1 / 36

t eam teneo

t eam teneo. d illon krasovec : j erod e llingson : robert g lissmann : ben walker : patrick h anschen. +cdr. mission. universal human interface device intuitive alternative to mouse and keyboard or any difficult to learn remote controller. glove architecture. adc. adc.

joanne
Download Presentation

t eam teneo

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. team teneo dillon krasovec : jerod ellingson : robert glissmann : ben walker : patrick hanschen +cdr

  2. mission • universal human interface device • intuitive alternative to mouse and keyboard or any difficult to learn remote controller

  3. glove architecture adc adc

  4. glove schematic

  5. gyro schematic

  6. glove progress 80% • flex sensor + circuit design + analog input on MSP + testing • external ADCs + circuit design + spi communication + streaming data 33%

  7. e progress 65% • accelerometer + circuit design + communication + streaming data + packet data • gyro + circuit design + analog input on MSP + process angle data + connecting to external ADC 50%

  8. SPI Slave Data Out SPIState Machine Data In 1/x Slave Select SMClk SPI Master • 3 SPI State Machines • 2 different clock speeds MSP430F2616

  9. asynchronous spi communication void main() { . . Place commands in FIFO buffer . [ Other tasks ] . Read data from FIFO buffer . void spi_interrupt() { . . Read next command . . Buffer received data . . Send next command . . FIFO Command Buffer FIFO Receive Buffer

  10. ADXL Interrupt Request ADXL Data* ProcessADXL Data Request Flex Data* Quantize Flex Data Request Gyro Data* Process Data Send Data*

  11. timing ADXL Interrupt ADXL Interrupt • what we want • + transmission specification: packets/sec • limitations • + get sufficient samples for precision • + allow sufficient processing • achieving correct timing • + set ADXL sampling clock • + choose buffer fill threshold Request ADXL Data* Request ADXL Data* ProcessADXL Data ProcessADXL Data Request Flex Data* Request Flex Data* Quantize Flex Data Quantize Flex Data Request Gyro Data* Request Gyro Data* Process Data Process Data Send Data* Send Data*

  12. pc-hub -f2616

  13. class diagram pc pc hub glove calls gets/sets shows/hides Gives data/ gets status gets data from transmits to calls calls calls displays modifies Gets data from polls Composed of

  14. infrared cam • PixArt • wii remote • cmos + preprocessing • outputs x y coords and spot size • no official spec sheet • hacks and snooping

  15. ared cam • intermediate circuit • 25Mhz oscillator • i2c – different clk • init() + mode + sensitivity • timer driven polling

  16. radiofrequency • ez430-rf2500 • pin header interface • initially a risk • uart for debugging • spi ports + successful + only has two – pins are shared + no uart for debugging • current progress = 85%

  17. packets 5 discrete bits middle 5 discrete bits index RC LC M I T accel x-vector accel y-vector 12 bytes accel z-vector 3 bits rotation misc. 3 bits palm gyro pitch gyro roll 15 8 7 0

  18. pc hub gesture lookup 10 8 5 4 3 2 1 0 key RDir PDir RD LD T I M hash function

  19. master to usb emulator • spi (3-wire) from master to USB emulator + frame packet (5-bytes) indicates key presses and mouse position + single status-byte returned by emulator + indicates whether a new Profile LUT is available + hub’s look-up table is updated with “focused transfer” • all other transactions and look-ups cease • tables are not persistent between sessions (mouse stored statically) + current progress = K1 K2 K3 ∆X ∆Y 25%

  20. pc hub schematic

  21. usb emulator module • atmel processor (At90USB1287) implements human interface device (HID) protocol + vendor ID (VID) and product ID (PID) distinguish unit from other USB devices + device descriptors • mouse • keyboard • generic device

  22. emulator module • receives output reports from PC utility + when requested by the Hub master processor, reports are forwarded via SPI • receives commands from hub master via SPI: + keys and mouse state to assert in output reports • current progress = 30%

  23. pc config utility • software utility allows for complete configuration of glove gesture mapping + written in visual c# • usability profiles enable users to save groups of gestures for a specific type of application + eight or fewer gestures per profile + three-key hotkeys • application saves profiles by serializing to XML <?xml version="1.0" encoding="utf-8" ?> <Profiles> <Profile name="Mouse" default="true" description="Basic mouse controller"> <Gesture id="g45t"> …

  24. config utility • library support for device detection + windows messages provide connection notification • DLL wrapper enables communication to Hub device via host “output reports” + allows utility to detect when USB device is connected + gesture descriptors are packed into six-byte structures + profile description table transmitted via OUT reports • current progress = 70%

  25. Configuration Utility UI

  26. Overview - Compare prices helicopter hub design

  27. pitch throttle pirouette roll

  28. heli-hub architecture rc LPF MSP430F2616SP adc zigbee v follower dac jtag gpio

  29. helicopter hub schematic

  30. r blues controlle • controller is now optional + very challenging control application + may require more powerful processor + testing could be hazardous • testing shows… + even coaxial helicopter challenging to fly + hovering requires constant adjustment + uncertain if glove will be easier or harder

  31. e 1 milestone • derive angle and movement from accelerometer • acquire and process flex and gyro data • IR cam prototyping • integrating RF + emulator + IR into hub proto • demonstrate pass-through function on heli-hub • rev. 1 PCB’s

  32. milestone e 2 • glove construction • helicopter controllable by glove • glove fully emulates HID device on a PC • GUI with google sketchup profiles • rev. 2 PCB’s construction

  33. budge t = $620 • repair parts and batteries for heli -= $60 • PCB sensors -= $60 • PCB revisions -= $200 • glove and accessories -= $60 • surface mount components -= $50 = $190

  34. Division of Labor

  35. questions dillon krasovec : jerod ellingson : robert glissmann : ben walker : patrick hanschen

More Related