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 4 October 19, 2006

2. G.R.O.B.I. Project Agenda Gantt Chart Tasks Performed Technical Content - Motor Control - ADC on Atmega16 - Eagle Layout Editor - Accelerometer Summary

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

4. G.R.O.B.I. Project Tasks Performed Continued tutorial for Eagle Layout Editor (Kristi) Researched how to convert Atmega16 code to Atmega164P code (Kristi) Continued programming microcontroller (Eldridge) - vary motor speed - added code for ADC Downloaded software for cell phone programming (Eldridge) Met with Javier and Paul (both) - fixed problems with motor - demonstrated serial communication code - provided more specifications for motor control - discussed 2 nd stage of project with Paul

5. G.R.O.B.I. Project Motor Control Forward Reverse Stop Forward (F) to Reverse (B) : - already handled by ESC - truck stops for ∆t seconds before changing directions Reverse (B) to Forward (F) : - instruction: truck should stop Forward (F) to Stop (S) : - instruction: truck should be in full reverse for ∆ t seconds to stop Increase Decrease Increase Decrease Complete Incomplete

6. G.R.O.B.I. Project ADC on Atmega16 Overview - 8 channel analog multiplexer - 10 bit resolution PrescalerFrequency 21.843 MHz 4921.5 kHz 8614.3 kHz 16230.4 kHz 32115.2 kHz 6457.6 kHz 12828.8 kHz Setting ADC Clock Frequency - Optimal frequency: 50-200 kHz - STK500 clock frequency: 3.686 MHz - Need to use prescalingto lower clock frequency to ADC Output of ADC - Equation: Output = (1023)(Vin/Vref) - Output between 0 and 1023 www.futurlec.com/Pictures/ATMEGA16-16PI.jpg

7. G.R.O.B.I. Project Eagle Layout Editor Schematic Board layout –Created from the schematic

8. G.R.O.B.I. Project Freescale Accelerometer (capacitive acceleration sensing) Movable middle capacitor plate moves when chip is accelerated Distance moved proportional to acceleration Chip measures the capacitance C =  A/D Freescale MMA6260 datasheet http://www.freescale.com/files/sensors/doc/data_sheet/MMA6260Q.pdf

9. G.R.O.B.I. Project Memsic Accelerometer (free convection heat transfer) Sealed gas in chip Heat source in center Heated air moves by convection when the chip is accelerated Temperature sensors sense change in temperature http://www.memsic.com/memsic/products/technology.html

10. G.R.O.B.I. Project Summary Overview of ADC, accelerometer, and Eagle Layout Editor Finished 1 st prototype and starting work on 2 nd prototype Next week: - Create evaluation board for accelerometer (Kristi) - Start programming with Python (Eldridge) - Make updates to microcontroller code (both) - converting to Atmega164P - motor control

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