1. Boe-Bot Control Alex Ahmadi John Hoffman Andres Huertas Azeem Meruani Simcha Singer

2. Overview Technology Background Demonstration Programming Details Q&A

3. Technology Background: Gyroscopes Angular rate sensors ADXRS150 – Voltage proportional to angular rate about axis normal – Resonator Gyro – Coriolis force during angular rate – Capacitive sensing Similar to Accelerometer – Closed loop can drive amplitude to zero – Capacitive sensing

4. Technology Background: Servos Control – Pulsing signal line – 1-2 msec pulses – 10-40 msec intervals Programming – LabView control based on gyroscope data

5. Technology Background: Boe-Bot 2 wheels, 2 servos Maneuvers – Vary speed ratio of wheels to turn or go straight – Error in slippage? DAQ input signals for control

6. Demonstration

7. Programming Details LabView setup – Gyroscope VI’s, interaction – BasicStamp Calls BasicStamp – Inputs from LabView – Executing commands

8. Challenges Windows limitations LabView limitations Other obstacles