1. Current Works Downloaded XBee API firmware – Was Freezing because correct setting was not selected Performed A/D conversion on all 4 XBee pins Set XBee to automatically perform A/D conversions every millisecond Researched XBee API framing setup to determine how to parse frames Began implementing parse code in MATLAB – Having difficulty getting MATLAB to continuously read whole frames – Implemented a function to wait for start sequence of a frame; Current code works fine for around 170 frames and then bytes are shifted – See next slide Initial testing performed with IMU – Output voltage around 1.4 volts when stationary – Determined resistor values for voltage divider

2. Matlab firstbyte=fread(serobjw, 1) while(firstbyte~=126)%first byte needs to be 126 firstbyte=fread(serobjw, 1); end i=0; values=[0;1;2;3]%create vector while(i<2000) bytes=serobjw.BytesAvailable; if(bytes>28)%wait until 56 bytes read ret = fread(serobjw, 56);%frame is 56 bytes v0=[ret(47) ret(48)]; v1=[ret(49) ret(50)]; v2=[ret(51) ret(52)]; v3=[ret(53) ret(54)]; newvalues=[v0; v1; v2; v3;]; values=[values newvalues]; end i=i+1; end Need to add timer instead of just looping as fast as possible

3. What’s Next? Continue testing of accelerometer and gyroscope output of IMU – Connect 2 accelerometers and 1 gyroscope to XBee with voltage dividers (could be used with Planar motion) Continue work on MATLAB code for parsing XBee frames Research other A/D conversion chips/microprocessors – Should be used in final version to read output from third accelerometer and is more precise