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 2 Sep 28, 2006

2. G.R.O.B.I. Project Agenda Gantt Chart Tasks Performed Technical Content - Block Diagrams - Hardware Components - Pulse Width Modulation (PWM) - PWM and Atmega16 - PWM Specs for Servo Summary

3. G.R.O.B.I. Project Gantt Chart GIZMO Remote Operated Bluetooth Interface (GROBI) Gantt Chart Fall 2006

4. G.R.O.B.I. Project Tasks Performed Ordered microcontroller and accelerometer (Kristi) Started programming microcontroller - Generating PWM signals (Kristi) - Detecting onboard switches (Eldridge) - Integrated code (Eldridge) Performed preliminary tests on motor (both) Met with mentors (both) - Discussed issues with motor and microcontroller - Clarified project details - Started preparing for 2 nd stage of project

5. G.R.O.B.I. Project Block Diagram of Final Prototype References: 1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpghttp://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg 2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpghttp://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg 3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpghttp://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg 4 – http://memsic.comhttp://memsic.com 5 - http://responshphere.calit2.net/gizmohttp://responshphere.calit2.net/gizmo Bluetooth module Microcontroller Accelerometer Cell Phone Circuit Board GIZMO 1 2 3 4 5

6. G.R.O.B.I. Project Block Diagram of 1st Prototype PC Servo Motor STK500 Development Board Atmega16 Microcontroller Onboard Switches

7. G.R.O.B.I. Project Edited Block Diagram of 1st Prototype PC Two Servos Motor STK500 Development Board Atmega16 Microcontroller Onboard Switches Electronic Speed Controller (ESC) 1 Reference: 1 - http://www.lancs.ac.uk/ug/robinsdb/projects/truck/robot.htmlhttp://www.lancs.ac.uk/ug/robinsdb/projects/truck/robot.html

8. G.R.O.B.I. Project Hardware Components: STK500 AVR microcontroller test board Serial port for programming 8 LEDs and 8 switches for testing Sockets for changing microcontrollers Works with AVR Studio Easy prototyping http://www.dontronics.com/graphics/stk500.jpg

9. G.R.O.B.I. Project Hardware Components: ATMega16 Microcontroller 4 PWM channels –Motor & servo control 8 channel ADC –Accelerometer data 1 USART –Bluetooth communication / testing with PC connection Plugs in directly to STK500 http://www.futurlec.com/Pictures/ATMEGA16-16PI.jpg

10. G.R.O.B.I. Project Pulse Width Modulation (PWM) Reference: http://www.embedded.com/story/OEG20010821S0096 Technique to control analog circuits with digital outputs Analog signals encoded by modulating duty cycle of a square wave Benefits: - cost and power consumption reduced - immune to noise - easy to implement using microcontrollers

11. G.R.O.B.I. Project PWM and Atmega16 Mode: Phase correct PWM –Counts from 0 to TOP then back to 0 –When counter matches number in OCR (output compare register), the value on the output pin is changed ATMega16 datasheet http://www.atmel.com/dyn/resources/prod_documents/doc2466.pdf TOP 0 CNT OC (output) OCR 5V 0

12. G.R.O.B.I. Project Summary Hardware components ordered Started programming microcontroller: - PWM signals - Onboard switches Next week: continue programming microcontroller - DC motor control (Kristi) - Servo control (Eldridge) - Serial communication (both)

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