MSP430 Balance Beam. ECE 511, Fall nd Progress Report Group 5 Jason Kost Ali Mirzaeian Naif Almalki

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August Hector Carter
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1 MSP40 Balance Beam ECE 5, Fall 07 nd Progress Report Group 5 Jason Kost Ali Mirzaeian Naif Almalki

2 Overview a balance beam that will adjust itself to remain balanced on two feet as various objects are placed on the ends of the beam a related but easier task than a true inverted pendulum a fun to watch demonstration of a simple feedback control system

3 Block Diagram inclinometer ADIS60 SPI MSP40 GPIO Limit Switches GPIO motor driver DRV885 M

4 overall status construction of mechanical structure complete power supply solution built and tested motor and motor driver operation tested with function generator construction of circuit board 90% complete; mounted to beam

5 Inclinometer Analog Devices ADIS60 mounted on eval board provides absolute readout of inclination in 0.05 steps over the full 60 range interfaces with MSP40 via SPI part acquired, code to operate under development

Motor SOYO SY4STH8-684A NEMA-7 bipolar stepper motor with integrated leadscrew 00 steps per revolution; each full step results in 40 um of linear motion driven with DRV885 stepper motor driver

6 Motor SOYO SY4STH8-684A NEMA-7 bipolar stepper motor with integrated leadscrew 00 steps per revolution; each full step results in 40 um of linear motion driven with DRV885 stepper motor driver part acquired and mounted to beam; operation in full stepping mode with motor driver tested significant noise and vibration, which may interfere with sensor; may be reduced by using microstepping

Motor driver texas instruments DRV885 stepper motor driver, mounted on eval board one logic input for direction (level sensitive) one pulse input for stepping (one step per pulse) two pairs of

7 Motor driver texas instruments DRV885 stepper motor driver, mounted on eval board one logic input for direction (level sensitive) one pulse input for stepping (one step per pulse) two pairs of outputs, one for each coil of motor output current set with onboard trimpot interfaces with uc via GPIO pins; timers will generate pulse trains of varying frequency part acquired, soldered to circuit board, tested current output tuned to.4a, just below current spec of motor (.6A) consumes approximately 5W when driving our motor microstepping (up to x) capable; may reduce motor noise and vibration, but motor will move slower

Limit switches Hamlin 59065-040 magnetically operated proximity sensor one on each end of the beam included to prevent linear bearing/carriage from moving too far essentially normally closed switch,

8 Limit switches Hamlin magnetically operated proximity sensor one on each end of the beam included to prevent linear bearing/carriage from moving too far essentially normally closed switch, opens when close to a magnet interfaces with uc via GPIO input, along with pullup resistor parts acquired and mounted to beam; switching operation confirmed switches open within approximately 0.5 of magnet

9 power supply solution.7v nominal (.0 to 4.V range) Liion battery supplies up to.a texas instruments PTN04050 step-up configured to produce V at A Murata OKL-T/-W step-down regulator configured to produce.v at A; fed by output of V regulator

10 electrical schematic provides.v and V supply connectors for inputs and outputs D BATTERY -4. V R5 k C J C O N4 M O TO R V IN V A D J R. k D SM B598BT VZ=V U V _ c a r r ie r V M M E N G ND M 0 B M 4 B M A R S T 56 A SLP F L T S T P 78 G N D D IR A 5 L IM IT nr ST_SENSO R nc S_SENSO R G N D TRM 6 R 4. k L IM IT 4 D R 6 40 C nr ST_M O TO R +. V STEP_M O TO R D IR _ M O T O R +. V J C O N R7 4.7 k L IM IT nrst_sen SO R nc S_S EN SO R SC LK_SENSO R D O U T_SENSO R D IN _ S E N S O R +. V SCLK_SEN SO R DO UT_SENSO R D IN _ S E N S O R +. V O N /O F F +. V +. V J4 C O N V IN U O K L - T / - W N+ - C. V V O U T4. 8 k fo r 5 V B C C 00u 5V 0u 5V nfa U LT _M O T O R SENSO R C C u 5 V 0 u 5 V SSSDP4 SW M BB +V C7 DR 00u 5V C6 C 5 u 6V 00u 6V R G N D G N D R k +V 7 U PTN04050C G N D V O U T4 Q M TP50P0H D L J C O N voltages, with on/off switch houses motor driver, and 4 mechanical mounting of Launchpad 5 motherboard to provide J5 C O N V P6 P P P P6 P P P4 P V G ND P 6.0 P 6. P 6. P 6. P 6.4 P 7.0 P.6 P.5 U 4 M S P 4 0 _ la u n c h G N D 90 P.0 8 P. 7 P L IM IT RST L IM IT P P. P.6 P. B P 8. P P P.5 7 P.4 6 P. 5 P. 4 P 4. nr ST_M O TO R P 4.0 STEP_M O TO R P. 7 D IR _ M O T O R P 8. nfa U LT _ M O T O R R8 4.7 k L IM IT A

Circuit Board based on vector electronics 8007 perf board lanchpad plugs in to header pins soldered to board power supply components, motor driver, and connectors directly soldered to

11 Circuit Board based on vector electronics 8007 perf board lanchpad plugs in to header pins soldered to board power supply components, motor driver, and connectors directly soldered to board board has 4 standoffs that are screwed to aluminum plate, which is fastened to beam difficulties: adapting 0. hole spacing of board to regulators with seemingly random pin spacings!

12 Flowchart

13 code

14 Project status Task division Jason overall project design, component selection, electrical design, electrical and mechanical construction, motor characterization Ali inclinometer characterization, programming Naif programming Progress so far mechanical construction complete electrical construction 90% complete Programming parts almost done remaining tasks Integration

Experiment#6: Speaker Control

Experiment#6: Speaker Control I. Objectives 1. Describe the operation of the driving circuit for SP1 speaker. II. Circuit Description The circuit of speaker and driver is shown in figure# 1 below. The