F16: Wireless Tilt Controlled Camera Arm - Revision history

146 user9: /* Acknowledgement */

2016-12-21T02:15:45Z

‎Acknowledgement

146 user9: /* Board-to-Board Wireless Communication */

2016-12-21T02:12:44Z

‎Board-to-Board Wireless Communication

146 user9: /* Board-to-Board Wireless Communication */

2016-12-21T02:11:24Z

‎Board-to-Board Wireless Communication

146 user9: /* Motor Control */

2016-12-21T02:09:51Z

‎Motor Control

146 user9: /* Motor Control */

2016-12-21T02:08:42Z

‎Motor Control

146 user9: /* Solution: */

2016-12-21T02:06:09Z

‎Solution:

146 user9: /* Solution: */

2016-12-21T02:06:00Z

‎Solution:

146 user9: /* Conclusion */

2016-12-21T02:01:10Z

‎Conclusion

146 user9: /* Conclusion */

2016-12-21T01:53:15Z

‎Conclusion

146 user9: /* Hardware Design */

2016-12-21T01:45:11Z

‎Hardware Design

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 == References ==
 === Acknowledgement ===
-We'd like to thank Preet and Dr. Ozemek for the commitment to everyone and their limitless effort that they provide for San Jose State.
+We'd like to thank Preet and Dr. Ozemek for their commitment to everyone and the limitless effort that they provide for San Jose State.
 === References ===

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 ===== Board-to-Board Wireless Communication =====
-The wireless communication used the wireless API to perform the formation of a wireless packet and the wireless transmission of the packet. Initialization of the SJOne boards' wireless features was mostly handled by the default wireless task. For wireless communication, the wireless channel number and the air data rate used by both boards must be the same. The two boards used in this project each had their own wireless node address, which was used to uniquely identify each of the boards during the wireless communication. Both tasks were set to HIGH priority to ensure that they were running all of the time.
+The wireless communication used the wireless API to perform the formation of a wireless packet and the wireless transmission of the packet. Initialization of the SJOne boards' wireless features was mostly handled by the default wireless task. For wireless communication, the wireless channel number and the air data rate used by both boards must be the same. The two boards used in this project each had their own wireless node address, which was used to uniquely identify each of the boards during the wireless communication. Both tasks were set to HIGH priority to ensure that they were running all of the time. Figure 5 describes an more in-depth view and explanation of the functionality and process of the two tasks used in this project.
 [[File: F16 cmpe146 wtcca tasks diagram.png|600px|thumb|centre|Figure 5. Project Tasks Software Design]]

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 ===== Board-to-Board Wireless Communication =====
-The board-to-board wireless communication utilizes Nordic Wireless on the SJOne board. Two additional tasks were created to perform the intended operations needed in this project: one task for wireless data transmission and one task for wireless data reception. The main wireless controller performs the task that transmits data while the camera motion controller performs the task that receives data. The transmit task first interprets and uses the acceleration data captured by the SJOne board's acceleration sensor to generate the appropriate instructions to send to the camera motion controller. Then, after the instructions have been generated, the transmit task packages the instructions into a packet and sends the packet wirelessly to the other board. The receive task receives the wireless packet and unpackages the packet to obtain the instruction data. Then, the receive task uses the instruction data to control the movement of the motors.
+The board-to-board wireless communication utilizes Nordic Wireless on the SJOne board. Two additional tasks were created to perform the intended operations needed in this project: one task for wireless data transmission and one task for wireless data reception. The main wireless controller performs the task that transmits data while the camera motion controller performs the task that receives data. The transmit task first interprets and uses the acceleration data captured by the SJOne board's acceleration sensor to generate the appropriate instructions to send to the camera motion controller. Then, after the instructions have been generated, the transmit task packages the instructions into a packet and sends the packet wirelessly to the other board. The receive task receives the wireless packet and unpackages the packet to obtain the instruction data. Then, the receive task uses the instruction data to control the movement of the motors. Figure 4 describes the general software design of the project.
 [[File: CMPE 146 Lab Project Software Flowchart.png|600px|thumb|centre|Figure 4. Overall Project Software System Design]]

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 ===== Motor Control =====
-The hardware design mainly focused on the motor control board. No additional hardware was implemented to the board that was sending the acceleration sensor data. Three motors were used in the arm design. 2 high precision servos, the HS 5065MG micro servos, were chosen to be used in the hardware design because of their ability to have fine control and movement. They are not typical servos that moved in a manner that required a certain amount of pulse to trigger or needing a certain length to the duty cycle. Rather, the servo rotates based on the duration of the pulse. The motor had a workable range of 750 - 2250 microseconds. The servo had a workable range of of 120 degrees. These were the more expensive motors and had metal gears. The third motor was the Osoyoo SG90 micro servo, which had a duty cycle of 50 hz, or 20 ms. It required a pulse of 1-2ms to rotate the motor 90 degrees, either to the left or to the right. These motors were much simpler and had plastic gears. These were not able to provide fine control. In order to power all the devices, 2 voltage regulators were purchased. A 5v Step Up/Step Down voltage regulator from Pololu was purchased to power the SG90 servo and the SJOne board. A 6V Step Up/Step Down voltage regulator from Pololu was used to power the precision servos. The 6 volts to the motors guaranteed highest efficiency and precision. All the hardware was housed in arm design in CAD tools. The design can be seen in Figure 2 and Figure 3. The schematic and hardware layout can be seen in Figure One.
+The hardware design mainly focused on the motor control board. No additional hardware was implemented to the board that was sending the acceleration sensor data. Three motors were used in the arm design. 2 high precision servos, the HS 5065MG micro servos, were chosen to be used in the hardware design because of their ability to have fine control and movement. They are not typical servos that moved in a manner that required a certain amount of pulse to trigger or needing a certain length to the duty cycle. Rather, the servo rotates based on the duration of the pulse. The motor had a workable range of 750 - 2250 microseconds. The servo had a workable range of of 120 degrees. These were the more expensive motors and had metal gears. The third motor was the Osoyoo SG90 micro servo, which had a duty cycle of 50 hz, or 20 ms. It required a pulse of 1-2ms to rotate the motor 90 degrees, either to the left or to the right. These motors were much simpler and had plastic gears. These were not able to provide fine control. In order to power all the devices, two voltage regulators were purchased. A 5V Step Up/Step Down voltage regulator from Pololu was purchased to power the SG90 servo and the SJOne board. A 6V Step Up/Step Down voltage regulator from Pololu was used to power the precision servos. The 6 volts to the motors guaranteed highest efficiency and precision. All the hardware was housed in arm design in CAD tools. The design can be seen in Figure 2 and Figure 3. The schematic and hardware layout can be seen in Figure 1.
 [[File: F16 cmpe146 wtcca hw diagram.png|600px|thumb|centre|Figure 1. Camera Arm Hardware Design]]

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 ===== Motor Control =====
-The hardware design mainly focused on the motor control board. No additional hardware was implemented to the board that was sending the acceleration sensor data. Three motors were used in the arm design. 2 high precision servos, the HS 5065MG micro servos. These servos were chosen for the ability to have fine control and movement. They are not typical servos that they move in that they need a certain amount of pulse to trigger or needing a certain length to the duty cycle. Rather, the servo rotates bases on the duration of the pulse. The motor had a workable range of 750 - 2250 microseconds. The servo had a workable range of of 120 degrees. These were the more expensive motors and had metal gears. The third motor was the Osoyoo SG90 micro servo, which had a duty cycle of 50 hz, or 20 ms. It required a pulse of 1-2ms to rotate the motor 90 degrees, either to the left or to the right. These motors were much simpler and had plastic gears. These were not able to provide fine control. In order to power all the devices, 2 voltage regulators were purchased. A 5v Step Up/Step Down voltage regulator from Pololu was purchased to power the SG90 servo and the SJOne board. A 6V Step Up/Step Down voltage regulator from Pololu was used to power the precision servos. The 6 volts to the motors guaranteed highest efficiency and precision. All the hardware was housed in arm design in CAD tools. The design can be seen in Figure 2 and Figure 3. The schematic and hardware layout can be seen in Figure One.
+The hardware design mainly focused on the motor control board. No additional hardware was implemented to the board that was sending the acceleration sensor data. Three motors were used in the arm design. 2 high precision servos, the HS 5065MG micro servos, were chosen to be used in the hardware design because of their ability to have fine control and movement. They are not typical servos that moved in a manner that required a certain amount of pulse to trigger or needing a certain length to the duty cycle. Rather, the servo rotates based on the duration of the pulse. The motor had a workable range of 750 - 2250 microseconds. The servo had a workable range of of 120 degrees. These were the more expensive motors and had metal gears. The third motor was the Osoyoo SG90 micro servo, which had a duty cycle of 50 hz, or 20 ms. It required a pulse of 1-2ms to rotate the motor 90 degrees, either to the left or to the right. These motors were much simpler and had plastic gears. These were not able to provide fine control. In order to power all the devices, 2 voltage regulators were purchased. A 5v Step Up/Step Down voltage regulator from Pololu was purchased to power the SG90 servo and the SJOne board. A 6V Step Up/Step Down voltage regulator from Pololu was used to power the precision servos. The 6 volts to the motors guaranteed highest efficiency and precision. All the hardware was housed in arm design in CAD tools. The design can be seen in Figure 2 and Figure 3. The schematic and hardware layout can be seen in Figure One.
 [[File: F16 cmpe146 wtcca hw diagram.png|600px|thumb|centre|Figure 1. Camera Arm Hardware Design]]

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 Motors were acting sporadically and not as expected.
-===== Solution: =====
+===== Solution =====
 By connecting every component in the design to common ground, we were able to resolve this issue.

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 Initially, as we were testing the board-to-board wireless communication, many packets would often be lost during the transmission.
-===== Solution: =====
+===== Solution =====
 We determined that the cause of the issue was the Nordic Wireless's limited wireless range. As such, in order to resolve this issue, we reduced the air kbps rate down to provide a more stable signal in a larger wireless range.

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 == Conclusion ==
 The project was done as successful as we wanted. We started with the idea of control a camera over wireless communication. Software was going to be created to gather information from an acceleration sensor, interpret the data and transmit relevant information to a board that had motors that controlled a 3D printed arm. Much of the stuff was new, as in using motors and using PWM, understanding and implementing wireless communication over Nordic mesh network. This led to some drawbacks in understanding how to interfacing items into the projects. The project was a great learning experiencing and exposed us to new and fun concepts.
 === Project Video ===

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 == Design & Implementation ==
 The Wireless Tilt Control Camera Arm design was broken up across two boards, both hardware and software. One board was going to be used to get data from the on-board acceleration sensor, interpret it and send it wireless over to a second board to that would receive the information transmitted and move the motors accordingly.
 === Hardware Design ===