1. GROBI Gizmo Remote Operated Bluetooth Interface Sponsor: Calit 2 Mentors: Paul Blair & Javier Rodriguez Molina Team: Kristi Tsukida & Eldridge Alcantara Group 13 ECE 191 Fall 2006 – Week 8 November 16, 2006

2. G.R.O.B.I. Project Agenda Gantt Chart Tasks Performed Technical Content –Bluetooth Status Detection –GIZMO User Interface –Motor Control Settings –Successive Approximation ADC Summary

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

4. G.R.O.B.I. Project Tasks Performed Sent commands from cell phone to GIZMO truck (Eldridge) Finished final circuit board design (Kristi) Wrote code to handle when Bluetooth is disconnected (Kristi) Wrote ADC code to read and process data from accelerometer (Eldridge)

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 Serial Adapter Microcontroller Accelerometer Cell Phone Circuit Board GIZMO 1 2 3 4 5

6. G.R.O.B.I. Project Tasks Left To Complete 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 Serial Adapter Microcontroller Accelerometer Cell Phone Circuit Board GIZMO 1 2 3 4 5

7. G.R.O.B.I. Project Bluetooth Status Detection Detect Bluetooth disconnection –Stop truck when disconnected Bluetooth module has status pin which is low when disconnected Use microcontroller pin change interrupt to detect a high low transition

8. G.R.O.B.I. Project GIZMO Remote Control User Interface Version 2.0 Divided Command section into two parts Added a section to display velocity F LSR B LSR F B Joystick Keypad Commands L = Left R = Right F = Forward S = Stop B = Backward

9. G.R.O.B.I. Project Motor Control Settings Settings modifiable from phone menu Different for different ESC (electric speed controller) and motors Save settings to EEPROM of microcontroller PWM pulse width Speed Level = 0 Speed level = 1 Speed level = 2 Max speed level Speed Level =... Init speed Base speed Forward Increment Init time time Example: Modifiable settings for a forward PWM signal high pulse needed to get truck to start moving

10. G.R.O.B.I. Project Block Diagram for ADC and Accelerometer Cell Phone Accelerometer Atmega164P ADC Determine Acceleration Transmit Buffer Bluetooth

11. G.R.O.B.I. Project Successive Approximation ADC End of Conversion Successive Approximation Register Digital to Analog Converter Sample and Hold Circuit http://en.wikipedia.org/wiki/Successive_Approximation_ADC Output of ADC:

12. G.R.O.B.I. Project Example of Successive Approximation ADC 1000 1100 1010 1011 1011 8 12 10 11 DAC Output = 1.067 < Vin DAC Output = 1.6 > Vin DAC Output = 1.35 < Vin DAC Output = 1.467 < Vin Let ADC have 4 bits of precision Let: Vref = 2 V Vin = 1.5 V From formula:

13. G.R.O.B.I. Project Summary Current state: we can control the GIZMO truck through cell phone Plans for next two weeks: - send accelerometer data to cell phone (Eldridge) - install circuit board on GIZMO truck (Kristi) - motor control settings on microcontroller (Kristi) - motor control settings on phone (Eldridge) - optimize microcontroller code (both)