Gizmo Remote Operated Bluetooth Interface (GROBI)
Sponsor: Calit2
Mentors: Paul Blair & Javier Rodriguez Molina
Team: Kristi Tsukida & Eldridge Alcantara
ECE 191 Fall 2006Group 13
Week 2Sep 28, 2006
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Agenda
• Gantt Chart• Tasks Performed• Technical Content - Block Diagrams - Hardware Components - Pulse Width Modulation (PWM) - PWM and Atmega16 - PWM Specs for Servo• Summary
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Gantt Chart
GIZMO Remote Operated Bluetooth Interface (GROBI)GIZMO Remote Operated Bluetooth Interface (GROBI)Gantt Chart Fall 2006Gantt Chart Fall 2006
TASKS DURATION WK
1 WK
2 WK
3 WK 4
WK 5
WK 6
WK 7
WK 8
WK 9
WK 10
WK 11
Research -hardware: Atmel, servo, accelerometer -order parts: microcontroller, accelerometer
1 week
Design 1st Prototype (PC->AVR->Motor) -program microcontroller -integrate hardware components
3 weeks
Develop custom circuit -include microcontroller, Bluetooth, accelerometer -install on GIZMO truck
3 weeks
Design 2nd Prototype (Phone->AVR->GIZMO) -create phone software -program microcontroller
5 weeks
Optimize and add additional features 4 weeks Final Report 2 weeks Documentation 11 weeks
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Tasks Performed
• Ordered microcontroller and accelerometer (Kristi)
• Started programming microcontroller - Generating PWM signals (Kristi) - Detecting onboard switches (Eldridge) - Integrated code (Eldridge) • Performed preliminary tests on motor (both)
• Met with mentors (both) - Discussed issues with motor and microcontroller - Clarified project details - Started preparing for 2nd stage of project
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Block Diagram of Final Prototype
References:1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg4 – http://memsic.com5 - http://responshphere.calit2.net/gizmo
Bluetooth module
Microcontroller
Accelerometer
Cell Phone
Circuit Board
GIZMO
12
3
4
5
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Block Diagram of 1st Prototype
PC
Servo
Motor
STK500Development Board
Atmega16 Microcontroller
Onboard Switches
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Edited Block Diagram of 1st Prototype
PC
Two Servos
Motor
STK500Development Board
Atmega16 Microcontroller
Onboard Switches
Electronic Speed Controller (ESC)
1
Reference:1 - http://www.lancs.ac.uk/ug/robinsdb/projects/truck/robot.html
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Hardware Components:STK500
• AVR microcontroller test board
• Serial port for programming
• 8 LEDs and 8 switches for testing
• Sockets for changing microcontrollers
• Works with AVR Studio
• Easy prototyping http://www.dontronics.com/graphics/stk500.jpg
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Hardware Components:ATMega16
• Microcontroller• 4 PWM channels
– Motor & servo control
• 8 channel ADC– Accelerometer data
• 1 USART– Bluetooth
communication / testing with PC connection
• Plugs in directly to STK500
http://www.futurlec.com/Pictures/ATMEGA16-16PI.jpg
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Pulse Width Modulation (PWM)
Reference:http://www.embedded.com/story/OEG20010821S0096
• Technique to control analog circuits with digital outputs
• Analog signals encoded by modulating duty cycle of a square wave
• Benefits: - cost and power consumption reduced - immune to noise - easy to implement using microcontrollers
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PWM and Atmega16
• Mode: Phase correct PWM– Counts from 0 to TOP then back to 0– When counter matches number in OCR
(output compare register), the value on the output pin is changed
ATMega16 datasheet http://www.atmel.com/dyn/resources/prod_documents/doc2466.pdf
TOP
0
CNT
OC (output)
OCR
5V
0
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Summary
• Hardware components ordered
• Started programming microcontroller: - PWM signals - Onboard switches
• Next week: continue programming microcontroller
- DC motor control (Kristi) - Servo control (Eldridge) - Serial communication (both)
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Any Questions?