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Final Presentation

Final Presentation. Andres Fausto Stewart Bewley Philip Dawsey Ki Baek Eom. Agenda. Background Objective Timeline Assembly Calibration (Gyroscope & Motors) ADC testing Programming (LabVIEW & BASIC Stamp) Wireless Communication (Bluetooth) Feedback Control

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Final Presentation

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  1. Final Presentation Andres Fausto Stewart Bewley Philip Dawsey Ki Baek Eom

  2. Agenda • Background • Objective • Timeline • Assembly • Calibration (Gyroscope & Motors) • ADC testing • Programming (LabVIEW & BASIC Stamp) • Wireless Communication (Bluetooth) • Feedback Control • Final Product and Demonstration • Possible Improvements • Questions

  3. Background • LabVIEW programming • DAQ card • Feedback control • MEMS • Calibration

  4. Objective • To improve last year’s boe-bot by integrating wireless real-time control into the design, enabling us to drive the robot around a predefined path.

  5. Timeline • Nov. 6-12 • Assembly • Servo Centering • Start Gyroscope Calibration • Read Chapters 1 + 2 about Bot and Wireless manual • Nov. 13-19 • Finish Gyroscope Calibration • ADC Calibration • Start Wireless integration • Nov. 20-26 • Programming • Wireless integration • Nov. 27-Dec. 3 • Debugging • Completion of Bot and Feedback Control • Presentation and Report write-up

  6. Assembly • Boe-bot came assembled, but we took it apart to understand connections. • Interactions between ADC and components. • Components: • Boe-Bot Robot Kit (Parallax #28132) • MEMS Vibrating Mass Gyroscope (Analog Devices ADXRS150) • ADC (ADC0804LCN) • 2 Servo Motors (Parallax Continuous Rotation Servo) • BASIC Stamp, LabVIEW, and Bluetooth-enabled computer

  7. Calibration • Servo Motors • Used screwdriver to zero motor at BASIC Stamp input of 750 (no motion) • Right wheel (12) – below 750 moves forward • Left wheel (13) – below 750 moves backward • MEMS Gyroscope • Ran self-test • Used LabVIEW to acquire data • Measured voltage at different ω using oscilloscope and LabVIEW

  8. LabVIEW Calibration

  9. Graph of V vs. ω

  10. ADC Testing • What ADC does • Tested multiple pulse combinations • Used multiple testing methods

  11. ADC Testing ' {$STAMP BS2} ' {$PBASIC 2.5} measurement VAR Byte HIGH 8 LOW 8 HIGH 8 INPUT 8 DO measurement = INL DEBUG HOME, "Binary value:", BIN8 measurement, CR, "Decimal value: ", DEC3 measurement PAUSE 100 LOOP

  12. ADC Testing

  13. ADC Testing

  14. Programming • Used LabVIEW and BASIC Stamp to control robot • Integrated wireless control into these programs • Robot will move following real time commands from LabVIEW

  15. Programming

  16. Programming

  17. Wireless Communication • Used Bluetooth VI’s from LabVIEW to connect, read and write. • Used commands in BASIC Stamp to send and receive information with LabVIEW.

  18. Feedback

  19. Final Product

  20. Possible Improvements • Integrate ADC and Gyroscope • Integrate speed change • Boe-bot obstacle course race • Add an ADC lab in the course

  21. Questions

  22. Demonstration

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