Final Presentation

Andres FaustoStewart BewleyPhilip DawseyKi Baek Eom

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

Background

LabVIEW programming DAQ card Feedback control MEMS Calibration

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.

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

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

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

LabVIEW Calibration

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

)

ADC Testing

What ADC does Tested multiple

pulse combinations Used multiple

testing methods

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

ADC Testing

ADC Testing

Programming

Used LabVIEW and BASIC Stamp to control robot

Integrated wireless control into these programs

Robot will move following real time commands from LabVIEW

Programming

Programming

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.

Feedback

Final Product

Possible Improvements

Integrate ADC and Gyroscope Integrate speed change Boe-bot obstacle course race Add an ADC lab in the course

Questions

Demonstration