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ECE 445 – Spring 2014 Bluetooth Trashcan

ECE 445 – Spring 2014 Bluetooth Trashcan. Group 57 Albert Kim Caroline Cho Hyunjun Hong TA: Mustafa Mukadam. Bluetooth Trashcan Introduction & Outline. Mobilized Trashcan with using Bluetooth connectivity and Android app Motivation Objectives Review

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ECE 445 – Spring 2014 Bluetooth Trashcan

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  1. ECE 445 – Spring 2014Bluetooth Trashcan Group 57 AlbertKim Caroline Cho Hyunjun Hong TA: Mustafa Mukadam

  2. Bluetooth Trashcan Introduction & Outline • Mobilized Trashcan with using Bluetooth connectivity and Android app • Motivation • Objectives • Review • Hardware Side - Requirements & Verifications, Build & Functional Tests • Software Side - Requirements & Verifications, Build & Functional Tests • Further Improvements • What We Have Learned

  3. Bluetooth Trashcan Motivation • When you feel lazy or Can’t move freely • But you want it keep it clean!

  4. Bluetooth Trashcan Motivation/Inspiration

  5. Bluetooth Trashcan Objectives • Purpose - Make it Easy for the people to throw trash away - Utilize Microcontroller - Create Android App - Bluetooth Connectivity • Benefits - Mobility - Easy to Use - You don’t have to move!

  6. Bluetooth Trashcan Review : Block Diagram

  7. Bluetooth TrashcanHardware Overview • Microcontroller • Transportation Unit - Car Chassis • Motor and Motor Driver • Power Supply • Takes 9Vdc from battery and converts to stable 5Vdc • Bluetooth Transceiver • Detection Unit - Ultrasonic sensor

  8. Hardware Side Microcontroller • Built our own Arduino using Atmega328 • Communication with - Bluetooth transceiver - Motor driver - Ultrasonic sensor • Operating voltage: 5V

  9. Hardware Side Requirement & Verifications: Microcontroller

  10. Hardware Side Transportation Unit • Built own H-bridge Motor driver • Communicating with - Microcontroller • Car chassis • Motor - Gear ratio 1:120 - 200 RPM - 1.92Kgcm - 59.2mA (5V)

  11. Hardware Side Requirement & Verifications: Transportation Unit

  12. Hardware Side Bluetooth Transceiver • HC-06 • Serial communication • Operating voltage: 3.6~6V • Baud rate: 1200 ~ 1382400 bps • 10 meters of transmission distance

  13. Hardware Side Requirements & Verifications: Bluetooth Transceiver

  14. Hardware SideFailures • Malfunctioning of Microcontroller - Tested with FTDI - Receives the data - Can’t send out the data • TXD on Microcontroller malfunction • TXD & RXD on Bluetooth operated - Tested with Arduino Mega - Receives the data (RXD - O) - Sends out the data (TXD - O)

  15. Hardware Side Detection Unit • SMAKN HC-SR04 • Operating Voltage : 5V • Operating Current : 15mA • Operating Frequency : 40Hz • Max Range Detection : 50cm • Min Range Detection : 0~1cm

  16. Hardware Side Requirement & Verifications: Detection Unit

  17. Hardware Side Power Supply • Battery provides 9V • Using a voltage regulator (LM7805), Supply 5V to all components

  18. Hardware Side Requirements & Verifications: Power Supply

  19. Hardware Side Functional Tests: Microcontroller • LED blinking test for Microcontroller

  20. Hardware Side Functional Tests: Transportation Unit • Measuring the voltage between motor

  21. Hardware Side Functional Tests: Bluetooth Transceiver • Receiving inputs in serial monitor by sending out test inputs from the Android app, “Blueterm”

  22. Hardware Side Functional Tests: Detection Unit

  23. Hardware Side Functional Tests: Power Supply • Voltage regulator should always provide 5 ±0.1V

  24. Software Side Development Tools • Android Application - Eclipse Standard 4.3.2 (Kepler) - Java Platform (JDK) 7u51 • Device - ASUS Nexus 7 Tablet - Android Version 4.3 (Jelly Bean)

  25. Software Side Development Tools • Arduino - Arduino IDE 1.0.5

  26. Software Side Requirements & Verifications • Goal: 1. To create an android application that can: • Select a trashcan • Specify the location of the user and the trashcan • Calculate the path to be taken by the trashcan • Send Bluetooth signal to the microcontroller • Receive Bluetooth signal from the microcontroller

  27. Software Side Requirements & Verifications • Goal: 2. To program microcontroller that can: • Receive Bluetooth signal from the tablet • Send Bluetooth signal to the tablet • Give “on” signal to the motor drivers for length of time that is received • Receive signal from the ultrasound sensor and process this signal

  28. Software Side Requirements & Verifications • Interfaces are complete and the buttons connect to correct pages • Touchscreen is enabled to receive the user input for the trashcan/user location specification • Upon receiving the trashcan location and the user location, a perpendicular path is calculated. This path should be up to scale.

  29. Software Side Requirements & Verifications • Tablet–microcontroller Bluetooth connection is successful • Send a Bluetooth signal: Tablet => Microcontroller • Check serial monitor to see if this signal is received by printing out the value. • Send a Bluetooth signal: Microcontroller => Tablet • Change the color of a button on the main page upon receiving this signal.

  30. Software Side Functional Tests • Complete interfaces and functional buttons

  31. Software Side Functional Tests • Touchscreen worked perfectly and the consequent path calculation was successful.

  32. Software Side Functional Tests • Successful Bluetooth connection set-up • Bluetooth communication Test (Tablet => microcontroller)

  33. Software Side Functional Tests • Bluetooth communication Test (microcontroller => Tablet) Diameter of Trashcan = 16 cm

  34. Software SideFunctional Tests - Combined • Get the scheduled movements by specifying the trashcan/user locations • Send this data to microcontroller via Bluetooth • Microcontroller sends “ON” signal to the motor drivers according to the data received

  35. Software Side Functional Tests - Combined • Success! • Scheduled movement: • Forward 106 cm • Right turn • Forward 337 cm • Estimated speed 10cm/s • Both wheels turned for ~10s • Left wheels turned for ~3s • Both wheels turned for ~34s

  36. Software Side Failures • Integration of ultrasonic sensors with the rest of the system • Sensor output correctly printed out

  37. Software Side Failures • Error: sending Bluetooth signal when distance is less than 16 cm • When distance is set manually (ex. distance = 13cm), Bluetooth signal is correctly received on the tablet • When the sensor output is used to set distance, Bluetooth signal was not received on the tablet • Possible reason: read() and write() methods in the serial channel are using the wrong addresses

  38. Bluetooth TrashcanFurther Improvements • Our robot is currently “blind” - Send data to the robot once and expect it to arrive where it is supposed to go • We need a feedback system to make sure that the trashcan goes to where it is supposed to go • Solution: Feedback system using magnetic rotary position sensors (AS5145A by AMS)

  39. Bluetooth Trashcan Further Improvements • Use a rotary sensor to count the number of revolutions each motor makes • Using this information we can determine the distance the trashcan travels • Compare the actual movement against the scheduled movement and re-calculate the required path • Move the trashcan again accordingly and repeat this procedure until the difference is within the acceptable range

  40. Bluetooth TrashcanFinished Product

  41. Bluetooth Trashcan What We Have Learned • How to be a real Engineer! • Process, design, testing, etc… • Creating Android Application • Building our own Microcontroller • Usage of Bluetooth – interacting with Microcontroller and Android Application • Generating PCB board and schematics

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