Difference between revisions of "S16: Motion Copy Bot"
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==== Ultrasonic Sensor ==== | ==== Ultrasonic Sensor ==== | ||
| − | Ultrasonic sensors use high frequency sound to detect and localize objects in a variety of environments. Ultrasonic sensors | + | Ultrasonic sensors use high frequency sound to detect and localize objects in a variety of environments. Ultrasonic sensors transmits sound and measures the time interval between transmission and its reflection back from nearby objects. Based upon this time interval, it outputs a corresponding range reading. |
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==== Motor Driver Controller ==== | ==== Motor Driver Controller ==== | ||
Revision as of 00:14, 13 May 2016
Contents
Grading Criteria
- How well is Software & Hardware Design described?
- How well can this report be used to reproduce this project?
- Code Quality
- Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
- Schematic Quality
- Quality of technical challenges and solutions adopted.
Project Title
Motion Copy Bot
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Abstract
Motion Copy Bot aims to copy the motion of the user. Robot mimics the direction of the user's movement. The Bot moves only when the user is in motion and stops as soon as the user halts. The user's wearable device communicates with the Bot and co-ordinates its movement. When the Bot detects an obstacle on its path it notifies the user and stops. Upon this alert, the user determines the alternate path for the Bot.
Objectives & Introduction
Project Objectives:
- Wireless Communication between user and Bot using Xbee.
- Determining direction and movement of the user with the help of Magnetometer and Accelerometer.
- Controlling the steering and throttle of the Bot.
- Obstacle Detection using Ultrasonic sensor.
Team Members & Responsibilities
- Ankita Singhal
- Wireless communication, Speed and Direction sensor module
- Manali Deshmukh
- Hardware Design and assembling, Motor Driver, Obstacle Avoidance
- Shaurya Jain
- Hardware Design and assembling, Motor Driver, Obstacle Avoidance
- Sukriti Choudhary
- Wireless communication, Speed and Direction sensor module
Schedule
| Week# | Date | Task | Actual | Status |
|---|---|---|---|---|
| 1 | 3/18/2016 |
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Completed |
| 2 | 3/29/2016 |
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Completed |
| 3 | 4/04/2016 |
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Completed |
| 4 | 4/11/2016 |
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Completed |
| 5 | 4/18/2016 |
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Completed |
| 6 | 4/25/2016 |
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Completed |
| 7 | 5/05/2016 |
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Completed |
| 8 | 5/12/2016 |
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In Progress |
Parts List & Cost
| Item# | Part Description | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | SJ One Board (LPC 1758) | From Preet | 2 | $160 |
| 2 | RC Car | Sheldon Hobbyist | 1 | $110 |
| 3 | Accelerometer/Magnetometer LSM303 | Adafruit | 2 | $40.00 |
| 4 | Wireless Module XBee S1 | From Preet | 2 | $0 |
| 5 | Motor Driver IC | From Amazon | 1 | $7 |
| 6 | Battery Pack | From eBay | 1 | $17.99 |
| 7 | Ultra Sonic Sensor | From Preet | 2 | $0 |
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
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Hardware Design
Magnetometer
LSM303 is a triple-axis Accelerometer+Magnetometer (Compass) Board. It has a magnetic field full scale of ±1.3 / ±1.9 / ±2.5 / ±4.0 / ±4.7 /±5.6 / ±8.1 gauss. The system senses the magnetic field applied to it and generates a corresponding digital output. It includes an I2C serial bus interface that supports standard and fast mode 100 kHz and 400 kHz.
The structure of magnetometer is etched with microscopic coils. An excitation current is passed through the coils, and the Lorentz Force due to the magnetic field causes the structure to deflect. Once again the deflection is converted to an output voltage proportional to the strength of the magnetic field in that axis.
We use two magnetometers, one for obtaining the orientation of the user and the other for orientation of the Bot. The Bot aligns itself to match the user's orientation based on the error computed by comparison of the two orientations.
Accelerometer
The MMA8452Q is a smart low-power, three-axis, capacitive micro-machined accelerometer with 12 bits of resolution.The MMA8452Q has user selectable full scales of ±2g/±4g/±8g with high pass filtered data as well as non filtered data available real-time.
The internal structure of accelerometer are suspended by polysilicon springs which allow them to deflect when subject to acceleration in the X, Y and/or Z axis. Deflection causes a change in capacitance between fixed plates and plates attached to the suspended structure. This change in capacitance on each axis is converted to an output voltage proportional to the acceleration on that axis.
The movement of the user is sensed by the accelerometer sensor on the wearable device. This data is transmitted to the Bot, which in turn determines the start and stop motion of the Bot.
XBee Module
The XBee Modules meet IEEE 802.15.4 standards. The module operates within the ISM 2.4 GHz frequency band.The XBee®/XBee-PRO® RF Modules interface to a host device through a logic-level asynchronous serial port. Through its serial port, the module can communicate with any logic and voltage compatible UART. Devices that have a UART interface can connect directly to the pins of the RF module as shown in the figure. Data enters the module UART through the DI pin (pin 3) as an asynchronous serial signal.
Two Xbee Modules are being used in the project. One on the user side and the other on the Bot. Both act as transceivers and full duplex communication is established. The magnetometer and accelerometer data is transmitted over Xbee modules from user and Bot.
Ultrasonic Sensor
Ultrasonic sensors use high frequency sound to detect and localize objects in a variety of environments. Ultrasonic sensors transmits sound and measures the time interval between transmission and its reflection back from nearby objects. Based upon this time interval, it outputs a corresponding range reading.
Motor Driver Controller
L298N is a high voltage, high current dual full-bridge driver designed to accept standard TTL logic levels and drive inductive loads like DC and stepping motors. Dual-channel H-bridge Motor Shield is composed of 2 discrete MOSFET H-bridge, designed to drive two DC motor with max current 7.2 A.
H Bridge configuration is used in electrical applications where the load needs to be driven in either direction. The H-bridge has four switching elements at the corners of the H and the motor forms the cross bar. A typical H-Bridge structure is shown below:
L298N is an H-Bridge motor driver IC that can control the direction of two motors by driving the current in either polarity. It is controlled by PWM (Pulse Width Modulation).
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Include sub-sections that list out a problem and solution, such as:
My Issue #1
Discuss the issue and resolution.
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
Upload a video of your project and post the link here.
Project Source Code
References
Acknowledgement
Any acknowledgement that you may wish to provide can be included here.
References Used
https://cdn-shop.adafruit.com/datasheets/LSM303DLHC.PDF
http://www.nxp.com/files/sensors/doc/data_sheet/MMA8452Q.pdf
https://www.sparkfun.com/datasheets/Wireless/Zigbee/XBee-Datasheet.pdf
https://www.sparkfun.com/datasheets/Components/General/L298N.pdf
http://www.maxbotix.com/documents/LV-MaxSonar-EZ_Datasheet.pdf
https://learn.adafruit.com/lsm303-accelerometer-slash-compass-breakout/overview
Appendix
You can list the references you used.
