ME 224 Final PrjectNorthwestern University我最后的224的项目西北大学

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1、Final Presentation12/08/05David MacedoniaDavid StorchAdam SameNorbert WroblewskiOverviewuBackground/MaterialsuObjectivesuActuationuCalibrationuDemonstrations of Control/WirelessuAnalysis/ConclusionuFinal ThoughtsBackground/MaterialsuLabVIEW 7.1Background/MaterialsuBASIC StampBackground/MaterialsuBlu

2、etoothMaterialsuGyroscope sensor (ADXRS150EB) from Analog DevicesuEmbeddedBlue eb500 Wireless ModuleuDBT-120 USB Bluetooth adaptoruHyperterminaluADC Chip ObjectiveuDesign and implement an experiment to realize the wireless control of a commercially available robot.uEnhance the knowledge of LabVIEW,

3、Data acquisition, Feedback control, and MEMS sensing.uGet an understanding of wireless communication using Bluetooth technology.MethodolgyuActuation Assemble Boe-Bot Center ServomotorsActuationw Boe-Bot AssemblywLittle assembly requiredwServomotor Centering CenterServo Program PULSEOUT = 750 results

4、 in 1.5 ms pulse width and stops motorsCalibration/Sensingw Gyroscope Calibration BASIC Stamp program controlled rotation of Boe-BotPulse width varied between 650 and 850 with increments of 5Pause between changes in pulse width LabVIEW collected gyroscope voltage data Data Analysis with Microsoft Ex

5、celCalibration/SensingCalibration/SensingCalibration/SensinguDetermine Optimal PULSEOUT CommandsPulse 12650675700725750772800825850Pulse 13850825800772750725695670650distance 154.1053.0049.3030.000.0028.7049.6052.0052.60distance 254.2053.6049.5030.000.0028.7049.7052.0052.90distance 354.8053.0049.902

6、9.700.0028.8049.2052.4052.90average54.3753.2049.5729.900.0028.7349.5052.1352.80time (seconds)3.003.003.003.003.003.003.003.003.00velocity (cm/sec)18.1217.7316.529.970.009.5816.5017.3817.60ControluDictate Robot Motion via LabVIEWRoutes to be FollowedControlControlWireless CommunicationuEstablish Init

7、ial CommunicationWireless CommunicationMonkey See, Monkey DoMain: SERIN 0,84,DEC1 CmdData DEBUG DEC1 CmdData BRANCH CmdData,Hold, Move_Fwd, Turn_Left, Turn_Right, move_back GOTO MainMove_Fwd: PULSOUT LMotor,LFwdFast PULSOUT RMotor,RFwdFast SEROUT 1,84,1 GOTO MainTurn_LeftWireless CommunicationuContr

8、ol Robots motion with HyperTerminal1 = Slow Left Turn1 = Slow Left Turn4 = Medium Left Turn4 = Medium Left Turn7 = Quick Left Turn7 = Quick Left Turn8 = Forward8 = Forward9 = Quick Right Turn9 = Quick Right Turn6 = Medium Right Turn6 = Medium Right Turn3 = Slow Right Turn3 = Slow Right Turn2 = Backw

9、ard2 = Backward5 = Hold Position5 = Hold PositionWireless Control with HTLabVIEW and BASIC StampHow do we use this:To control this?LabVIEW and BASIC StampLabView and BASIC StampFinal Analysis and ResultsuAccomplishments:Final Analysis and ResultsuResultsFinal ThoughtsuLearned about wireless communication & robot controluIntroduced to BASIC Stamp, HyperTerminal, LabVIEW, BluetoothuSatisfied with results, still room for improvementQuestions?