grobi gizmo remote operated bluetooth interface sponsor: calit 2 mentors: paul blair & javier...
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GROBIGizmo Remote Operated Bluetooth
Interface
Sponsor: Calit2
Mentors: Paul Blair & Javier Rodriguez MolinaTeam: Kristi Tsukida & Eldridge Alcantara
Group 13ECE 191 Fall 2006 – Week 8
November 16, 2006
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• Gantt Chart• Tasks Performed• Technical Content
– Bluetooth Status Detection– GIZMO User Interface– Motor Control Settings– Successive Approximation ADC
• Summary
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Gantt Chart
TASKS DURATION WK
1 WK
2 WK
3 WK
4 WK
5 WK 6
WK 7
WK 8
WK 9
WK 10
WK 11
Research -Hardware: Atmel, servo, accelerometer -Order parts: microcontroller, accelerometer
1 week
Design 1st Prototype (PC->AVR->Motor) -program microcontroller -integrate hardware components
3 weeks
Develop custom circuit -include microcontroller, Bluetooth, accelerometer -install on GIZMO truck
3 weeks
Design 2nd Prototype (Phone->AVR->GIZMO) -create phone software -program microcontroller
5 weeks
Optimize and add additional features 4 weeks Final Report 2 weeks Documentation 11 weeks
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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)
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Block Diagram of Final Prototype
References:1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg4 – http://memsic.com5 - http://responshphere.calit2.net/gizmo
Bluetooth Serial Adapter
Microcontroller
Accelerometer
Cell Phone
Circuit Board
GIZMO
12
3
4
5
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Tasks Left To Complete
References:1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg4 – http://memsic.com5 - http://responshphere.calit2.net/gizmo
Bluetooth Serial Adapter
Microcontroller
Accelerometer
Cell Phone
Circuit Board
GIZMO
12
3
4
5
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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
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GIZMO Remote Control User InterfaceVersion 2.0
Divided “Command” section into two parts
Added a section to display velocity
F
L S R
B L S R
F
B
Joystick
Keypad
CommandsL = LeftR = RightF = ForwardS = StopB = Backward
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Motor Control Settings• Settings modifiable
from phone menu• Different for different
ESC (electric speed controller) and motors
• Save settings to EEPROM of microcontroller
PW
M p
uls
e w
idth
SpeedLevel = 0
Speed level = 1 Speed level = 2
Max speed level
SpeedLevel = ...
Init speedBase speed
Forward Increment
Init time
time
Example: Modifiable settings for a forward PWM signal
high pulse needed to get truck tostart moving
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Block Diagram forADC and Accelerometer
Cell Phone
Accelerometer
Atmega164P
ADC DetermineAcceleration
TransmitBuffer
Bluetooth
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Successive Approximation ADC
End of ConversionSuccessive
Approximation Register
Digital toAnalog Converter
Sample andHold Circuit
http://en.wikipedia.org/wiki/Successive_Approximation_ADC
Output of ADC:
)12( N
Vref
Vin
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Successive Approximation ADC
1 0 0 0
1 1 0 0
1 0 1 0
1 0 1 1
1 0 1 1
8
12
10
11
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:
11)12( 4 Vref
Vin
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• 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)
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