Difference between revisions of "S14: Androbot"

Revision as of 03:22, 25 April 2014

Project Title

ANDROBOT

Abstract

Androbot is a self balancing robot which moves on 2 wheels without any support. The movements of the robot can be controlled using a Android phone app via Bluetooth.

Objectives & Introduction

Objectives.

To develop a self balancing robot using accelerometer and gyroscope.
To control the motion of the robot using Bluetooth module.
To develop an Android application for the motion control.

Team Members & Responsibilities

Digvijay Patil
- Driver Development + Android App Development
Mahesh Chudasama
- Mechanical Design + Android App Development
Shashank Tupkar
- FreeRTOS Software Design + Android App Development

Schedule

Week#	Date	Task	Actual
1	03/6	Project role distribution	Completed
2	03/13	Partlist discussion and Block Diagram	Completed
3	03/16	Partlist finalization and Circuit Schematic	Completed
4	03/20	Ordering parts and components	Completed
5	03/27	Mechanical assembly, Hardware and Android app layout, Interfacing GY 521 With SJ One Board	Completed
6	04/03	Hardware test and Kalman Filter firmware coding	Completed
7	04/10	Test and debug part (a) Self balancing robot	In progress
8	04/17	Android app creation for Bluetooth module testing	Completed
9	04/24	Integrating Android app with Bluetooth module	Completed
10	05/01	Testing and debug	Not Completed
11	05/08	Testing and debug	Not Completed
12	05/15	Demo	Not Completed

Parts List & Cost

The table below summarizes the parts used and the cost for the Androbot project till now. (To be completed)

Sr. No.	Part	Description	Qty	Total Cost
1	SJOne Board	ARM Cortex M3	1	$80.00
2	Stepper Motor 1.8*	NEMA 17 12 V Step size = 1.8* Imax = 400 mA	2	$12.99
3	Wheel	Diameter : 9 CM Width : 0.5"	2	$9
4	Shaft Coupler	To couple wheel with motor shaft	2	$6.99
5	ULN2004 IC	Motor driver IC Number of Buffers inverter/IC : 7 Imax = 500 mA	2	$0.65
6	16 Pin IC holder	To hold ULN2004 IC , So in case of IC failure, we can replace it immediately	2	$1.3
7	IMU6050	6 Axis Gyro + Aceelerometer +- 1.5 g	1	$7
8	Battery- Light weight	NIMH = 12V 2000 mAH Weight : 434 oz	1	$19.99
9	HC-05 Bluetooth Module	Sensitivity : 80 dBm Operating Voltage : 1.8 to 3.6 V Output : UART Data rate : Variable	1	$12
10	Chassis	Made from plastic tiffin box by cutting it from 3" Height	1	$6
11	Strip connector	To connect development board with prototype board	2	$3
12	Prototype Board	For implementing driver circuitry	1	$5
Total Cost				$163.92

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.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Androbot main Picture

Androbot Schematic Picture

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:

Issue #1

Deciding the motors and battery. (To be completed)

Issue #2

Deciding the the body of the bot. (To be completed) We did not want our robot to be very heavy and consume more voltage.

Issue #3

Interfacing GY-521(Accelerometer and Gyroscope Sensor) board with the SJ One board. IMU MPU 6050 works on I2C and SPI both. We decided to go with I2C as I2C state machine was already written. There were number of issues faced here: 1. Getting the proper address of the IMU for initiating the communication. The tricky part here is if AD0 pin of IMU sensor is pulled high the address is 0x68 and if its pulled low the address is 0x69. This took a while to figure out.

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

Send me your zipped source code and I will upload this to SourceForge and link it for you.

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

[1] http://www.cdiweb.com/datasheets/invensense/PS-MPU-6000A.pdf
[2] http://www.starlino.com/imu_guide.html
[3] http://www.botched.co.uk/pic-tutorials/mpu6050-setup-data-aquisition/

Appendix

You can list the references you used.

@@ Line 133: / Line 133: @@
 Discuss your hardware design here.  Show detailed schematics, and the interface here.
-[[File:Example.jpg]]
+[[File:CmpE244_S14_T10_Androbot_main.jpg|frame|centre|link=Androbot main|Androbot main Picture]]