1. Final Presentation Andres Fausto Stewart Bewley Philip Dawsey Ki Baek Eom

2. 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

3. Background  LabVIEW programming  DAQ card  Feedback control  MEMS  Calibration

4. 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.

5. 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

6. 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

7. 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

8. LabVIEW Calibration

9. Graph of V vs. ω

10. ADC Testing  What ADC does  Tested multiple pulse combinations  Used multiple testing methods

11. 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

12. ADC Testing

14. Programming  Used LabVIEW and BASIC Stamp to control robot  Integrated wireless control into these programs  Robot will move following real time commands from LabVIEW

15. Programming

17. 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.

18. Feedback

19. Final Product

20. Possible Improvements  Integrate ADC and Gyroscope  Integrate speed change  Boe-bot obstacle course race  Add an ADC lab in the course

21. Questions

22. Demonstration