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Remote control for CPG based robots

Remote control for CPG based robots. Final Presentation - 18 June 2010 Gabriel Cuendet 3 rd year Bachelor in Electrical Engineering Assistant: Alessandro Crespi. Plan. 20’ Presentation 10’ Questions 10’ Demo, using the robot. Task description.

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Remote control for CPG based robots

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  1. Remote control for CPG based robots Final Presentation - 18 June 2010 Gabriel Cuendet 3rd year Bachelor in Electrical Engineering Assistant: Alessandro Crespi

  2. Plan • 20’ Presentation • 10’ Questions • 10’ Demo, using the robot Remote control for CPG-based robots - Gabriel Cuendet

  3. Task description « The goal of this project is to develop a wireless remote control that communicates with a robot, which is controlled by a CPG . The electronics for the RF part aren’t part of that project, since they are already designed. The remote control is able to configure a small number of locomotion parameters on the robot. It allows a user to interactively remote control the robot without needing a PC. » Remote control for CPG-based robots - Gabriel Cuendet

  4. To the robot Gamepad + PC + Radio interface Goal of the project Remote control for CPG-based robots - Gabriel Cuendet

  5. AUTONOMOUS DEVICE Goal of the project Gamepad + Radio interface + power supply Remote control for CPG-based robots - Gabriel Cuendet

  6. Parts of the project(state at mid-term presentation) • Hardware • User interface • Battery management • Software • User interface’s PIC18F2580 • Housing and mechanical integration of the hardware  Dev. Version  In progress… Remote control for CPG-based robots - Gabriel Cuendet

  7. Hardware (reminder) • Battery protection, charger and 3.3V DC/DC converter • Radio interface (developped by A. Crespi) • User interface Remote control for CPG-based robots - Gabriel Cuendet

  8. User interface Remote control for CPG-based robots - Gabriel Cuendet

  9. Parts of the project • Hardware • User interface • Battery management • Software • User interface’s PIC18F2580 • Housing and mechanical integration of the hardware • Dev. Version • Final version Remote control for CPG-based robots - Gabriel Cuendet

  10. Final ver. vs Development ver. • Possibility of a supplementary button • Removal of the on-off LED • Reset of the radio interface by software VDD 47kΩ PIC16 PIC18 PIN_B3 /MCLR R Remote control for CPG-based robots - Gabriel Cuendet

  11. Parts of the project • Hardware • User interface • Battery management • Software • User interface’s PIC18F2580 • Housing and mechanical integration of the hardware • Dev. Version • Final version • Functions.c / .h • RemoteControl_GC.c / .h Remote control for CPG-based robots - Gabriel Cuendet

  12. Functions (functions.c / .h) • Registers operations • Getters and setters of various length Remote control for CPG-based robots - Gabriel Cuendet

  13. Functions (functions.c / .h) • Registers operations • Display functions • Operations on the LCD (I2C) Remote control for CPG-based robots - Gabriel Cuendet

  14. Functions (functions.c / .h) • Registers operations • Display functions • Battery management • Getters for the battery voltage, temperature and current (I2C) Remote control for CPG-based robots - Gabriel Cuendet

  15. Functions (functions.c / .h) • Registers operations • Display functions • Battery management • Robots locomotion • Start, stop and update functions for each kind of robot Remote control for CPG-based robots - Gabriel Cuendet

  16. Functions (functions.c / .h) • Registers operations • Display functions • Battery management • Robots locomotion • User interface • press_button(char button), display_menus(), … Remote control for CPG-based robots - Gabriel Cuendet

  17. Functions (functions.c / .h) • Registers operations • Display functions • Battery management • Robots locomotion • User interface • Misc • sync(), err(), scan() Remote control for CPG-based robots - Gabriel Cuendet

  18. Functions (functions.c / .h) • Registers operations • Display functions • Battery management • Robots locomotion • User interface • Misc • Menu functions • Functions to fill the menu table: void function(void) Remote control for CPG-based robots - Gabriel Cuendet

  19. Menu • INFOS RC • Battery voltage • Radio interface version • Reset radio interface microcontroller (PIC16F) • Reset user interface microcontroller (PIC18F) Remote control for CPG-based robots - Gabriel Cuendet

  20. Menu • SELECT ROBOT • Favorites • Enter channel number • Scan (improved function) • ROBOT • Start robot • Stop robot • Start charging • Stop charging Remote control for CPG-based robots - Gabriel Cuendet

  21. RemoteControl_GC.c / .h • Interrupts routines • INT_RTCC : timer during robot control • call to update function every 104ms • INT_EXT : ‘enter’ button • INT_EXT1 : ‘cancel’ button • INT_RB : ‘plus’ and ‘minus’ buttons • call to press_button(char button) • void main() Remote control for CPG-based robots - Gabriel Cuendet

  22. void main() • Initialization sequence • Initialisation of the display • Synchronisation with the radio : sync() • Calibration of the joystick • Setting of the previous and current states • Enabling of the interrupts for the buttons • Implementation of the state machine • Update the display according to the current state if necessary. Remote control for CPG-based robots - Gabriel Cuendet

  23. State machine Changes between states: void press_button(char button) Actions during states: void main() Remote control for CPG-based robots - Gabriel Cuendet

  24. Indication of charge (RC) • Software implementation of the remote control charge indication using LEDs • Indication only in RC_AUTONOMOUS state: current state = previous state = RC_AUTONOMOUS • Current measurement (DS2764) : signed 12 bits value 50 mA < I 30 mA < I < 51 mA 0 mA < I < 31 mA Remote control for CPG-based robots - Gabriel Cuendet

  25. Parts of the project • Hardware • User interface • Battery management • Software • User interface’s PIC18F2580 • Housing and mechanical integration of the hardware • Dev. Version • Final version • Functions.c / .h • RemoteControl_GC.c / .h Remote control for CPG-based robots - Gabriel Cuendet

  26. Integration of the PCB Remote control for CPG-based robots - Gabriel Cuendet

  27. ~2.8 mm 4.5 mm 16.2 mm 19.5 mm 1.6 mm 4.5 mm Elevation • Choice of the buttons • Buttons height : 19 mm Remote control for CPG-based robots - Gabriel Cuendet

  28. 2.2 mm 4.5 mm 0.8 mm 19.5 mm 1.6 mm 4.5 mm Elevation • Choice of the buttons, • Integration of the LCD ~2.8 mm 16.2 mm Remote control for CPG-based robots - Gabriel Cuendet

  29. ~2.8 mm 2.2 mm 4.5 mm 0.8 mm 16.2 mm • Height of the battery: ~8 mm 8.9 mm 19.5 mm 1.6 mm 4.5 mm Elevation • Choice of the buttons, • Integration of the LCD and the battery Remote control for CPG-based robots - Gabriel Cuendet

  30. Ergonomics of the user interface • Inspiration from the Logitech gamepad Remote control for CPG-based robots - Gabriel Cuendet

  31. Method • Use of « Solidworks » for modelling • Mechanical drawings of the two panels which were drilled (cf. report) Remote control for CPG-based robots - Gabriel Cuendet

  32. Result Remote control for CPG-based robots - Gabriel Cuendet

  33. Acknowledgements • Alessandro Crespi • André Guignard • Mathieu Porez Remote control for CPG-based robots - Gabriel Cuendet

  34. Questions Thank you for your attention

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