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Microcontroller Prototypes with
Arduino and a 3D Printer
Microcontroller Prototypes with
Arduino and a 3D Printer

Learn, Program, Manufacture

Dimosthenis E. Bolanakis

Department of Air Force Science

Hellenic Air Force Academy
Athens
Greece
This edition first published 2021
© 2021 John Wiley & Sons Ltd

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
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accordance with law.

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Library of Congress Cataloging-in-Publication Data

Names: Bolanakis, Dimosthenis E., 1978– author.

Title: Microcontroller prototypes with Arduino and a 3D printer : learn,
program, manufacture / Dimosthenis E. Bolanakis.
Description: Hoboken, NJ : Wiley, 2021. | Includes bibliographical
references and index.
Identifiers: LCCN 2021003270 (print) | LCCN 2021003271 (ebook) | ISBN
9781119782612 (cloth) | ISBN 9781119782674 (adobe pdf) | ISBN
9781119782681 (epub)
Subjects: LCSH: Microcontrollers. | Arduino (Programmable controller) |
Three-dimensional printing.
Classification: LCC TJ223.P76 B665 2021 (print) | LCC TJ223.P76 (ebook) |
DDC 006.2/2–dc23
LC record available at https://lccn.loc.gov/2021003270
LC ebook record available at https://lccn.loc.gov/2021003271

Cover Design: Wiley

Cover Image: © Rasi Bhadramani/iStock/Getty Images

Set in 9.5/12.5pt STIXTwoText by SPi Global, Pondicherry, India

10 9 8 7 6 5 4 3 2 1
I have never seen any of the 7 wonders of the world. I believe there are more though!
To my wife and my three kids
 vii

Contents

About the Author xi

List of Figures xii
List of Tables xxvi
Preface xxvii
Acknowledgments xxx
Abbreviations xxxi
Syllabus xxxv

1 The Art of Embedded Computers 1

­Overview of Embedded Computers and Their Interdisciplinarity 1
Computer vs. Embedded Computer Programming and Application
Development 2
Group 1: Programmable Logic Devices 3
Group 2: Reconfigurable Computers 4
Group 3: Microcomputers 4
Group 4: Single-Board Computers 6
Group 5: Mobile Computing Devices 6
­TPACK Analysis Toward Teaching and Learning Microcomputers 7
TPACK Analysis of the Interdisciplinary Microcontroller Technology 7
Content Knowledge (The What) 8
Technology Knowledge (The Why) 9
Pedagogical Knowledge (The How) 11
­From Computational Thinking (CT) to Micro-CT (μCT) 12
CT Requirement and Embedded Computers 13
Microcomputers and Abstraction Process 14
The μCT Concept: An Onion Learning Framework 15
“Transparent” Teaching Methods 17
­The Impact of Microcontroller Technology on the Maker Industry 19
Hardware Advancement in μC Technology 20
Software Advancement in μC Technology 23
The Impact of Arduino on the μC Community 23
­Where Is Creativity in Embedded Computing Devices Hidden? 26
Creativity in Mobile Computing Devices: Travel Light, Innovate Readily! 26
Communication with the Outside World: Sensors, Actuators, and Interfaces 28
­Conclusion 30
viii Contents

2 Embedded Programming with Arduino 31

­Number Representation and Special-Function Codes 31
­Arduino and C Common Language Reference 34
­Working with Data (Variables, Constants, and Arrays) 36
Arduino UART Interface to the Outside World (Printing Data) 39
Arduino Ex.2–1 40
Arduino Ex.2–2 44
­Program Flow of Control (Arithmetic and Bitwise Operations) 47
Arduino UART Interface (Flow of Control and Arithmetic/­
Bitwise Examples) 52
Arduino Ex.2–3 52
Arduino Ex.2–4 53
Arduino Ex.2–5 54
Arduino Ex.2–6 59
Arduino Ex.2–7 63
­Code Decomposition (Functions and Directives) 69
Arduino Ex.2–8 69
­Conclusion 72
Problem 2–1 (Data Output from the μC Device: Datatypes and Bytes
Reserved by the hw) 73
Problem 2–2 (Data Output from the μC Device: Logical Operators
in Control Flow) 73
Problem 2–3 (Data Input to the μC Device: Arithmetic and Bitwise
Operations) 73
Problem 2–4 (Code Decomposition) 73

3 Hardware Interface with the Outside World 75

­Digital Pin Interface 75
Arduino Ex.3.1 76
Arduino Ex.3.2 77
Arduino Ex.3.3 81
Arduino Ex.3.4 82
Arduino Ex.3.5 84
­Analog Pin Interface 86
Arduino Ex.3.6 87
Arduino Ex.3.7 91
­Interrupt Pin Interface 91
Arduino Ex.3.8 94
­UART Serial Interface 96
Arduino Ex.3.9 97
Arduino Ex.3.10 98
Arduino Ex.3.11 99
­SPI Serial Interface 101
Arduino Ex.3.12 103
 Contents ix

Arduino Ex.3.13 110

Arduino Ex.3.14 115
Arduino Ex.3.15 121
­I2C Serial Interface 122
Arduino Ex.3.16 125
Arduino Ex.3.17 130
Arduino Ex.3.18 135
Arduino Ex.3.19 142
­Conclusion 146
Problem 3.1 (Data Input and Output to/from the μC Using
Push-Button and LED IO Units) 147
Problem 3.2 (PWM) 147
Problem 3.3 (UART, SPI, I2C) 147

4 Sensors and Data Acquisition 149

­Environmental Measurements with Arduino Uno 149
Arduino Ex.4–1 150
DAQ Accompanying Software of the Ex.4–1 157
DAQ Accompanying Software with Graphical Monitoring ­
Feature Via gnuplot 166
Arduino Ex.4–2 169
­Orientation, Motion, and Gesture Detection with Teensy 3.2 171
Arduino Ex.4–3 173
Arduino Ex.4–4 174
Arduino Ex.4–5 177
Arduino Ex.4–6 184
DAQ Accompanying Software for Orientation, Motion,
and Gesture Detection with gnuplot 191
Real Time Monitoring with Open GL 193
­Distance Detection and 1D Gesture Recognition with TinyZero 200
Arduino Ex.4–7 201
Arduino Ex.4–8 205
DAQ Accompanying Software for Distance Measurements 209
­Color Sensing and Wireless Monitoring with Micro:bit 211
Arduino Ex.4–9 212
Arduino Ex.4–10 216
Open GL Example Applying to RGB Sensing 220
Arduino Ex.4–11 222
­Conclusion 226
Problem 4–1 (Data Acquisition of Atmospheric Pressure) 226
Problem 4–2 (Fusion of Linear Acceleration and ­
Barometric Altitude) 226
Problem 4–3 (1D Gesture Recognition) 226
Problem 4–4 (Color Sensing) 226
x Contents

5 Tinkering and Prototyping with 3D Printing Technology 227

­Tinkering with a Low-cost RC Car 227
Arduino Ex.5.1 231
Arduino Ex.5.2 236
­A Prototype Interactive Game for Sensory Play 237
Hardware Boards of the Prototype System 238
Assembly Process of the 3D Printed Parts of the System’s Enclosure 243
Firmware Code Design and User Instructions 249
Arduino Ex.5.3 250
Arduino Ex.5.4 253
Arduino Ex.5.5 256
Arduino Ex.5.6 260
­3D Printing 262
Modeling 3D Objects with FreeCAD Software 262
Preparing the 3D Prints with Ultimaker Cura Software 269
3D Printing with Prima Creator P120 272
Presentation of the Rest 3D Models of the Prototype Interactive Game 276
PrototypeB (Modeling the battery.stl Part) 276
PrototypeC (Modeling the booster.stl Part) 278
PrototypeD (Modeling the speaker.stl Part) 283
PrototypeE (Modeling the cover.stl Part) 284
PrototypeF (Modeling the button.stl Part) 287
PrototypeG (Modeling the sensor.stl Part) 290
PrototypeH (Modeling the front.stl Part) 290
­Conclusion 294
Problem 5.1 (Tinkering with a Low-cost RC Car) 294
Problem 5.2 (A Prototype Interactive Game for Sensory Play) 294
Problem 5.3 (A Prototype Interactive Game for Sensory Play) 295
Problem 5.4 (A Prototype Interactive Game for Sensory Play) 296
Problem 5.5 (3D Printing) 296

References 297
Index 301
 xi

About the Author

Dimosthenis (Dimos) E. Bolanakis was born in

Crete, Greece (1978) and graduated in Electronic
Engineering (2001) from ATEI Thessalonikis,
Greece. He received the MSc degree (2004) in
Modern Electronic Technologies and the PhD
degree (2016) in Education Sciences (focusing on
Remote Experimentation), both from University
of Ioannina, Greece. He has (co)authored more
than 30 papers (mainly on Research in Engineering
Education) and 3 books. He has held positions in
both industry and education and his research
interests focus on μC-based and FPGA-based
Hardware Design and Research in Education. He
currently lives in Athens (Greece) together with
his wonderful wife Katerina and their three
delightful kids, Manolis, Eugenia, and Myronas.­
xii

List of Figures

1.1 Interdisciplinarity of embedded computers. 2

1.2 Problem-solving with microcomputers (a revision of Kordaki’s model). 10
1.3 (a) TPACK model and (b) its application in microcontroller education. 12
1.4 Onion learning framework for μC programming and application development. 16
1.5 An example of pseudo-architecture, pseudo-timing diagram, and
pseudo-hardware. 18
1.6 (a) μC programming board and (b) UVPROM eraser (from the long-cycle era). 21
1.7 Custom-designed PCB of the μC’s application circuit. 21
1.8 (a) Arduino uno board and powerpack shield; (b) Arduino Uno and Ethernet
shield. 22
1.9 Uploading the new firmware code to μC’s memory through the Arduino IDE. 24
1.10 PCB silkscreen of the Arduino Uno stackable headers and the μC’s digital IO
pins. 26
1.11 A drone is built around sensors, actuators, and interfaces. 29
2.1 Example of a 16-bit register in μC’s memory. 32
2.2 Two’s (2’s) complement geometrical representation of a 4-bit binary number. 33
2.3 Arduino Uno board connected to the USB port of a laptop (using type A to B
cable). 40
2.4 Arduino Ex.2–1a: output data from the μC to a computer through UART. 41
2.5 RS 232 terminal consoles: (a) Arduino serial monitor. (b) Termite. 42
2.6 Arduino Ex.2–1b: (a) SRAM-memory and (b) Flash-memory strings. 45
2.7 Arduino Ex.2–2: datatypes length and typecasting. (a) source code, (b) printed
results. 46
2.8 Control flow statements in Arduino (and embedded C) programming. (a) general
syntax of the goto statement, (b) example of the goto statement, (c) general syntax
of the if statement, (d) example of the if statement, (e) general syntax of the if/else
statement, (f) example of the if/else statement, (g) general syntax of the if/else if
statement, (h) example of the if/else if statement, (i) general syntax of the
switch. . .case statement, (j) example of the switch. . .case statement, (k) general
syntax of the for statement, (l) example of the for statement, (m) example of the for
loop along with the continue statement, (n) general syntax of the while statement,
(o) example of the while statement, (p) general syntax of the do. . .while statement,
(q) example of the do. . .while statement. 49
 List of Figures xiii

2.9 Flowchart of the for() loop example given in Figure 2.14m. 51

2.10 Flowchart of the do. . .while() loop example given in Figure 2.8q. 52
2.11 (a) Arduino Ex.2–3: for() & while() statements and variable scope. (a) for loop
example code, (b) for loop printed results, (c) while loop example code, (d) while
loop printed results. 53
2.12 Arduino Ex.2–4: for() statement and Boolean operators (upper/lower case letters).
(a) logical OR example code, (b) logical OR printed results, (c) logical AND example
code, (d) logical AND printed results. 54
2.13 Arduino Ex.2–5: input data to the μC from a computer through UART (pointers).
(a) flowchart, (b) source code. 55
2.14 Printed results of the original version (and some revisions) of Arduino Ex.2–5. (a)
Termite terminal console for transmitting characters to the μC from a PC, (b)
Transmission of a string to the μC device (error during the foremost transmis-
sion), (c) Retransmission of the string (errorless results after the foremost
transmission), (d) String transmission with pointers using unary increment
operator (syntax 1), (e) String transmission with pointers using unary increment
operator (syntax 2), (f) String transmission with pointers using unary increment
operator (syntax 3). 58
2.15 Arduino Ex.2–6a: arithmetic operations (numeric string to binary value). (a)
flowchart, (b) source code, (c) printed results. 60
2.16 Transforming a numeric string to binary value (“128”→128). (a) the ASCII
numbers ‘1’–‘9’, (b) storage of the ASCII numbers ‘1’, ‘2’, and ‘8’ to three
memory locations, (c) process of converting a string to binary number through
a loop. 61
2.17 Arduino Ex.2–6b: arithmetic operations (binary value to numeric string). (a) source
code (part 1 of 2), (b) source code (part 2 of 2), (c) printed results. 62
2.18 Transforming a binary value to BCD in reversed order (254→“452”). 63
2.19 Arduino Ex.2–7: bitwise operations (unsigned byte to signed byte conversion).
(a) source code (part 1 of 2) (b) source code (part 2 of 2) (c) printed results (d)
geometrical representation of unsigned and 2’s complement signed numbers
(byte-size long). 64
2.20 Bitwise AND, OR, XOR with bitmasks. (a) bitwise AND (b) bitwise OR (c) bitwise
XOR (toward inverting bits) (c) bitwise XOR (toward evaluating the equality of
variables). 65
2.21 Converting the array elements from BCD to ASCII and printing them in regular
order. (a) storage of the byte-size numbers 1, 2, 8 in memory, in reverse order,
(b) execution of the while loop for converting numbers to ASCII characters and
execution of the do. . .while loop for rearranging the order of characters in
memory. 67
2.22 Bit-shift left (<<) and right (>>) of a binary value (multiply and divide by 2×). (a)
source code, (b) printed results. 68
2.23 Three positions bit-shift left and right (i.e. multiply and divided by 23). (a) general
description of bit-shift left execution, (b) general description of bit-shift right
execution, (c) example of bit-shift left execution, (d) example of bit-shift right
execution. 68
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Chebar
check
checked
checking
checkmated
checks
cheek
cheered
cheerful
cheerfully
cheering
cheerless
cheers
Chefoo
Chekiang
Cheliabinsk
Chemawa
chemical
chemicals
chemist
CHEMISTRY
Chemnitz
Chen
Cheng
Cheops
Cherbuliez
Cherche
Cherif
Cherihon
cherish
cherished
cherishing
Chermside
Cherokee
CHEROKEES
Cheshire
Chesney
chest
Chester
chests
Cheth
Chevalier
Cheyenne
Chi
chia
Chiang
Chiangsi
chiao
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Chicago
Chichester
Chickamauga
Chickasaw
CHICKASAWS
chicken
chief
chiefly
chiefs
chieftain
chieftains
Chieftainship
Chien
chih
Chihli
Chihuahua
Chikusi
Chilcat
Chilcoot
child
Childcrs
Childers
childhood
childish
childless
children
Chile
Chilean
Chileans
CHILI
Chilian
Chilkat
chill
chills
chilly
Chilocco
chimed
Chimelli
chimera
Chin
China
Chinaman
Chinamen
chinaware
Chinchou
Chine
Chinee
CHINESE
CHING
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Chinkiang
Chippewas
Chita
Chitral
Chitralis
chloroformed
Cho
Choate
Choctaw
CHOCTAWS
choice
choked
cholera
Cholmondeley
choose
chooses
choosing
chose
chosen
Choshu
chou
Chovevi
Chow
Chozen
Chris
Christ
Christendom
CHRISTIAN
Christiani
Christiania
Christianity
Christianized
CHRISTIANS
CHRISTINA
Christlich
Christmas
Christopher
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