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224 Final Project

224 Final Project. Kendra Armstrong - Nick Eccles - Cary Maguire - Alex Taam - Paul Williams. Objective. Our goal is to design a Basic Stamp program, integrating feedback from a gyroscope, that will control a robot to travel in the following route. Assembling The Boe-Bot.

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224 Final Project

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  1. 224 Final Project Kendra Armstrong - Nick Eccles - Cary Maguire - Alex Taam - Paul Williams

  2. Objective • Our goal is to design a Basic Stamp program, integrating feedback from a gyroscope, that will control a robot to travel in the following route. ME 224 - Team Three

  3. Assembling The Boe-Bot • Before we could start our project we needed to assemble the Boe-Bot. ME 224 - Team Three

  4. Calibrating the Servos • After the Boe-Bot was assembled, we used BASIC Stamp to zero the servos. ME 224 - Team Three

  5. Gyroscope/Calibration • In order to ensure that our Boe-Bot traveled in a straight path and made accurate turns, we integrated the response from an ADXRSS150EB gyroscope in a closed loop feedback. Gyroscope ME 224 - Team Three

  6. Gyroscope/Calibration • Obtained oscilloscope readouts to understand basic output of gyroscope • Developed Labview program to read in gyroscope output • Developed BASIC Stamp Program to turn Boe-Bot at different angular velocities • Recorded angular velocities and corresponding outputs ME 224 - Team Three

  7. Calibration Time Response of Output for Different Angular Velocities: Average Voltage Derived for Various Angular Velocities ME 224 - Team Three

  8. Calibration • Angular Velocity vs Voltage Plotted • Linear Fit Added to Verify Accuracy ME 224 - Team Three

  9. Analog To Digital Converter • Gyroscope outputs voltages from .2V-4.6V • Boe-Bot Board of Education can only read binary (1 or 0 value) • ADC converts analog voltage to binary signal on 8 pins ME 224 - Team Three

  10. Analog To Digital Converter • Our converter is an 8-bit ADC that uses output of the gyroscope as its input. ME 224 - Team Three

  11. Analog To Digital Converter • Using a variable voltage generator we were able to verify that the ADC functioned properly. ME 224 - Team Three

  12. Programming • BASIC Stamp was the only programming language used to control our robot • We integrated feedback and information from gyroscope and ADC. ME 224 - Team Three

  13. Debugging • Initial Runs were very inaccurate • Iteration of individual programs improved the overall accuracy ME 224 - Team Three

  14. Demonstration ME 224 - Team Three

  15. Results • BASIC Stamp limits feedback accuracy • ADC sensitivty • Small changes in angles are not recognized ME 224 - Team Three

  16. Improvements/Next Steps • Increase the sensitivity of the ADC • Integrate an operational amplifier • BASIC Stamp • Improve the method for scaling numbers ME 224 - Team Three

  17. Work Breakdown ME 224 - Team Three

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