final presentation andres fausto stewart bewley philip dawsey ki baek eom
Post on 19-Dec-2015
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Final Presentation
Andres FaustoStewart BewleyPhilip DawseyKi Baek Eom
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Agenda
Background Objective Timeline Assembly Calibration (Gyroscope & Motors) ADC testing Programming (LabVIEW & BASIC Stamp) Wireless Communication (Bluetooth) Feedback Control Final Product and Demonstration Possible Improvements Questions
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Background
LabVIEW programming DAQ card Feedback control MEMS Calibration
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Objective
To improve last year’s boe-bot by integrating wireless real-time control into the design, enabling us to drive the robot around a predefined path.
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Timeline Nov. 6-12
Assembly Servo Centering Start Gyroscope Calibration Read Chapters 1 + 2 about Bot and Wireless manual
Nov. 13-19 Finish Gyroscope Calibration ADC Calibration Start Wireless integration
Nov. 20-26 Programming Wireless integration
Nov. 27-Dec. 3 Debugging Completion of Bot and Feedback Control Presentation and Report write-up
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Assembly
Boe-bot came assembled, but we took it apart to understand connections.
Interactions between ADC and components. Components:
Boe-Bot Robot Kit (Parallax #28132) MEMS Vibrating Mass Gyroscope (Analog Devices
ADXRS150) ADC (ADC0804LCN) 2 Servo Motors (Parallax Continuous Rotation
Servo) BASIC Stamp, LabVIEW, and Bluetooth-enabled
computer
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Calibration
Servo Motors Used screwdriver to zero motor at BASIC
Stamp input of 750 (no motion) Right wheel (12) – below 750 moves forward Left wheel (13) – below 750 moves backward
MEMS Gyroscope Ran self-test Used LabVIEW to acquire data Measured voltage at different ω using
oscilloscope and LabVIEW
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LabVIEW Calibration
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Graph of V vs. ωAngular Velocity vs. Voltage
y = 1.4336x - 3.6697
R2 = 0.9996
-4
-3
-2
-1
0
1
2
3
4
0 1 2 3 4 5 6
Voltage (V)
An
gu
lar
Ve
loc
ity
(ra
d/s
)
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ADC Testing
What ADC does Tested multiple
pulse combinations Used multiple
testing methods
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ADC Testing' {$STAMP BS2}' {$PBASIC 2.5}measurement VAR Byte HIGH 8 LOW 8 HIGH 8 INPUT 8DO measurement = INL DEBUG HOME, "Binary value:", BIN8 measurement, CR, "Decimal value: ", DEC3 measurement PAUSE 100LOOP
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ADC Testing
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ADC Testing
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Programming
Used LabVIEW and BASIC Stamp to control robot
Integrated wireless control into these programs
Robot will move following real time commands from LabVIEW
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Programming
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Programming
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Wireless Communication
Used Bluetooth VI’s from LabVIEW to connect, read and write.
Used commands in BASIC Stamp to send and receive information with LabVIEW.
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Feedback
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Final Product
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Possible Improvements
Integrate ADC and Gyroscope Integrate speed change Boe-bot obstacle course race Add an ADC lab in the course
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Questions
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Demonstration