Robot Drummer - Revision history

Bobby By at 23:00, 20 March 2009

2009-03-20T23:00:22Z

← Older revision		Revision as of 18:00, 20 March 2009
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	[[ME_333_final_projects]]		[[ME_333_final_projects]]

	[[Image:Robot_Drummer.jpg\|thumb\|~~900pix\|right~~\|Robot Drummer]]		[[Image:Robot_Drummer.jpg\|right\|thumb\|1000px\|Robot Drummer]]
	<br>		<br>

Bobby By at 22:59, 20 March 2009

2009-03-20T22:59:31Z

← Older revision		Revision as of 17:59, 20 March 2009
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	[[ME_333_final_projects]]		[[ME_333_final_projects]]

		⚫	[[Image:Robot_Drummer.jpg\|thumb\|900pix\|right\|Robot Drummer]]
			<br>

	==Team Members==		==Team Members==
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	===Mechanical Overview===		===Mechanical Overview===
	In this project, we were asked to demonstrate motor control of two separate motors running simultaneously. It was thought that a simple way to visually demonstrate motor control and be aesthetically pleasing was to make a small drum set.		In this project, we were asked to demonstrate motor control of two separate motors running simultaneously. It was thought that a simple way to visually demonstrate motor control and be aesthetically pleasing was to make a small drum set.

⚫	[[Image:Robot_Drummer.jpg\|thumb\|~~400pix~~\|~~left~~\|Robot Drummer]]

	This drum set consisted of a base, a drum pad and two drum sticks. All the parts were manufactured in the Northwestern machine shop, with materials supplied. The motors are removable and can be switched by loosening the brackets that hold them down. One of the main considerations was reusability of the motors and this setup allows easy removal or switching of motors from our device.		This drum set consisted of a base, a drum pad and two drum sticks. All the parts were manufactured in the Northwestern machine shop, with materials supplied. The motors are removable and can be switched by loosening the brackets that hold them down. One of the main considerations was reusability of the motors and this setup allows easy removal or switching of motors from our device.

Bobby By: /* Overview */

2009-03-20T22:54:15Z

Overview

← Older revision		Revision as of 17:54, 20 March 2009
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	==Overview==		==Overview==
	The goal of this project was to create a high speed motor controller which can receive commands and be modified through MATLAB, so that anyone could take a couple motors and a few dollars worth of ~~hardward~~ and implement accurate high-speed encoder-based feedback control. MATLAB sends commands via RS232 serial connection to a "master" PIC which in turn communicates with a number of "slave" PICs to initiate motor control. To demonstrate this, the Robot Drummer was created.		The goal of this project was to create a high speed motor controller which can receive commands and be modified through MATLAB, so that anyone could take a couple motors and a few dollars worth of hardware and implement accurate high-speed encoder-based feedback control. MATLAB sends commands via RS232 serial connection to a "master" PIC which in turn communicates with a number of "slave" PICs to initiate motor control. To demonstrate this, the Robot Drummer was created.

	==Mechanical Design==		==Mechanical Design==

Agatha Lee: /* Results */

2009-03-20T19:12:19Z

Results

← Older revision		Revision as of 14:12, 20 March 2009
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	*The slave PICs implement feedback PD control.		*The slave PICs implement feedback PD control.
	*Upon request, data can be sent from the slave PICs back to MATLAB.		*Upon request, data can be sent from the slave PICs back to MATLAB.

	'''Objectives Not Met'''<br>
	We were unable to implement data logging to flash memory for high resolution tracking of the motor position.

	==Reflections==		==Reflections==

Agatha Lee: /* Results */

2009-03-20T19:11:45Z

Results

← Older revision		Revision as of 14:11, 20 March 2009
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	'''Objectives Not Met'''<br>		'''Objectives Not Met'''<br>
	*We were unable to implement data logging to flash memory.		We were unable to implement data logging to flash memory for high resolution tracking of the motor position.

	==Reflections==		==Reflections==

Agatha Lee: /* Results */

2009-03-20T19:09:31Z

Results

← Older revision		Revision as of 14:09, 20 March 2009
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	*The slave PICs implement feedback PD control.		*The slave PICs implement feedback PD control.
	*Upon request, data can be sent from the slave PICs back to MATLAB.		*Upon request, data can be sent from the slave PICs back to MATLAB.

			'''Objectives Not Met'''<br>
			*We were unable to implement data logging to flash memory.

	==Reflections==		==Reflections==

Agatha Lee: /* Results */

2009-03-20T19:07:43Z

Results

← Older revision		Revision as of 14:07, 20 March 2009
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	[http://www.youtube.com/watch?v=wh8u9EHXdRs Video of the Robot Drummer]		[http://www.youtube.com/watch?v=wh8u9EHXdRs Video of the Robot Drummer]

	'''Objectives Met'''		'''Objectives Met'''<br>
	Despite the problems we encountered early on in the project, overall we are pleased with the progress we've made in a relatively short amount of time. We believe this project will be of great use to others. We were able to meet the following objectives:		Despite the problems we encountered early on in the project, overall we are pleased with the progress we've made in a relatively short amount of time. We believe this project will be of great use to others. We were able to meet the following objectives:

Agatha Lee: /* Results */

2009-03-20T19:07:31Z

Results

← Older revision		Revision as of 14:07, 20 March 2009
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	[http://www.youtube.com/watch?v=wh8u9EHXdRs Video of the Robot Drummer]		[http://www.youtube.com/watch?v=wh8u9EHXdRs Video of the Robot Drummer]

	~~===~~Objectives Met~~===~~		'''Objectives Met'''
	Despite the problems we encountered early on in the project, overall we are pleased with the progress we've made in a relatively short amount of time. We believe this project will be of great use to others. We were able to meet the following objectives:		Despite the problems we encountered early on in the project, overall we are pleased with the progress we've made in a relatively short amount of time. We believe this project will be of great use to others. We were able to meet the following objectives:

Agatha Lee: /* Quad Encoder */

2009-03-20T19:05:53Z

Quad Encoder

← Older revision		Revision as of 14:05, 20 March 2009
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	#byte QEICON= 0xFB6 // Quadrature Encoder Interface control register		#byte QEICON= 0xFB6 // Quadrature Encoder Interface control register
	int16 POSCNT; // Position Count register (16 bit)		int16 POSCNT; // Position Count register (16 bit)
	#byte POSCNT = 0xF66		#byte POSCNT = 0xF66
	#byte POSCNTH = 0xF67		#byte POSCNTH = 0xF67
	#byte POSCNTL = 0xF66		#byte POSCNTL = 0xF66

	int16 MAXCNT; // Can set POSCNT to reset when POSCNT=MAXCNT		int16 MAXCNT; // Can set POSCNT to reset when POSCNT=MAXCNT
	#byte MAXCNT = 0xF64		#byte MAXCNT = 0xF64
	#byte MAXCNTH = 0xF65		#byte MAXCNTH = 0xF65
	#byte MAXCNTL = 0xF64		#byte MAXCNTL = 0xF64
	</pre>		</pre>

Agatha Lee: /* I2C */

2009-03-20T19:04:26Z

I2C

← Older revision		Revision as of 14:04, 20 March 2009
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	</pre>		</pre>

	This is required possibly due to the fact that the 4431 uses an SSP module instead of MSSP like the 4520, and has one SSP control register instead of two (refer to [http://www.picbasic.co.uk/forum/showthread.php?t=7920 this] PIC forum thread).		This is required possibly due to the fact that the 4431 uses an SSP module instead of MSSP like the 4520 and most other 18F PICs, and has one SSP control register instead of two (refer to [http://www.picbasic.co.uk/forum/showthread.php?t=7920 this] PIC forum thread).

	====Control====		====Control====