S16: Robolamp
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.
Robolamp: Autonomous Laptop Lamp
Abstract
Robolamp features an autonomous lamp that follows the movement of a user-defined object through OpenCV. For our project, we designated a specific mechanical pencil as our tracking object. Using two micro servo motors reflecting the 'x' and 'y' axis of rotation along with a uniquely designed lamp, Robolamp follows and tracks the user's writing movement while emitting a concentrated light on the surrounding area.
Objectives & Introduction
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- The lamp shall follow movement of the user-selected object (mechanical pencil)
- The lamp shall utilize two servo motors capable of interpreting pixel data from external program
- The external program shall be supported by OpenCV libraries
- The lamp shall contain an LED circuit driven by external power supply
- The lamp shall be user-created and 3D printed
Team Members & Responsibilities
- Brandon Zhen
- Dustin Phou
- James Ogden
Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 4/4 | Obtain approval for the project, research and order necessary parts, make rough design of system | Approval obtained, research and design still in progress |
| 2 | 4/11 | Research software for designing the tracking system (OpenCV), write a simple program to track an object to test functionality and how data is generated | Built OpenCV and used a sample program to track a marker using the color of its cap |
| 3 | 4/18 | Write an OpenCV program to track the movement of a hand across a desk | The program is able to recognize an open palm and track it, but needs to be adjusted for the case of the hand writing |
| 4 | 4/25 | Test servo motors by connecting their pins to the SJOne board to determine how they can be controlled | Through testing found that the PWM duty cycles that correspond to -90° and +90° are 2.5% and 12.5%, respectively. Used this information to write a program to control the rotation of a motor based on coordinate data received from OpenCV. |
| 5 | 5/2 | Construct the lamp using a combination of motors and 3-D printed lamp components (base, stand, arm) | Design of base completed |
| 6 | 5/9 | Functionally verify lamp's movements and bugfix tracking algorithm | Design of arm completed, verified connectivity of components |
| 7 | 5/16 | Finalize project and demo | Thorough testing and debugging of servo smoothing and tracking. Project report and wiki-page completed. |
Parts List & Cost
| Item # | Part # | Description | Amount | Cost |
|---|---|---|---|---|
| 1 | SG92R | Micro Servo Motor | 4 | $35.09 ($23.80 + $11.29 shipping) |
Design & Implementation
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Hardware Design
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Hardware Interface
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Software Design
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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
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My Issue #1
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Conclusion
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Project Video
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Project Source Code
References
Acknowledgement
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References Used
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Appendix
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