224 FINAL PROJECT-224 FINAL PROJECT-WIRELESS CONTROL OF A BOE-BOTWIRELESS CONTROL OF A BOE-BOT

Tom Cohlmia-Scott Moffat-Ashley Nidiffer-Eric YimTom Cohlmia-Scott Moffat-Ashley Nidiffer-Eric Yim

ObjectiveObjective

Our goal in this project was to use Our goal in this project was to use wireless technology to control a robot wireless technology to control a robot along a given path.along a given path.

To accomplish this we will integrate the To accomplish this we will integrate the Basic stamp and LabView programs.Basic stamp and LabView programs.

PartsParts Assembled Boe-Bot, Parallax Robotic Kit Assembled Boe-Bot, Parallax Robotic Kit

#28132#28132 Blue Tooth Wireless Adapter, DBT120Blue Tooth Wireless Adapter, DBT120 Wireless Card, eb500Wireless Card, eb500 Gyroscope, ADXRS150EBGyroscope, ADXRS150EB

Hardware ChallengesHardware Challenges Basic Stamp Chip malfunctionedBasic Stamp Chip malfunctioned Wireless card communication failureWireless card communication failure

ADC Chip was not providedADC Chip was not provided

CalibrationCalibration

Run servo motors at 750 and zero the motionRun servo motors at 750 and zero the motion

Run the robot in a circle, record time and Run the robot in a circle, record time and angular distanceangular distance

Use LabView to record the Gyroscope outputUse LabView to record the Gyroscope output Graph the angular velocities vs. output voltageGraph the angular velocities vs. output voltage

GyroscopeGyroscope

Servo MotorsServo Motors

Angular Angular VelocityVelocity vs. Voltage vs. Voltage

y = 92.214x - 236.41

R2 = 0.9989

-300

-200

-100

0

100

200

0 1 2 3 4 5

Angular Velocity

Vo

ltag

e

data

Linear (data)

Calculate the linear equations of the lineCalculate the linear equations of the line

WirelessWireless

Learned Bluetooth Learned Bluetooth softwaresoftware

Sent and Received text Sent and Received text wirelesslywirelessly

ProgramingPrograming

We used 2 programming languages in this We used 2 programming languages in this project: LabView and Basic Stamp.project: LabView and Basic Stamp.

LabViewLabView Basic StampBasic Stamp

GyroscopeGyroscope

Basic StampBasic Stamp

Calibration of servo motorsCalibration of servo motors Calibration of GyroscopeCalibration of Gyroscope

Servo MotorServo Motor

LabViewLabView

Used to Record Gyroscope Calibration Used to Record Gyroscope Calibration DataData

Configure LabView to connect to Configure LabView to connect to BluetoothBluetooth

Write a LabView program to control Boe-Write a LabView program to control Boe-BotBot

Final ProgramsFinal Programs

Final LabView front panelFinal LabView front panel

Final LabView Block DiagramFinal LabView Block Diagram

Detail of Final LabView programDetail of Final LabView program

Basic Stamp final programBasic Stamp final program

DemonstrationDemonstration

ConclusionConclusion

Limits:Limits: Lack of ADC chipLack of ADC chip Speed of communication Speed of communication

of the wireless of the wireless Accuracy of LabView Accuracy of LabView

angle calibrationangle calibration

Next Steps:Next Steps: Install and wire an ADC Install and wire an ADC

chipchip Integrate the gyroscope Integrate the gyroscope

into the LabView into the LabView programprogram

Integrate feedback into Integrate feedback into programprogram