CMPE240 Project: The Barkmaster2000 (Keeping dogs entertained since yesterday)

CMPE240 Project: The Barkmaster2000

(Keeping dogs entertained since yesterday)Prepared By:Bryan CanepaPatrick Ghorbanian Sake DogConcept of DesignThe Barkmaster2000 encourages your dog to barkBarkmaster2000 waits in idle state for a barkIf the bark is angry enough it will start spinningThe barkmaster2000 incorporates an IR sensor to detect barking dogWhen the IR sensor is triggered the barkmaster will drive forwardGoal is to drive towards the dog to keep her barking

State DiagramRESETMotor Driver Board Init()SPINFORWARD DRIVECLEARDATA & STOP1IDLE(Bark < Threshold)1(Bark >= Threshold)_IRsensorClearedIrsensorDetect1IRsensorCleared_DETECTDETECT1Bark DetectionPolls four MEMs audio sensors for inputMEMs inputs provide analog representation of soundAnalog mux used to select MEMs device while in idle stateGPIO used for addressing muxInputs provided to ADC for determination of an angry barkAngry bark determined by integrating digitized soundEven sampling at 2ms looking for low frequency to avoid noiseAdds samples over time and compares to a threshold

SCHEMATIC

CUSTOM CIRCUIT BOARDS

MUX & SIGNALDISTRIBUTION BOARDPIRSENSORBOARDULTRASONICSENSORBOARDTOOLS AND 5V REGULATOR BOARD

ASSEMBLY TOOLSASSEMBLY TOOLS5V REGULATORBOARDTOP VIEW OF THE DIFFERENT LEVELS

TOP VIEWLEVEL 1 TOP VIEWLEVEL2ChallengesNoise from MEMS sensor was causing issues with bark sensingMeasured output on scope lots of high frequencyDid experiment with different wire lengths showing noise increaseUsed pull-downs within LPC1758 to reduce coupled noiseSampled MEMs devices at low frequency (via software) to reduce noiseAcquiring data on a moving objectSuspected onboard electronics corrupting sound dataNeeded to see sound outputs to debug while Barkmaster2000Added Bluetooth capability to get live sampling while operatingDistance sensingOriginal intention was to sense distance and stop if it got too closeFurther testing showed that sensing would limit the movement too muchMore fun to have the Barkmaster2000 just drive right at the dog without stoppingNarrowing the range of the IR sensorIR sensor would pick out a 180 degree fieldTaped the exterior of the sensor - small window for sensingNot 100% accurate but sufficient to entertain the dog

The Final Product

Handsome Carrying Tote !!Test Subject

Unleash the Hounds

Professors Name is Virus

SummaryBarkmaster2000 successfully entertains Bryans dogHardware incorporates:San Jose State processor boardAnalog Mux4 MEMs audio sensorsIR sensorOn board 5V battery (from 9V source)On board motor powerUltrasonic distance sensor (disabled for normal operation)A squeaky rubber chickenUtilizes LPC1758:PWM motor driveADC inputs for sound sensingGPIO for selection of mux channels and IR sensorBluetooth and LED screen for debugging

The End