1. ME 224 Final Presentation Fall 2005 Joni Stegeman Ingrid Lin Giovanni Wuisan Patrick Luckow Brent Willson

2. Agenda  Objectives  Materials  Testing Results Actuation Actuation Sensing Sensing Control Control Wireless Wireless  Conclusion

3. Objectives  Design and implement an experiment to realize real-time, wireless control. 5 week timeframe 5 week timeframe Develop an overall strategy Develop an overall strategy Gain an understanding of the boe-bot Gain an understanding of the boe-bot Enhance knowledge of LabVIEW, data acquisition, feedback control, BS2, MEMS sensing Enhance knowledge of LabVIEW, data acquisition, feedback control, BS2, MEMS sensing Real-time boe-bot navigation Real-time boe-bot navigation

4. Materials  LabVIEW and data acquisition card  Gyroscope sensor (ADXRS150EB)  Boe-Bot robot kit #28132  Two servo motors  Board of Education (BOE)  Wireless Bluetooth DBT-120 (D-link)  Wireless eb500 Bluetooth wireless module

5. Actuation  Boe-Bot Assembly  Servo Centering Send a center signal to the servos Send a center signal to the servos Adjust potentiometer until movement ceases Adjust potentiometer until movement ceases Pulsout 750 became center point Pulsout 750 became center point For straight line motion we used inputs of 815 and 700 rather than 800 and 700 For straight line motion we used inputs of 815 and 700 rather than 800 and 700 20ms 1.5ms Center signal with 1.5ms duration PULSOUT

6. Sensing  Gyroscope Calibration Self-test to ensure proper function Self-test to ensure proper function Associate angular velocity with voltage readout Associate angular velocity with voltage readout LabVIEW to record gyroscope output LabVIEW to record gyroscope output BS2 program to instruct the Boe-Bot to rotate 360 degrees 4X BS2 program to instruct the Boe-Bot to rotate 360 degrees 4X

7. Sensing  Gyroscope Calibration Voltage vs. time curve Voltage vs. time curve End of BS2 program

8. Sensing  Gyroscope Calibration Voltage vs. Angular Velocity Voltage vs. Angular Velocity Error indicators High probability of accuracy

9. Sensing  Analog to Digital Converter (ADC) Use full range of gyroscope capability, 0-255 instead of 0 or 1 Use full range of gyroscope capability, 0-255 instead of 0 or 1 Allows us to use feedback control Allows us to use feedback control Powered by the boe-bot Powered by the boe-bot Two modes Two modes Pin8 on LO (ground) – read dataPin8 on LO (ground) – read data Pin8 on HI (5 volts) – send binary valuesPin8 on HI (5 volts) – send binary values

10. Control  Basic Stamp II program v.1 Modification of the original “monkeydo” program Modification of the original “monkeydo” program HyperTerminal interface HyperTerminal interface 1 = turn right, 2 = turn left, 1 = turn right, 2 = turn left, 3 = move forward

11. Control  Basic Stamp II program v.2 Modification of previous program Modification of previous program 1 = turn right, 2 = turn left, 1 = turn right, 2 = turn left, 3 = move backward, 4 = move forward 3 = move backward, 4 = move forward Calculates angle turned by robot Calculates angle turned by robot HyperTerminal and LabVIEW ready HyperTerminal and LabVIEW ready

12. Control  Feedback and BS2 Calc converts the 8 binary signals we output from the ADC to one signal Calc converts the 8 binary signals we output from the ADC to one signal This signal is then converted to a voltage. This signal is then converted to a voltage. Using gyroscope calibration data; output a value for the total angular rotation Using gyroscope calibration data; output a value for the total angular rotation Zerovar simply resets the calculation. It is run whenever the robot is told to go forward or backwards Zerovar simply resets the calculation. It is run whenever the robot is told to go forward or backwards  Calc:  LOW 8  value = (1*IN0) + (2*IN1) + (4*IN2) + (8*IN3) + (16*IN4) + (32*IN5) + (64*IN6) + (128*IN7)  HIGH 8  V = (value*420/256+50)  theta = (147*V – 31700)/100  dsum = theta*ts/100  sum = sum + dsum  angle = sum/14  RETURN  Zerovar:  value = 0  V = 0  dsum = 0  theta = 0  sum = 0  RETURN

13. Control  LabVIEW and BS2

14. Wireless  Bluetooth Pros Delay has been minimal Delay has been minimal New cutting-edge technology New cutting-edge technology  Bluetooth Cons Hardware is unstable Hardware is unstable HyperTerminal is unstable HyperTerminal is unstable

15. Conclusion  This project was a success.  Completed the objectives in the project outline.  Overcame serious hardware and software issues.  Gained experience and knowledge using LabVIEW, BS2, HyperTerminal, and Bluetooth technology.  Future Steps: More user-friendly interface More user-friendly interface Smooth robot motion Smooth robot motion  Next 224 Class – 3-dimensional real-time control

16. References  http://hyperphysics.phy- astr.gsu.edu/hbase/electronic/adc.html  http://focus.ti.com/lit/ds/symlink/tlc0820a.pdf  www.parallax.com  http://www.analog.com/  http://clifton.mech.northwestern.edu/~me22 4/  The documentation that came with the Boe- bot and eb500 module