224 Final Project224 Final Project

Kendra Armstrong - Nick Eccles - Cary Maguire - Alex Taam - Paul WilliamsKendra Armstrong - Nick Eccles - Cary Maguire - Alex Taam - Paul Williams

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 22

ObjectiveObjective

Our goal is to design a Basic Stamp Our goal is to design a Basic Stamp program, integrating feedback from a program, integrating feedback from a gyroscope, that will control a robot to gyroscope, that will control a robot to travel in the following route.travel in the following route.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 33

Assembling The Boe-BotAssembling The Boe-Bot

Before we could start Before we could start our project we our project we needed to assemble needed to assemble the Boe-Bot. the Boe-Bot.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 44

Calibrating the ServosCalibrating the Servos

After the Boe-Bot was assembled, we After the Boe-Bot was assembled, we used BASIC Stamp to zero the servos. used BASIC Stamp to zero the servos.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 55

Gyroscope/CalibrationGyroscope/Calibration

In order to ensure that our Boe-Bot traveled in a In order to ensure that our Boe-Bot traveled in a straight path and made accurate turns, we straight path and made accurate turns, we integrated the response from an ADXRSS150EB integrated the response from an ADXRSS150EB gyroscope in a closed loop feedback.gyroscope in a closed loop feedback.

Gyroscope

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 66

Gyroscope/CalibrationGyroscope/Calibration

– Obtained oscilloscope readouts to understand Obtained oscilloscope readouts to understand basic output of gyroscopebasic output of gyroscope

– Developed Labview program to read in Developed Labview program to read in gyroscope outputgyroscope output

– Developed BASIC Stamp Program to turn Developed BASIC Stamp Program to turn Boe-Bot at different angular velocitiesBoe-Bot at different angular velocities

– Recorded angular velocities and Recorded angular velocities and corresponding outputscorresponding outputs

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 77

CalibrationCalibration

Voltage vs Time

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0 5 10 15 20 25 30

Time (s)

Voltage (V)

Time Response of Output for Different Angular Time Response of Output for Different Angular Velocities:Velocities:

Average Voltage Derived for Various Angular VelocitiesAverage Voltage Derived for Various Angular Velocities

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 88

CalibrationCalibration

Angular Velocity vs Voltage PlottedAngular Velocity vs Voltage Plotted

Linear Fit Added to Verify AccuracyLinear Fit Added to Verify Accuracy

Angular Velocity vs Voltage

y = 1.3361x - 3.0312

R2 = 0.9999

-4

-3

-2

-1

0

1

2

3

4

0 1 2 3 4 5

Voltage (V)

Angular Velocity (rad/s)

Test Data

Linear (Test Data)

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 99

Analog To Digital ConverterAnalog To Digital Converter

Gyroscope outputs voltages from .2V-4.6VGyroscope outputs voltages from .2V-4.6V

Boe-Bot Board of Education can only read Boe-Bot Board of Education can only read binary (1 or 0 value)binary (1 or 0 value)

ADC converts analog voltage to binary ADC converts analog voltage to binary signal on 8 pinssignal on 8 pins

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1010

Analog To Digital ConverterAnalog To Digital Converter

Our converter is an 8-bit ADC that uses Our converter is an 8-bit ADC that uses output of the gyroscope as its input.output of the gyroscope as its input.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1111

Analog To Digital ConverterAnalog To Digital Converter

Using a variable Using a variable voltage generator voltage generator we were able to we were able to verify that the ADC verify that the ADC functioned properly.functioned properly.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1212

ProgrammingProgramming

BASIC Stamp was the only programming BASIC Stamp was the only programming language used to control our robotlanguage used to control our robot

We integrated feedback and information We integrated feedback and information from gyroscope and ADC.from gyroscope and ADC.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1313

DebuggingDebugging

Initial Runs were very inaccurateInitial Runs were very inaccurate

Iteration of individual programs improved Iteration of individual programs improved the overall accuracythe overall accuracy

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1414

DemonstrationDemonstration

QuickTime™ and aMotion JPEG OpenDML decompressor

are needed to see this picture.

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1515

ResultsResults

BASIC Stamp limits feedback accuracyBASIC Stamp limits feedback accuracy

ADC sensitivtyADC sensitivty– Small changes in angles are not recognizedSmall changes in angles are not recognized

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1616

Improvements/Next StepsImprovements/Next Steps

Increase the Increase the sensitivity of the ADCsensitivity of the ADC– Integrate an Integrate an

operational amplifieroperational amplifier

BASIC StampBASIC Stamp– Improve the method for Improve the method for

scaling numbersscaling numbers

June 10, 2005June 10, 2005 ME 224 - Team ThreeME 224 - Team Three 1717

Work BreakdownWork BreakdownAssemblyAssembly Gyro Gyro

calibrationcalibrationADC ADC calibrationcalibration

ProgrammingProgramming DebuggingDebugging Final Final ReportReport

Final Final Presen-Presen-tationtation

KendraKendra XX XX XX

NickNick XX XX XX

CaryCary XX XX XX

AlexAlex XX XX XX

PaulPaul XX XX XX XX