1. Gizmo Remote Operated Bluetooth Interface (GROBI) Sponsor: Calit 2 Mentors: Paul Blair & Javier Rodriguez Molina Team: Kristi Tsukida & Eldridge Alcantara ECE 191 Fall 2006 Group 13 Week 3 Oct 12, 2006

2. G.R.O.B.I. Project Agenda Gantt Chart Tasks Performed Technical Content - Atmega164P vs. Atmega16 - PWM Control for Servo and Motor - ESC and Microcontroller - Switches and Serial Communication Summary

3. G.R.O.B.I. Project Gantt Chart

4. G.R.O.B.I. Project Tasks Performed Ordered new microcontroller (Kristi) Continued programming microcontroller - motor control (Kristi) - servo control (Eldridge) - serial communication (Eldridge) Started tutorial for Eagle Layout Editor for circuit board design (Kristi) Met with Javier (both) - discussed problems with motor - tested microcontroller on GIZMO

5. G.R.O.B.I. Project ATMega164P vs ATMega16 ATMega164P –8 bit AVR Microcontroller –DIP40 package –ADC –2 USART –6 PWM channels –8-bit PWM mode has variable period –Lower power consumption ATMega16 –8 bit AVR Microcontroller –DIP40 package –ADC –1 USART –4 PWM channels –8-bit PWM mode always counts to 255

6. G.R.O.B.I. Project PWM Control for Servo and Motor Pulse WidthDuty CycleServoMotor 1.0 ms5 %LeftReverse 1.5 ms7.5 %CenterStop 2.0 ms10 %RightForward Square Wave Period = 20 ms Frequency = 50 Hz Pulse Width Range = 1.0ms – 2.0 ms

7. G.R.O.B.I. Project ESC Connection Diagram AVR micro- controller ESC (electronic speed control) Motor +5V from STK500 board ground +12V from battery pack signal +5V Disconnected (or else the ESC would power the AVR)

8. G.R.O.B.I. Project Switches and Serial Communication FunctionSwitchKey LeftSW0L CenterSW1C RightSW2R ForwardSW3F StopSW4S ReverseSW5B Switches Keyboard Microcontroller ESC Motor Servo OC1A OC1B SW0-SW7 Serial

9. G.R.O.B.I. Project Switches and Serial Communication FunctionSwitchKey LeftSW0L CenterSW1C RightSW2R ForwardSW3F StopSW4S ReverseSW5B Switches Keyboard Microcontroller ESC Motor Servo OC1A OC1B SW0-SW7 Serial Now for a demonstration…

10. G.R.O.B.I. Project Summary Continued programming microcontroller: - motor control - servo control - serial communication Successfully tested microcontroller on GIZMO Next week: - Finish programming microcontroller (Eldridge) - Research Atmega164P (Kristi) - Continue tutorial for Eagle Board Editor (Kristi) - Start tutorial for Python (Eldridge)

11. G.R.O.B.I. Project Any Questions?