor DC con una ESP32 y un driver L298N, se requiere de una fuente de alimentación externa para el motor, ya que la ESP32 no puede suministrar la corriente necesaria. El L298N actúa como un "puente H" que permite a la ESP32 controlar tanto la dirección como la velocidad del motor.
@@ -92,6 +95,9 @@ end
 A diferencia de un motor DC, el servomotor puede ser controlado con precisión, pero son más lentos.
 En este caso se utilizará un https://mcielectronics.cl/shop/product/micro-servo-motor-sg90-9g-25775/[Micro servo SG90].
 
+.Servomotor SG90
+image::components/servo.png[]
+
 === Guía de Conexiones
 
 Para conectar un servomotor SG90 a la ESP32: