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Boe-Bot Control

Boe-Bot Control. Alex Ahmadi John Hoffman Andres Huertas Azeem Meruani Simcha Singer. Overview. Technology Background Demonstration Programming Details Q&A. Technology Background: Gyroscopes. Angular rate sensors ADXRS150 Voltage proportional to angular rate about axis normal

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Boe-Bot Control

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  1. Boe-Bot Control Alex Ahmadi John Hoffman Andres Huertas Azeem Meruani Simcha Singer

  2. Overview • Technology Background • Demonstration • Programming Details • Q&A

  3. Technology Background: Gyroscopes • Angular rate sensors • ADXRS150 • Voltage proportional to angular rate about axis normal • Resonator Gyro • Coriolis force during angular rate • Capacitive sensing • Similar to Accelerometer • Closed loop can drive amplitude to zero • Capacitive sensing

  4. Technology Background: Servos • Control • Pulsing signal line • 1-2 msec pulses • 10-40 msec intervals • Programming • LabView control based on gyroscope data

  5. Technology Background: Boe-Bot • 2 wheels, 2 servos • Maneuvers • Vary speed ratio of wheels to turn or go straight • Error in slippage? • DAQ input signals for control

  6. Demonstration

  7. Programming Details • LabView setup • Gyroscope VI’s, interaction • BasicStamp Calls • BasicStamp • Inputs from LabView • Executing commands

  8. Challenges • Windows limitations • LabView limitations • Other obstacles

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