Transcript ME 224 Final Project - Northwestern University

ME 224 Final Project
Final Presentation
12/08/05
David Macedonia
David Storch
Adam Same
Norbert Wroblewski
Overview
Background/Materials
 Objectives
 Actuation
 Calibration
 Demonstrations of Control/Wireless
 Analysis/Conclusion
 Final Thoughts

Background/Materials

LabVIEW 7.1
• Originally developed for the Apple
Macintosh in 1986.
• Platform and development environment
for a visual programming language.
• 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.
Background/Materials

BASIC Stamp
• Microcontroller with a small BASIC interpreter.
• 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
Openers
Background/Materials

Bluetooth
• 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.
• Bluetooth can be applied many different
electronic devices.
Materials
Gyroscope sensor (ADXRS150EB) from
Analog Devices
 EmbeddedBlue eb500 Wireless Module
 DBT-120 USB Bluetooth adaptor
 Hyperterminal
 ADC Chip

Background/Materials

Parallax Boe-Bot
• Popular
programmable
robot.
• Distinguishing
feature is the Board
of Education (BOE),
which acts as the
robot’s controller
board.
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.
Methodolgy

Actuation
• Assemble Boe-Bot
• Center Servomotors

Sensing
• Calibrating Gyroscope

Control
• LabVIEW and Basic Stamp programs

Wireless Communication
• Bluetooth wireless
Actuation
 Boe-Bot Assembly
Little assembly required
Servomotor Centering
• CenterServo Program
• PULSEOUT = 750 results
in 1.5 ms pulse width and
stops motors
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
Calibration/Sensing
Voltage vs. Time
5.0
4.5
Gyroscope Output Voltage (V)
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0.0
0
10
20
30
40
Time (s)
50
60
70
80
Calibration/Sensing
Voltage vs. Angular Velocity
5.0
4.5
y = -0.6962x + 2.4705
4.0
R2 = 0.9993
3.5
Vout
3.0
2.5
2.0
1.5
1.0
0.5
0.0
-4.0
-3.0
-2.0
-1.0
0.0
1.0
Angular Velocity (rad/s)
2.0
3.0
4.0
Calibration/Sensing

Determine Optimal PULSEOUT Commands
• Experiment using calibration data
• Fastest servo speeds are inefficient
Pulse 12
Pulse 13
distance 1
distance 2
distance 3
average
time (seconds)
velocity (cm/sec)
650
850
54.10
54.20
54.80
54.37
3.00
18.12
675
825
53.00
53.60
53.00
53.20
3.00
17.73
700
800
49.30
49.50
49.90
49.57
3.00
16.52
725
772
30.00
30.00
29.70
29.90
3.00
9.97
750
750
0.00
0.00
0.00
0.00
3.00
0.00
772
725
28.70
28.70
28.80
28.73
3.00
9.58
800
695
49.60
49.70
49.20
49.50
3.00
16.50
825
670
52.00
52.00
52.40
52.13
3.00
17.38
850
650
52.60
52.90
52.90
52.80
3.00
17.60
Control

Dictate Robot Motion
via LabVIEW
• Automatically
computes pulses for
angle and distance
commands
• Numbers then
transferred into Basic
Stamp
Routes to be Followed
Control
Control
Wireless Communication

Establish Initial Communication
• Install and initialize Bluetooth drivers
• Connect DBT-120 to eb500 card with
Windows HyperTerminal
Wireless Communication
Monkey See, Monkey Do
Main:
SERIN 0,84,[DEC1 CmdData]
DEBUG DEC1 CmdData
BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right,
move_back]
GOTO Main
Move_Fwd:
PULSOUT LMotor,LFwdFast
PULSOUT RMotor,RFwdFast
SEROUT 1,84,["1"]
GOTO Main
Turn_Left…
Wireless Communication

Control Robot’s motion with
HyperTerminal
• 9-key BASIC Stamp program
• 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
Wireless Control with HT
LabVIEW and BASIC Stamp
How do we use this:
To control this?
LabVIEW and BASIC Stamp
LabView and BASIC Stamp
Final Analysis and Results

Accomplishments:
• Assembly, Actuation & Calibration of
Boe-Bot
• BASIC Stamp programming to move
along pre-determined paths
• Integration of Bluetooth technology
• Real-time control with HyperTerminal
• LabVIEW programming to control BoeBot motion with Bluetooth
Final Analysis and Results

Results
• Calibration worked well, gave
understanding of BS2 programming and
importance of feedback
• HyperTerminal control works flawlessly
• Room for improvement in LabVIEW
control
• Unable to establish wireless feedback
Final Thoughts
Learned about wireless
communication & robot control
 Introduced to BASIC Stamp,
HyperTerminal, LabVIEW, Bluetooth
 Satisfied with results, still room for
improvement

Questions?