1. Camilo Martinez Advisor : Dr. Cris Koutsougeras Dept of Computer Science and Industrial Technology Southeastern Louisiana University

2. Outline Diagram - Controller Encoders- ME210 & I2C Motor Control Air Flow The Main Algorithm Timeline and Deliverables Questions

3. Basic Diagram Main Encoder Wind Direction Encoder for Arm1 & Arm2 uController Linear Actuator Arm1 Linear Actuator Arm2 Linear Actuator Arm3 Linear Actuator Arm4 Encoder for Arm3 & Arm4

4. Mbed uController NXP LPC1768 MCU High performance ARM® Cortex™-M3 Core 96MHz, 32KB RAM, 512KB FLASH Ethernet, USB Host/Device, 2xSPI, 2xI2C, 3xUART, CAN, 6xPWM, 6xADC, GPIO

5. ENCODERS

6. Rotary Encoder The relationship between Channel A and B pulse is used to determine the direction of rotation.

7. ME-210 & I2C communication The ME-210 Unicoder encoder provides one physical interface for transmission of commands and status information: I2C. The ME-201 also provides Speed Wheel velocity Total distance travelled Direction

8. Some code send[0]='.'; //Sync i2c.write(addr, send, 1); // Send command string send[0]=‘E';//Echo i2c.write(addr, send, 1); // Send command string int degrees=0; send[0]=‘W';//Get Angle return 10 bit resolution angle while(1) { i2c.write(addr, send, 1); // Send command string i2c.read(addr, deg, 3); // read the two-byte echo result int range = (deg[2] << 8)+deg[1]; degrees=((360*range)/1023); pc.printf("degrees = %d\n",degrees); }

9. MOTOR CONTROL

10. Linear Actuator

11. H-bridge & The Sabertooth 2 x25 Sabertooth Input voltage: 6-24V nominal, 30V absolute max. Output Current: Up to 25A continuous per channel. Peak loads may be up to 50A per channel for a few seconds

12. Standard Simplified Serial Mode Sending a value of 1-127 will command motor 1 Sending a value of 128-255 will command motor 2. Sending a value of 0 will shut down both motors. Motor1 Motor2 10x01Forward1280x01Forward 1270x7FBackward2550x7FBackward 650x40Stop1280x40Stop Full Stop00x00

13. MOTOR CODE int main() { com1.baud(9600); while(1) { wait(1); com1.putc(0x01);//motor A com1.putc(0xFF);//motor B wait(3); com1.putc(0x79);//motor A com1.putc(0x80);//motor B wait(3); com1.putc(0x0); wait(3); }

14. AIR FLOW Study of air flow on a pole. NASA FoilSim is interactive simulation software that determines the airflow around various shapes of airfoils. The software displays plots of pressure or airspeed above and below the airfoil surface. http://www.grc.nasa.gov/WWW/k-12/airplane/foil3.html

15. Air Flow

16. AutoCAD

17. ANGLES

18. The Main Algorithm Maximum flow is from 20 ° to 160 ° Degrees between division of right and left flow 15 ° Flip up on 355 ° - Flip down on 160 ° Arm1 and Arm2 opposite So Arm2 position is Arm1+180

19. Read the position of the encoder to determine wind direction Flip front panel to 45° left to 90° back and right to 0° degrees. Calculate maximum gap of wind (between 150° ~160°)

20. Setting the positions for Arms Arm1=Enc1() If Arm1>=0 and Arm1<180 Arm2=Arm1+180 Arm2=Arm1-180 Read Encoders Return Values

21. Flip Arms Read Encoders If Arm=160 Flip Arm Down Flip Arm Up Start If Arm=355

22. Questions ?