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?