Final Presentation Andres Fausto Stewart Bewley Philip Dawsey Ki 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 Assembly Servo Centering Start Gyroscope Calibration Read Chapters about Bot and Wireless manual Nov Finish Gyroscope Calibration ADC Calibration Start Wireless integration Nov 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. ω
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 8 DO measurement = INL DEBUG HOME, "Binary value:", BIN8 measurement, CR, "Decimal value: ", DEC3 measurement PAUSE 100 LOOP
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
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