Real Time Boe-Bot Control ME 224 Final Project Fall 2005 Professor: Horacio Espinosa TA: Ravi Agrawal Team: Patrick Luckow Joni Stegeman Ingrid Lin Giovanni Wuisan Brent Willson2 ABSTRACT .................................................................................................................................................. 3 INTRODUCTION........................................................................................................................................ 3 OBJECTIVES............................................................................................................................................... 3 METHODOLOGY.......................................................................................................................................... 3 ENHANCE KNOWLEDGE.............................................................................................................................. 3 FINAL OUTCOME ........................................................................................................................................ 4 MATERIALS................................................................................................................................................ 4 TESTING RESULTS................................................................................................................................... 6 ACTUATION................................................................................................................................................ 6 Boe-Bot Assembly ................................................................................................................................. 6 Center Servos........................................................................................................................................ 7 SENSING ..................................................................................................................................................... 9 Gyroscope Background......................................................................................................................... 9 Gyroscope Calibration........................................................................................................................ 10 Analog to Digital Converter (ADC).................................................................................................... 12 CONTROL.................................................................................................................................................. 13 LabVIEW............................................................................................................................................. 13 Basic Stamp II..................................................................................................................................... 13 Feedback and Basic Stamp II.............................................................................................................. 15 LabVIEW and Basic Stamp 2.............................................................................................................. 15 WIRELESS COMMUNICATION.................................................................................................................... 16 Bluetooth............................................................................................................................................. 16 CONCLUSION........................................................................................................................................... 16 REFERENCES........................................................................................................................................... 17 APPENDIX 1 .............................................................................................................................................. 18 APPENDIX 2 .............................................................................................................................................. 19 APPENDIX 3 .............................................................................................................................................. 20 APPENDIX 4 .............................................................................................................................................. 22 APPENDIX 5 .............................................................................................................................................. 23 APPENDIX 6 .............................................................................................................................................. 253Abstract We would like to be able to control our robot through real time wireless communication with a user-friendly interface. We also want the turning angle of our robot to be displayed, so if necessary its path can be corrected. We plan to do this using Bluetooth wireless technology, basic stamp II programming, and LabVIEW version 7.1 or higher. LabVIEW 7.1 is necessary because it contains sub VI’s compatible with Bluetooth technology. We expect problems establishing a connection between the wireless card on the robot and the computer. We also expect trouble integrating basic stamp II and LabVIEW. We hope to resolve these issues by doing research, looking for available solutions and finally trial and error. Introduction Objectives The primary goal of this project is to design and implement an experiment to realize real time wireless control and feedback analysis of a commercially available robot. Methodology We had to design an experiment that would allow us to gain the necessary insight to complete our primary goal within 5 weeks. This experiment required several parts to be integrated effectively to yield real-time control of our robot. We first had to assemble our Boe-bot, center the servomotors, and understand its motion. From there, we had to familiarize ourselves with a MEMS gyroscope sensor that would provide feedback on the position of the robot. Then we had to develop a control strategy for our Boe-bot so we could navigate along any path. Finally, we had to find a way to achieve this Boe-bot control wirelessly in real-time. This would require a flexible user interface that could accept input commands and could then send those commands to the robot to gain control as well as output relevant data to the user