1. 224 Final Project Kendra Armstrong - Nick Eccles - Cary Maguire - Alex Taam - Paul Williams

2. June 10, 2005ME 224 - Team Three2 Objective Our goal is to design a Basic Stamp program, integrating feedback from a gyroscope, that will control a robot to travel in the following route.

3. June 10, 2005ME 224 - Team Three3 Assembling The Boe-Bot Before we could start our project we needed to assemble the Boe-Bot.

4. June 10, 2005ME 224 - Team Three4 Calibrating the Servos After the Boe-Bot was assembled, we used BASIC Stamp to zero the servos.

5. June 10, 2005ME 224 - Team Three5 Gyroscope/Calibration In order to ensure that our Boe-Bot traveled in a straight path and made accurate turns, we integrated the response from an ADXRSS150EB gyroscope in a closed loop feedback. Gyroscope

6. June 10, 2005ME 224 - Team Three6 Gyroscope/Calibration –Obtained oscilloscope readouts to understand basic output of gyroscope –Developed Labview program to read in gyroscope output –Developed BASIC Stamp Program to turn Boe-Bot at different angular velocities –Recorded angular velocities and corresponding outputs

7. June 10, 2005ME 224 - Team Three7 Calibration Time Response of Output for Different Angular Velocities: Average Voltage Derived for Various Angular Velocities

8. June 10, 2005ME 224 - Team Three8 Calibration Angular Velocity vs Voltage Plotted Linear Fit Added to Verify Accuracy

9. June 10, 2005ME 224 - Team Three9 Analog To Digital Converter Gyroscope outputs voltages from.2V-4.6V Boe-Bot Board of Education can only read binary (1 or 0 value) ADC converts analog voltage to binary signal on 8 pins

10. June 10, 2005ME 224 - Team Three10 Analog To Digital Converter Our converter is an 8-bit ADC that uses output of the gyroscope as its input.

11. June 10, 2005ME 224 - Team Three11 Analog To Digital Converter Using a variable voltage generator we were able to verify that the ADC functioned properly.

12. June 10, 2005ME 224 - Team Three12 Programming BASIC Stamp was the only programming language used to control our robot We integrated feedback and information from gyroscope and ADC.

13. June 10, 2005ME 224 - Team Three13 Debugging Initial Runs were very inaccurate Iteration of individual programs improved the overall accuracy

14. June 10, 2005ME 224 - Team Three14 Demonstration

15. June 10, 2005ME 224 - Team Three15 Results BASIC Stamp limits feedback accuracy ADC sensitivty –Small changes in angles are not recognized

16. June 10, 2005ME 224 - Team Three16 Improvements/Next Steps Increase the sensitivity of the ADC –Integrate an operational amplifier BASIC Stamp –Improve the method for scaling numbers

17. June 10, 2005ME 224 - Team Three17 Work Breakdown Assembly Gyro calibration ADC calibration ProgrammingDebugging Final Report Final Presen- tation KendraXXX NickXXX CaryXXX AlexXXX PaulXXXX