1. Sydekick
Bala Chandrasekaran, Sam Feizi, Rohan Mohapatra
Bala

2. Team Introduction Bala Bala Chandrasekaran Sam Feizi Rohan Mohapatra
Senior
Computer Engineering
Sam Feizi
Senior
Computer Engineering
Bala
Rohan Mohapatra
Senior
Computer Engineering

3. Agenda Bala Team Overview + Agenda 1-3 Introduction 4
High-Level Objectives 5
Diagram + Flowchart
6-7
Results Explained
8-11
Conclusion & Feedback 12
Future Work 13
Bala

4. Introduction 60.6667% increase in rates of ASD from 2000 to 2018
Advances in technology have created a platform to better interact with children with ASD
Literature shows that children with ASD have trouble with following directions and keeping attention spans
Bala

5. High-Level Objectives
Gamification
Sydekick should be able to reward 3 right answers through our reward system over a time period of 2 minutes through a game of Simon Says with a user (TA/student)
Proximity
Sydekick should be able to stay in front of the test player (TA/student) at all times maintaining a distance of 1 foot, this includes when Sydekick moves its hands up or down
Rohan
Safety
Sydekick will not be able to drive past a certain average speed (PWM = ( ); will also only be able to lift arms from hips to shoulders (90 degrees)

6. Sam

7. Software Flowchart
Sam

8. Results
To properly describe our R&V tables our results can be explained through the three following areas:
Movement
Game Interface
Monitor Feature
Arm movement through servo motors controlled by same Enable Pin on ATMega328
Base controlled through DC motors and L293D motor driver
Utilize Ultrasonic readings and move robot according based on distance
Simon Says interfaced through Android Things installation onto Raspberry Pi 3 B
Force Sensitive Resistor analog outputs read into Android Studio and logically used for game
Use LCD Display module to showcase happy facial expression which acts as the face of the robot
Use capacitive LCD Display to interact with user
Bala

9. Results - Movement
The servo motors acted as necessary but continued to run after “STOP” in code
The DC motors ran in at different PWM’s
Used L293D Motor Control
DC_Motor1
DC_Motor2
PWM 50 75
100
125
150
175
200 1
225
255
Bala 3
DC Motors will always run at different speeds.
If you have two motors in parallel on one driver and are only sensing speed from one of them then the other motor's speed will be unpredictable if and when the motors are not mechanically connected. There is no real way to correct that using electronics without adding separate drivers and feedback for each motor.
If the motors are driving wheels that touch the ground and the torque difference between them is not great enough to cause the "tires" to slip this may not be a problem since the contact with ground will act as a mechanical coupling between the motors. Note: That is how the drive wheels on your car stay at the same speed despite going through a differential gearbox. Loss of ground contact can cause some odd effects though.
Otherwise it is prudent to run a timing belt, or other mechanical linkage, between the motor shafts to keep them together. If your crawler has tracks this is a non-issue.
In some cases it may be possible to share the driver over both motors. That is, have a switching arrangement that channels power to each motor a percentage of the time, giving more percentage to the slower motor. However, that would of course reduce the performance of each motor by 50% when both are at speed. But that gets complicated and does not buy you much compared to having individual drive to all four motors.

10. Results – Game Interface
The game was very contingent on the correct implementation of the FSR circuit which worked!
Used MCP3008 Analog-Digital Converter
Sam

11. Results – Monitor Feature
Central LCD monitor to display game worked and had full capacitive touch capabilities
Head LCD was not implemented, due to time constraints
Rohan

12. Conclusion & Feedback Demo successfully highlighted: Problems:
Ultrasonic
Arms
Movement
Simon Says
Problems:
Power distribution
Wheels
Bala

13. Future Work Adding Simon Says commands
Movement of arms + FSR
Base + FSR
Mechanical composition of robot to seem more human-like
Sam

14. Acknowledgements David Hanley Professor Fliflet
Other TA’s that helped during Office Hours
Rohan