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1
The joystick board for the powered wheelchair
Jean-Marc CapronISEN
September 30th 2011University of Kent
Part-financed by the European Regional Development Fund
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bjoystick
mCATMEL
ATmega328
ADC10 bits
quadDACI2C
tooriginalsystem
mCATMEL
ATmega2560
(ARDUINOor anything else)
SPI
SPIUARTUSBPC
sensor 1
sensor 2
sensor n
joystickmodule
sensorsmodule
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bjoystick
mCATMEL
ATmega328
ADC10 bits
quadDACI2C
tooriginalsystem
SPIjoystickmodule
mCATMEL
ATmega2560
SPIUARTUSBPC
sensor 1
sensor 2
sensor nsensorsmodule
actualjoystick’sposition
modifiedjoystick’sposition
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joystick module mounted inthe original system
![Page 5: The joystick board for the powered wheelchair Jean-Marc Capron ISEN September 30 th 2011 University of Kent 1 Part-financed by the European Regional Development](https://reader035.vdocuments.mx/reader035/viewer/2022070411/56649f3d5503460f94c5c48c/html5/thumbnails/5.jpg)
bjoystick
mCATMEL
ATmega328
ADC10 bits
quadDACI2C
tooriginalsystem
SPIjoystickmodule
mCATMEL
ATmega2560
SPIUARTUSBPC
sensor 1
sensor 2
sensor nsensorsmodule
LEDvisual interface
SPI
optocouplers
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Sensors used on the prototype:
• Ultrasound sensors
• 9 implemented (only 4 active at one time)
• Advantages: - cheap solution- long range (typ. 20 cm 5 m)
• Drawbacks: - long response time (up to 50 ms)
• Infrared sensors
• 2 implemented (when passing through a door)
• Advantages: - no latency induced
• Drawbacks: - short range (< 1 m)
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details (top view)
59 mm
36 m
m
23 m
m
microcontroler
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details (bottom view)
quaddigital-to-analog converter
connectionto joystick
connectionto sensorsmodule
connectionto originalsystem
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9Part-financed by the
European Regional Development
Fund
Plan of presentationI. Outline of the task within the context of the
projectII. Main resultsIII. Future challenges and the work to be done