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### GIZMO Remote-Controlled Bluetooth Interface Development Overview ###

The GIZMO project focuses on developing a remote-operated Bluetooth interface for a robotic truck. Sponsored by Calit2, this presentation details task progression, including the design of the final circuit board, Bluetooth functionality, and accelerometer integration. Key achievements include successfully sending commands via cell phone and writing code for Bluetooth disconnection handling and ADC data processing. Future tasks involve sending accelerometer data to the phone and optimizing microcontroller code. The project demonstrates significant advances in mobile robotic control and microcontroller programming. ###

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### GIZMO Remote-Controlled Bluetooth Interface Development Overview ###

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  1. GROBIGizmo Remote Operated Bluetooth Interface Sponsor: Calit2 Mentors: Paul Blair & Javier Rodriguez Molina Team: Kristi Tsukida & Eldridge Alcantara Group 13 ECE 191 Fall 2006 – Week 8 November 16, 2006

  2. Agenda • Gantt Chart • Tasks Performed • Technical Content • Bluetooth Status Detection • GIZMO User Interface • Motor Control Settings • Successive Approximation ADC • Summary

  3. Gantt Chart

  4. Tasks Performed • Sent commands from cell phone to GIZMO truck (Eldridge) • Finished final circuit board design (Kristi) • Wrote code to handle when Bluetooth is disconnected (Kristi) • Wrote ADC code to read and process data from accelerometer (Eldridge)

  5. Block Diagram of Final Prototype References: 1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg 2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg 3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg 4 – http://memsic.com 5 - http://responshphere.calit2.net/gizmo Circuit Board Accelerometer 3 1 Microcontroller Bluetooth Serial Adapter 2 4 Cell Phone GIZMO 5

  6. Tasks Left To Complete References: 1 - http://nds2.photos.nokia.com/EUROPE_NOKIA_COM_3/r2/press/photo/phones/jpeg/05_6600_lores.jpg 2 - http://www.ixbt.com/mainboard/images/barebones-2k3-may/pundit/pundit-bluetooth-module.jpg 3 - http://www.roboter-teile.de/Shop/images/dbimages/artikel_0000017_s.jpg 4 – http://memsic.com 5 - http://responshphere.calit2.net/gizmo Circuit Board Accelerometer 3 1 Microcontroller Bluetooth Serial Adapter 2 4 Cell Phone GIZMO 5

  7. Bluetooth Status Detection • Detect Bluetooth disconnection • Stop truck when disconnected • Bluetooth module has status pin which is low when disconnected • Use microcontroller pin change interrupt to detect a high  low transition

  8. GIZMO Remote Control User InterfaceVersion 2.0 Divided “Command” section into two parts Added a section to display velocity Joystick Commands L = Left R = Right F = Forward S = Stop B = Backward Keypad

  9. Settings modifiable from phone menu Different for different ESC (electric speed controller) and motors Save settings to EEPROM of microcontroller Motor Control Settings high pulse needed to get truck to start moving Init time Max speed level PWM pulse width Forward Increment Init speed Base speed Speed Level = ... Speed Level = 0 Speed level = 2 time Speed level = 1 Example: Modifiable settings for a forward PWM signal

  10. Block Diagram forADC and Accelerometer Atmega164P Bluetooth Determine Acceleration Transmit Buffer ADC Accelerometer Cell Phone

  11. Successive Approximation ADC Successive Approximation Register End of Conversion Digital to Analog Converter Output of ADC: Sample and Hold Circuit http://en.wikipedia.org/wiki/Successive_Approximation_ADC

  12. Example ofSuccessive Approximation ADC Let ADC have 4 bits of precision Let: Vref = 2 V Vin = 1.5 V From formula: 8 DAC Output = 1.067 < Vin 12 DAC Output = 1.6 > Vin DAC Output = 1.35 < Vin 10 DAC Output = 1.467 < Vin 11 11

  13. Summary • Current state: we can control the GIZMO truck through cell phone • Plans for next two weeks: - send accelerometer data to cell phone (Eldridge) - install circuit board on GIZMO truck (Kristi) - motor control settings on microcontroller (Kristi) - motor control settings on phone (Eldridge) - optimize microcontroller code (both)

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