S14: Androbot - Revision history

Preet: /* Project Source Code */

2014-08-06T23:42:28Z

‎Project Source Code

2014-05-23T01:15:45Z

‎2) Stepper motor

2014-05-23T01:15:21Z

‎Parts List & Cost

2014-05-23T00:49:52Z

‎Testing & Technical Challenges

2014-05-23T00:47:39Z

‎Schedule

2014-05-23T00:45:50Z

‎Abstract

2014-05-23T00:43:25Z

‎Objectives

2014-05-23T00:29:56Z

‎Conclusion

2014-05-23T00:26:12Z

‎Software Design

2014-05-23T00:25:24Z

‎Implementation

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 === Project Source Code ===
-Send me your zipped source code and I will upload this to SourceForge and link it for you.
+*  [https://sourceforge.net/projects/sjsu/files/CmpE244_SJSU_S2014/ Sourceforge source code link]
 == References ==

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 These motors are available in National Electrical Manufacturers Association i.e.NEMA standards which has predefined structural design guidelines for manufacturing practices.
-[[File:CmpE244_S14_T15_Androbot_Stepper_Motor.JPG|100px|thumb|right|Fig 8. Stepper Motor]]
+[[File:CmpE244_S14_T15_Androbot_Stepper_Motor.JPG|200px|thumb|right|Fig 8. Stepper Motor]]
 Mainly these motors can be categorized into

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 | align="center"|12||align="center"|Prototype Board||align="center"|For implementing driver circuitry||align="center"|1||align="center"|$5
 |-
-| '''Total Cost'''||||||||align="center"|$163.92
+| align="center"|13||align="center"|A4998 - Stepper Motor Driver||align="center"|Allows speed varying using PWM <br/> Allows micro stepping ||align="center"|2||align="center"|$18
 |-
 |}

← Older revision		Revision as of 00:49, 23 May 2014
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	== Testing & Technical Challenges ==		== Testing & Technical Challenges ==
		+
		+	PID Tuning:
		+	The main time of the project was spent in PID tuning. In order to achieve the system stability, appropriate value of Kp , Kd and Ki needs to be selected. We have used manual tuning mechanism to select appropriate gain values. First we need to select Kp by keeping Kd and Ki zero. Once the value of Kp is selected , now increase Kd till the system response time increases as per desired. Now start increasing the Ki in order to provide stability to a system.
		+
		+
	This section describes the issues faced while designing the project.		This section describes the issues faced while designing the project.

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 | 04/10
 | Test and debug part (a) Self balancing robot
-| In progress
+| Completed
 |-
 ! scope="row"| 8
@@ Line 83: / Line 83: @@
 | 05/01
 | Testing and debug
-| Not Completed
+| Completed
 |-
 ! scope="row"| 11
 | 05/08
 | Testing and debug
-| Not Completed
+| Completed
 |-
 ! scope="row"| 12
 | 05/15
 | Demo
-| Not Completed
+| Completed
 |}

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 Androbot is a self balancing robot. The robot maintains it's balance using the IMU 6050 sensor. The values of accelerometer and gyroscope from the IMU sensor help in controlling the stepper motor. The wheels are connected to the stepper motor. The movements of the robot can be controlled using a Android phone app via Bluetooth.
-=== Objectives ===
+==== Objectives ====
 * To develop a self balancing robot using accelerometer and gyroscope sensor.
@@ Line 11: / Line 11: @@
 * To develop an Android application for the motion control.
-=== Team Members & Responsibilities ===
+==== Team Members & Responsibilities ====
 [[File:CmpE244_S14_T15_Androbot_Objective.JPG|600px|thumb|right|Fig 1. System Design]]
@@ Line 22: / Line 22: @@
 **   FreeRTOS Software Design + Android App Development
-=== Introduction ===
+==== Introduction ====
 The idea of this project was to design and construct a robot that can be balanced and driven on two wheels. This behavior is similar how a segway (a new mode of transportation) works. The project aims to control the motion or direction of the robot through Android app via bluetooth module.Our goal was to have a working finished product – a robot that, without human interaction, could balance on two wheels.

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 == Conclusion ==
-Conclude your project here.  You can recap your testing and problems.  You should address the "so what" part here to indicate what you ultimately learnt from this project.  How has this project increased your knowledge?
 === Project Video ===

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 As Unipolar motors can be used in Bipolar mode also by neglecting centre tap this will provide use flexibility in driver selection and different mode of the application.
-=== Software Design ===
+=== Software Design and Implementation ===
 This section includes the software design for the module interface.

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 This PWM can be used to control the motor speed.
-=== Implementation ===
+== Implementation ==
 [[File:CmpE244_S14_T15_Androbot_Flowchart.JPG|600px|thumb|center|Fig 10. System Design Diagram]]