dhanavanthri, swathi gollapudi, parimala nagamalla, vamshi ...jkaps/courses/ece511-f11/... ·...
TRANSCRIPT
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TONGUE DRIVE SYSTEM
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Dhanavanthri, SwathiGollapudi, ParimalaNagamalla, Vamshi KrishnaRouthu, Anshul
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OVERVIEW• Tongue is the least effected part in our body
• It is also the most flexible part in our body
• A tongue driven system is very much useful to patients who are paralyzed or handicapped as they can drive the system( wheel chair) with their tongue without much effort.
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tongue without much effort.
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Hall EffectSensor 1
Hall EffectSensor 2
BLOCK DIAGRAM
ADC
ADCCONTROLLER
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Hall Effect Sensor 3
Hall Effect Sensor 4
Driver ICSN754410
Motor 1
Motor 2
ADC
ADC
CONTROLLER(MSP 430)
PWM
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Schematic Diagram
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BLOCK DIAGRAM
• The hall effect sensor generates analog signal proportional to magnetic field.
• The ADC converts the analog values into digital
• The controller configures the PWM in accordance to the software(algorithm)
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software(algorithm)
• The PWM controls the speed of the motor
• The H-Bridge driver drives the motor in Both directions.
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Hall Effect Sensor:
• A1321 Linear Bipolar Hall Effect Sensor
• Hardware interface ADC
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• Component Tested
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H-Bridge Driver: SN754410
• SN754410 is a bidirectional driver and can drive two motors at a time.
• Hardware interface PWM
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• Hardware interface PWM
• Component Tested
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f12 - S1 & S2 > 750 // forward
f34 - S3 & S4 > 600 // backward
f1 - S1 > 950 // left
f2 - S2 > 950 // right
Algorithm
S1 S2f12
f1 f2
f13
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f2 - S2 > 950 // right
f3 - S3 > 700 // speed increase
f4 - S4 > 700 // speed decrease
F13- S1 & S3 > 600 // stop
S3 S4f34f3 f4
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S1 S2f12
f1 f2f12 � forward() � sf
f34 � backward() � sb
f1 � left() � sl
f2 � right() � sr
Algorithm
f13
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S3 S4f34f3 f4
f2 � right() � sr
f3 � speed_increase() � ssinc
f4 � speed_decrease() � ssdec
F13� stop() � ss
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MSP 430 has: ADC10- 10 bit analog-digital converter has 210 =1023ADC12- 12 bit analog-digital converter has 212 =4095
ADC10:
Analog to Digital Converter
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A/D Converter0V to 5V 0 to 1023
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Hall EffectSensor
Magneticfield
AnalogOutput
A/D Converter 0 to 1023
Analog to Digital Converter
0V to 5V
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Analog Voltage from Sensor Corresponding Digital Value
0V ~0
2.5V ~512
5V ~1023
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TACCR0
TACCR1
PWM Concept0xFFFFh
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Duty Cycle = ( TACCR1/ TACCR0) *100
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PROGRESS
• ADC implementation is done.
• PWM output is implemented in program.
• Schematic is build and soldering is done.
• Algorithm pseudo-codeis finalized.
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• Algorithm pseudo-codeis finalized.
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TASKS TO BE COMPLETED BY NEXT MEETING
• We have to integrate all the software modules with the main algorithm.
• Test the complete system with the working motors.
• As a plan B, a simple algorithm will be developed in which there will be only one direction with fixed speed.
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Dhanavanthri, Swathi – Hardware Schematic
Gollapudi, Parimala – PWM implementation
Nagamalla, Vamshi Krishna – ADC implementation
Task Distribution
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Routhu, Anshul – Algorithm & Integration
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Where Innovation Is Tradition