Difference between revisions of "F13: BarkMaster2000"

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(Hardware Design)
(Hardware Design [Ultrasonic Distance Sensor Interface])
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http://www.sainsmart.com/arduino-compatibles-1/sensor/ultrasonic-ranging-detector-mod-hc-sr04-distance-sensor.html
 
http://www.sainsmart.com/arduino-compatibles-1/sensor/ultrasonic-ranging-detector-mod-hc-sr04-distance-sensor.html
  
[File:C:\Users\Patso\Desktop\CMPE240\BarkMaster 64,242XLQ-4S\06 Photos\BarkMaster2000 RangeFinderSetup IMG 4531.JPG]
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The above photo shows the setup used to test out the Ultrasonic Distance Sensor Interface. Measurements were taken to verify that the sensor accuracy was sufficient. For our application accuracy on the order of +/-6.0 inches was sufficient since we are using the sensor to prevent the robot from running into four legged friend. The sensor operation is fairly simple. A 10 usec positive going TTL pulse is sent to the Trigger Input. This commands the sensor to begin sampling the sensor and generate a pulse on the Echo pin that is also a positive going TTL pulse. The pulse width of the Echo pulse is a function of the distance of the detected object. The software driver will measure the pulse width on a GPIO input and calculate the distance using the distance equation above.
 
The above photo shows the setup used to test out the Ultrasonic Distance Sensor Interface. Measurements were taken to verify that the sensor accuracy was sufficient. For our application accuracy on the order of +/-6.0 inches was sufficient since we are using the sensor to prevent the robot from running into four legged friend. The sensor operation is fairly simple. A 10 usec positive going TTL pulse is sent to the Trigger Input. This commands the sensor to begin sampling the sensor and generate a pulse on the Echo pin that is also a positive going TTL pulse. The pulse width of the Echo pulse is a function of the distance of the detected object. The software driver will measure the pulse width on a GPIO input and calculate the distance using the distance equation above.

Revision as of 23:43, 23 November 2013

Project Title

Abstract

The Barkmaster is intended to sense sound, turn a motorized vehicle in response to that sound, and drive towards the sound unless it comes across an obstacle in its path. The idea is that Bryan’s dog likes to chase remote control cars, but hasn’t had a remote control car chase her yet. Here is a picture of Bryan’s dog.

Objectives & Introduction

  • Triggered by sound
  • Responds by turning to towards source of sound and moving for a predetermined amount of time
    • Only turns in increments of 90 degrees
  • Forward motion towards sounds stops when an object is detected or predetermined time expires
  • Four independent MEMS sensors
    • Combination of any sensor will trigger response
  • Data is polled from each sensor and an aggregate is formed to increase chances of sensing in correct direction (aggregating the data is a means of filtering by integration)
  • Each sensor must be directional – physical shield used to direct sound


Team Members & Responsibilities

  • Bryan Canepa
    • MEMs Sound Detection, Mux Interface, and Wireless On/Off control
  • Patrick Ghorbanian
    • Motor Controller, Ultrasonic Sensor Interface, and Power Distribution

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Week# Date Task
1 10/8 Develop Proposal
2 10/15 Purchase long lead parts
3 10/22 Interface MEMs and Ultrasonic Sensor Interfaces
4 10/29 Build up motor platform and test to verify that motor driver is sufficient to drive motors
5 11/5 Finalize MEMs detection and Motor Drive
6 11/12 Interface wireless On/Off and Finalize Ultrasonic Sensing
7 11/19 System Integration Phase 1
8 11/26 System Integration Phase 2
9 12/3 Demo Project and Finalized Wiki Page Submitted

Parts List & Cost

Part Number# (Supplier) Description Cost(EACH) Quantity
BOB-09868(Sparkfun) Breakout Board for ADMP401 MEMS Microphone $9.95 4
BOB-09056(Sparkfun) Analog/Digital MUX Breakout $4.95 1
BOB-11978(Sparkfun) Logic Level Converter(5V to 3.3V or 3.3V to 5V) $1.95 TBD
Rover 5 Motor Driver Board (Amazon) Motor Driver (4WD) $26.95 1
HC-SR204 (Amazon) SainSmart HC-SR04 Ultrasonic Distance Sensor $4.88 1
2124277 (Amazon/Jameco) 2WD Arduino Compatible Mobile Platform (contains 2 DC motors) $70.44 1
LPC1758 SJSU CMPE BOARD (SJSU) Processor LPC1758 SJSU CMPE BOARD $75 1


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 [Ultrasonic Distance Sensor Interface]

Specifications:

   power supply :5V DC
   quiescent current : <2mA
   effective angle: <15°
   ranging distance : 2cm – 500 cm
   resolution : 0.3 cm

Sensor Pin Names and Descriptions:

   Vcc = Positive Supply Voltage (5Vdc)
   Trig = Used to command the sensor to send out Ultrasonic signal 
          (10usec TTL positive pulse required)
   Echo = The feedback signal that indicates when an object is detected 
          (active high TTL pulse,  idle state low)
   Gnd = Ground

Note: Duration of echo high pulse is used to determine distance Distance = ((Duration of high level)*(Sonic :340m/s))/2 Based on our testing the echo response signal goes high within 456usec of trigger trigger signal going low

Product website: http://www.sainsmart.com/arduino-compatibles-1/sensor/ultrasonic-ranging-detector-mod-hc-sr04-distance-sensor.html


The above photo shows the setup used to test out the Ultrasonic Distance Sensor Interface. Measurements were taken to verify that the sensor accuracy was sufficient. For our application accuracy on the order of +/-6.0 inches was sufficient since we are using the sensor to prevent the robot from running into four legged friend. The sensor operation is fairly simple. A 10 usec positive going TTL pulse is sent to the Trigger Input. This commands the sensor to begin sampling the sensor and generate a pulse on the Echo pin that is also a positive going TTL pulse. The pulse width of the Echo pulse is a function of the distance of the detected object. The software driver will measure the pulse width on a GPIO input and calculate the distance using the distance equation above.

Hardware Interface

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

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Project Video

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Project Source Code

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References

Acknowledgement

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References Used

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Appendix

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