1. Ambient Feedback Control System Jonathan Uht

2.  Recap  System Block Diagram  Hardware Implementation  Software Implementation  Results  Work Not Implemented  Summary

3.  Control a motor using feedback from ambient light levels sensed by the CdS photocell  If the ambient light level is higher than desired level, then decrease the speed of the motor  If the ambient light level is lower than desired level, then increase the speed of the motor  Simple feedback, Proportional Feedback, and Integral Feedback will be demonstrated.

5. PD6 2K

6.  Code Implements 3 types of Feedback ◦ Simple ◦ Proportional ◦ Integral  Code that determines switch press for: ◦ Setting correct level of Ambient Light ◦ Setting correct desired RPM level for motor  Utilize Input Capture and Timer Overflow  Displays appropriate values for ◦ Desired/Actual Levels of light ◦ Desired/Actual RPM of motor ◦ OCR0 and OCR2 registers ◦ Error

7. Actual RPM that correlates to difference in Actual and Commanded Light Levels Actual vs. Commanded Light Levels

8. Actual RPM that correlates to difference in Actual and Commanded Light Levels Actual vs. Commanded Light Levels

9. Actual RPM that correlates to difference in Actual and Commanded Light Levels Actual vs. Commanded Light Levels

10.  Differential Feedback Control  Mounting to a Robot with Camera

11.  An ambient feedback control system was created  Simple, Proportional, and Integral feedback systems were tested and compared  The system is complete enough to begin testing with a robot/vehicle for searching buildings