1. ME 224 Final Project Final Presentation 12/08/05 David Macedonia David Storch Adam Same Norbert Wroblewski

2. Overview  Background/Materials  Objectives  Actuation  Calibration  Demonstrations of Control/Wireless  Analysis/Conclusion  Final Thoughts

3. Background/Materials  LabVIEW 7.1 Originally developed for the Apple Macintosh in 1986.Originally developed for the Apple Macintosh in 1986. Platform and development environment for a visual programming language.Platform and development environment for a visual programming language. used for data acquisition, instrument control, and industrial automation.used for data acquisition, instrument control, and industrial automation. Allows for multiple nodes to be working at once, therefore capable of parallel processing and execution.Allows for multiple nodes to be working at once, therefore capable of parallel processing and execution.

4. Background/Materials  BASIC Stamp Microcontroller with a small BASIC interpreter.Microcontroller with a small BASIC interpreter. It operates at 20 kHz and can handle 4,000 instructions per second.It operates at 20 kHz and can handle 4,000 instructions per second. BASIC Stamp projects we have found include Door Entry Card Readers, Weather Stations, Electronic Compasses, The TI82 interface, Water Volume Meters, and even Garage Door OpenersBASIC Stamp projects we have found include Door Entry Card Readers, Weather Stations, Electronic Compasses, The TI82 interface, Water Volume Meters, and even Garage Door Openers

5. Background/Materials  Bluetooth Standard for wireless technology.Standard for wireless technology. Developed by a group of electronics manufacturers to enable their electronic equipment to make their own connections without wires or user commands.Developed by a group of electronics manufacturers to enable their electronic equipment to make their own connections without wires or user commands. Bluetooth can be applied many different electronic devices.Bluetooth can be applied many different electronic devices.

6. Materials  Gyroscope sensor (ADXRS150EB) from Analog Devices  EmbeddedBlue eb500 Wireless Module  DBT-120 USB Bluetooth adaptor  Hyperterminal  ADC Chip

7. Background/Materials  Parallax Boe-Bot Popular programmable robot.Popular programmable robot. Distinguishing feature is the Board of Education (BOE), which acts as the robot’s controller board.Distinguishing feature is the Board of Education (BOE), which acts as the robot’s controller board.

8. Objective  Design and implement an experiment to realize the wireless control of a commercially available robot.  Enhance the knowledge of LabVIEW, Data acquisition, Feedback control, and MEMS sensing.  Get an understanding of wireless communication using Bluetooth technology.

9. Methodolgy  Actuation Assemble Boe-BotAssemble Boe-Bot Center ServomotorsCenter Servomotors  Sensing Calibrating GyroscopeCalibrating Gyroscope  Control LabVIEW and Basic Stamp programsLabVIEW and Basic Stamp programs  Wireless Communication Bluetooth wirelessBluetooth wireless

10. Actuation  Boe-Bot Assembly  Little assembly required  Servomotor Centering CenterServo Program PULSEOUT = 750 results in 1.5 ms pulse width and stops motors

11. Calibration/Sensing  Gyroscope Calibration BASIC Stamp program controlled rotation of Boe-Bot Pulse width varied between 650 and 850 with increments of 5 Pause between changes in pulse width LabVIEW collected gyroscope voltage data Data Analysis with Microsoft Excel

12. Calibration/Sensing

13. Calibration/Sensing

14. Calibration/Sensing  Determine Optimal PULSEOUT Commands Experiment using calibration dataExperiment using calibration data Fastest servo speeds are inefficientFastest servo speeds are inefficient Pulse 12Pulse 13distance 1distance 2distance 3averagetime (seconds)velocity (cm/sec) 65085054.1054.2054.8054.373.0018.12 67582553.0053.6053.0053.203.0017.73 70080049.3049.5049.9049.573.0016.52 72577230.00 29.7029.903.009.97 750 0.00 3.000.00 77272528.70 28.8028.733.009.58 80069549.6049.7049.2049.503.0016.50 825 850 67052.00 52.4052.133.0017.38 65052.6052.90 52.803.0017.60

15. Control  Dictate Robot Motion via LabVIEW Automatically computes pulses for angle and distance commandsAutomatically computes pulses for angle and distance commands Numbers then transferred into Basic StampNumbers then transferred into Basic Stamp

16. Routes to be Followed

17. Control

18. Control

19. Wireless Communication  Establish Initial Communication Install and initialize Bluetooth driversInstall and initialize Bluetooth drivers Connect DBT-120 to eb500 card with Windows HyperTerminalConnect DBT-120 to eb500 card with Windows HyperTerminal

20. Wireless Communication

21. Monkey See, Monkey Do Main: SERIN 0,84,[DEC1 CmdData] SERIN 0,84,[DEC1 CmdData] DEBUG DEC1 CmdData DEBUG DEC1 CmdData BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right, move_back] BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right, move_back] GOTO Main GOTO MainMove_Fwd: PULSOUT LMotor,LFwdFast PULSOUT LMotor,LFwdFast PULSOUT RMotor,RFwdFast PULSOUT RMotor,RFwdFast SEROUT 1,84,["1"] SEROUT 1,84,["1"] GOTO Main GOTO MainTurn_Left…

22. Wireless Communication  Control Robot’s motion with HyperTerminal 9-key BASIC Stamp program9-key BASIC Stamp program Demonstration...Demonstration... 1 = Slow Left Turn 4 = Medium Left Turn 7 = Quick Left Turn 8 = Forward 9 = Quick Right Turn 6 = Medium Right Turn 3 = Slow Right Turn 2 = Backward 5 = Hold Position

23. Wireless Control with HT

24. LabVIEW and BASIC Stamp How do we use this:To control this?

25. LabVIEW and BASIC Stamp

26. LabView and BASIC Stamp

27. Final Analysis and Results  Accomplishments: Assembly, Actuation & Calibration of Boe-BotAssembly, Actuation & Calibration of Boe-Bot BASIC Stamp programming to move along pre-determined pathsBASIC Stamp programming to move along pre-determined paths Integration of Bluetooth technologyIntegration of Bluetooth technology Real-time control with HyperTerminalReal-time control with HyperTerminal LabVIEW programming to control Boe- Bot motion with BluetoothLabVIEW programming to control Boe- Bot motion with Bluetooth

28. Final Analysis and Results  Results Calibration worked well, gave understanding of BS2 programming and importance of feedbackCalibration worked well, gave understanding of BS2 programming and importance of feedback HyperTerminal control works flawlesslyHyperTerminal control works flawlessly Room for improvement in LabVIEW controlRoom for improvement in LabVIEW control Unable to establish wireless feedbackUnable to establish wireless feedback

29. Final Thoughts  Learned about wireless communication & robot control  Introduced to BASIC Stamp, HyperTerminal, LabVIEW, Bluetooth  Satisfied with results, still room for improvement

30. Questions?