Android Controlledrobot 131216213351 Phpapp02

8/19/2019 Android Controlledrobot 131216213351 Phpapp02

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Android-ControlledRobot

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Ben Johnke

ECE561 Final Project

December 16, 2013


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System Overview

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otor"ri)er

Po!er%o(rc

e

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain

$n"roi"controllera&&lication


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System Overview

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otor"ri)er

Po!er%o(rc

e

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain



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Drivetrain

• ehicle "ri)en b# le.t an" ri*htDC motor%

• otor tor/(e %&ec ba%e" one%timate" )ehicle !ei*ht,

"e%ire" acceleration

• Dierential %teerin* em&lo#e"

– +(rn )ehicle b# "ri)in* motor% at"ierent )elocitie%

– Ball ca%ter% in .ront allo!&i)otin* no a""itional !heel%nee"e"

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System Overview

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otor"ri)er

Po!er%o(rc

e

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain



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Power Source

• Fe! batter# technolo*ie% can&ro)i"e hi*h c(rrent

• a "i%char*e rate %&eci4e"b# C7ratin*

–

C 8 batter# ca&acit# in am& hr% – 9i': ;1C

–


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System Overview

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otor"ri)er

Po!er%o(rce

icrocontrolle

r


Bl(etoothmo"em

Dri)etrain


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Motor Driver• otor control re/(ire% .(ll &roce%%or attention

– onitor motor %&ee"

– Contin(o(%l# a"j(%t motor )olta*e to minimiAe error bet!een "e%ire"an" act(al motor %&ee"%

– E%%entiall# a "i*ital .ee"back control %#%tem

• Want to a)oi" thi% a""itional har"!are an" %o.t!are com&leit#

• ol(tion: Polol( D(al otor Dri)er hiel" .or $r"(ino – Contain% 2 +icroelectronic% 9'501 motor "ri)er%, each rate" .or

12$

– ncl("e% $r"(ino librar# allo!in* motor %&ee"% to be %et !ith %im&le.(nction call


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System Overview

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otor"ri)er

Po!er%o(rce

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain



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Microcontroller• $r"(ino 9

– 1- "i*ital G &in% !hich can al%o be(%e" .or %erial comm(nication

– n7boar" re*(late" 5 %(&&l#

– Work% !ith Polol( otor Dri)er hiel"

• m&lement% "ierential %teerin*al*orithm – (t%i"e !heel %&ee" %et ba%e" on

throttle comman" alone

– n%i"e !heel %&ee" al%o %et ba%e" on

throttle comman", b(t %(btracte".rom accor"in* to %har&ne%% o.%teerin* an*le

– Hate limiter kee&% %&ee"% .romchan*in* too /(ickl#

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System Overview

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otor"ri)er

Po!er%o(rce

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain



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Bluetooth Modem

• Want Cla%% 1 Bl(etooth .or lon* ran*eI;100m – Cho%en mo"el: Bl(eiHF Kol"

• E%%entiall# im&lement% a !irele%%%erial %tream – When mo"em recei)e% a me%%a*e )ia

Bl(etooth, it %en"% that me%%a*e )ia%erial

– When mo"em recei)e% a me%%a*e )ia%erial, it %en"% that me%%a*e )ia

Bl(etooth• 'a% %tatic net!ork a""re%% !hich

$n"roi" controller (%e% to e%tabli%h aconnection

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System Overview

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otor"ri)er

Po!er%o(rce

icrocontrolle

r

Bl(etoothmo"em

Dri)etrain



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Android Controller Application

• Create% %ocket .orcomm(nicatin* !ithBl(etooth mo"em, (%in*it% kno!n a""re%%

•

Hea"% throttle an"%teerin* %li"er bar)al(e%, tran%mit%&erio"icall# on %ocket>%(t&(ttream

• %n&(ttream .or errorme%%a*e% .rom $r"(ino

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essons earned

• kill% – $n"roi" a&& "e)elo&ment IJa)a, L


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!uture "#tensions

• $")ance" motion – ie robot arm controlle" b# %er)o

motor

• b%tacle a)oi"ance

–

n%tall &roimit# %en%or "e)elo&al*orithm% to %teer aro(n" G back(& !hen ob%tacle% "etecte"

• i%ion

– %e camera to tran%mit .rame%

back to $n"roi" a&&lication .or"i%&la# to (%er

– Bl(etooth too lo!7ban"!i"th%!itch to WiFi

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$ideo

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• htt&%:GG!!!#o(t(becomG!atch?)8

Android Controlledrobot 131216213351 Phpapp02

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