Overview for Inverted Pendulum Demo
Contents
1. Green This Node is Doing Recovery n a Yellow n a Error Occurred But if they are never on then they were disabled to save processing time 6 2 7 Packet Format Packet Format Preamble 10 bytes Synch 2 bytes Header 6 bytes Type 1 byte State 2 bytes Budget 2 bytes Length 1 byte Payload 0 28 bytes variable CRC 2 bytes Total Size 20 bytes payload 6 2 8 Changing Settings Set schedule and message table in FAIEDFM nc Set protocol parameters in FAIEDFSched h Additional settings are in tos platform mica2 CC1000Const h 6 2 9 Changing Preamble Size I did reduce preamble size from 28 down to 10 in CC1000Const h to speed up the protocol transmission j10 did not work This change also affects the standard protocol because it is not in the current folder but only makes the standard one go faster 6 2 10 When setting MAX TX TIME Use 25 max payload as a minimum extra 4 bytes for radio transition and processing 1 for flush state if same mote xmits twice in a row Aperiodic messages also require at least 25 bytes payload so if needed the MAX_TX_TIME should be large TinyOS DEVELOPMENT NOTES 21 Max packets sec transmission is approximately 2400 MAX_TX_TIME Budget is passed to the next node and used up by sending a control mes2. MoteID AIAIBIBIAICIAI TaskID OlOlxixi1ilixl2 Example MsgTable at Mote A Task 0 TOS_Msg Task 1 TOS_Msg Task 2 TOS_Msg 4 6 2 3 TOS_Msg Preparation 1 Fill in addr type and group fields 2 Fill in the data section with up to 24 bytes Extra bytes will be filled with Local Address PacketID and extra budget 3 Fill in the length field for the length of data you added Setting length to 0 will send the minimum length packet without corrupting the data so budget can be forwarded 4 Leave CRC alone will be added automatically 6 2 4 Changing Messages Be sure to stop the radio if changing the schedule For updating message data just update the table using atomic around the value assignment I use interface RTUpdate for this Set the length to 0 to send a minimum length packet 6 2 5 Maximum Sizes The motes and this implementation allow for 255 motelDs ID s 0 254 256 tasks mote ID s 0 255 4000 messages in schedule with 4 tasks mote 8K RAM TinyOS DEVELOPMENT NOTES 20 6 2 6 LED Meanings On Toggle Red Idle Channel Detected n a
3. Rod potentiometer range is not as desired Cart potentiometer range is not as desired 8 1 6 8 1 7 8 1 8 8 1 9 8 1 10 8 1 11 8 1 12 8 1 13 8 1 14 8 1 15 8 1 16 Cart moves even when the program is not running ooo aa 24 Cart balances but then slowly moves off in one direction 24 Cart and rod stop balancing with working program 24 Ethernet network does not work oaoa a a 24 After exiting the screen becomes gibberish 24 Restarting S Ha R K freezes computer during S Ha R K initialization 25 The image from the framegrabber is not desired 25 Program freezes after a few seconds May or may not quit 25 Program freezes or quits with a non scheduling error 25 Mote appears to be on but the computer isn t receiving anything 25 Program a mote gives a long list of flash errors 26 INTRODUCTION 4 1 INTRODUCTION This project originated from the need for a running demo using the Fault Tolerant Implicit EDF scheduling algorithm for wireless communication Since inverted pendulum systems are the standard for testing control algorithms we felt it would be an excellent demonstration for the algorithm Although S Ha R K does contain an official demo for controlling the inverted pendulum it did not contain the functionality we sought Therefore we created our own demo in which we use camera sensors in complement with potentiom
4. Avoid touching the circuitry of the mote and programming boards as they can be easily damaged Turn the mote on a red LED should light up on the programming board Go to the folder that contains the application you want to program FAIEDF for instance and type make mica2 install ID where ID will be the mote s ID Folder FAIEDF contains the implementation of the protocol Use folder FAIEDF Base to create a receiver node similar to TOSBase which can monitor traffic forward it to a com puter 6 2 FAI EDF Implementation FAI EDF stands for fault tolerant asynchronous implicit earliest deadline first It is real time wireless communication protocol developed by the Real Time Systems group at the University of Illinois at Urbana Champaign to guarantee deadlines even in the event of node failures and with no strict time synchronization between nodes This protocol has been implemented in the MAC layer of the motes 6 2 1 Graphical Overview To see a graphical overview of the system run make mica2 docs from the FAIEDF folder and then view the page at tinyOS root tinyos 1 x doc nesdoc mica2 apps FAIEDF FAIEDF nc app html TinyOS DEVELOPMENT NOTES 19 6 2 2 Schedule and Message Formats A schedule contains the order to transmit with each entry representing one maximum sized packet If the entry is the mote s own ID then the taskID contains the corresponding message to send Example Schedule at Mote A
5. S Ha R K sometimes initializes the framegrabber incorrectly Reboot the computer until image is corrected You might have to reboot several times If that has no effect then there might be something wrong with the S Ha R K driver for that card We suggest using a popular card like the Winfast TV 2000 Also make sure the camera is connected properly 8 1 13 Program freezes after a few seconds May or may not quit SOLUTION Memory leak most likely DETAILED SOLUTION We had a lot of trouble with malloc and while loops even when we freed the memory properly Our suggestion is to avoid using malloc whenever possible If you did use it make sure the memory is freed MAKE SURE 8 1 14 Program freezes or quits with a non scheduling error SOLUTION Reading past the end of an array most likely DETAILED SOLUTION Make sure you never read past the end of an array in your code This occurred several times in our testing when we did not have an array enough to hold text string we printed to the screen 8 1 15 Mote appears to be on but the computer isn t receiving anything SOLUTION Mote may not be connected properly DETAILED SOLUTION Ensure that the mote is securly in the programming board and that the serial cable is not loose The serial cable should be in port COM1 of the computer TROUBLESHOOTING 26 8 1 16 Program a mote gives a long list of flash errors SOLUTION Mote may not be connected properly DETAILED SOLUTION
6. 311 Canopus WinDVR PCI Face to Face Tvmax Nebula Electronics DigiTV Imagenation PXC200 A complete and up to date list can be found in folder shark_root_directory drivers bttv bttv cards c We used the Winfast TV2000 Deluxe TV2000 with radio tuner and the Osprey 101 v 100 card with a webcam It is recommended to test yours first with the S Ha R K BTTV demo to make sure S Ha R K supports it The only parameter you would have to know would be the channel which the card outputs the images from Osprey 101 uses channel 0 while Winfast TV2000 uses channel 1 S Ha R K supports channels 0 4 If you don t know the channel your card uses just try them sequentially If it s the wrong channel you will get either nothing or static Since most framegrabbers run at 30fps you should schedule your framegrabber task accordingly 4 6 Ethernet Cards Not all Ethernet cards work with S Ha R K Test yours with the Talk demo found in the shark_root_directory demos network folder 4 7 Analog Cameras For our program both the simple webcam and the super sensitive Day Night security camera worked fine As long it can connect to the framegrabber your camera should work NOTE Your camera can be a webcam security cam camcorder digital cam etc 4 8 Motes MICA2 motes were used for this project Motes are small wireless transmitters and receivers These are made by Crossbow http www xbow com Products productsdetails aspx sid 72
7. 4 float v2theta v2x These conversion functions appear in every later program They stand for voltage to theta and voltage to x They are called every time a task needs to convert raw voltages into degrees or cm Later on v2x gets renamed to input2x since the types of inputs increased from just voltages to pixels from cameras but its job remains the same 5 4 5 TASK readingReg This task is purely for debugging It just displays the inputs and outputs 5 4 6 TASK cart or cart_control This task appears in every later program This is the brain of our program It reads the inputs and determines the output We used both proportional and derivative control but could not get integral control to work correctly For Stage 5 the control functions were rewritten so that integral control worked properly and other improvements were made The 6 gains used in the calculations kp kd ki for angle and x were found through trial and error A better way would have been through calculations but we could not remove the rod from the cart to get their separate masses S Ha R K DEVELOPMENT NOTES 15 Built into the controller is the limit on the output to between 5 and 5 volts and there is also a safety clause which stops the cart if the rod angles goes past 30 in either direction Without this the cart might get damaged by trying to move off the track If the angle goes past 30 during normal control then it Questions Email taoluo engineering
8. 6 2 6 1 1 6 1 2 Where to Get Help 0 tata a ls ao Using the Motes de as heed ea rs ade be egy wake kee 1g eae a SE ke FAI EDF Implementation 42 5 e SAR dca had a aed dey ads 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 6 2 6 6 2 7 6 2 8 6 2 9 6 2 10 6 2 11 6 2 12 Graphical Overview rt a ake Pe oe DAA AA Schedule and Message Formats a ee eae TOS Mee Preparation 46 2 e fe Ei a a ee Changing Messages 2 rs EBS ae ESE da SAS Maximum A oo Shier siete GE eee Sens hE Ge dane gS ee Se nn be a pe ad LED Meanings 2 2 4a ee aioe eo Bs a ee ee ee eg Packet Format io E a Beak be elt A ohne Sty oe Bae o Changing Settings ed ce Re AS I he tn ge Changing Preamble Size 4 te te eee rr Sat med A a When setting MAX TX TIME 5 gue a dk eco el dk ee eee Real Time Updating of Data from Serial Port Not Implemented in this Version mirada ves eee a epa RUNNING THE PROGRAMS Stage 28 I eui a a oe da a o ah esha es Go ee ed 7 1 G2 7 3 7 4 7 5 Stage 2 Gamera LA 20k toe a hk day Sth medal beck ara e A nae de eke D Stages Remote Control geane tetra de tale oran do Le Basses So hod Stage 4 Network Camera 2 REA AA de e Stager a MOTES aa aiaa a a AT A A e T TROUBLESHOOTING 8 1 Problems and Solutions 8 1 1 8 1 2 8 1 3 8 1 4 8 1 5 Floppy disk died Hie Ae a 8 AR oe Oe ae ete Rod is sticking when it s close to perpendicular Rod voltages changes after moving back to the same position
9. Make sure that the batteries are good and that the mote has is connected securly in the programming board The parallel cable is used for programming so make sure it is not loose If that does not work try running MicaHWVerify on the mote This will cause the LEDs to blink as a binary counter If the LEDs don t work then the mote is probably damaged
10. Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu 5 10 IPC MOTECAM IPC_MOTECAM is the same as IPC_NETCAM except the Ethernet network code is re placed with mote network code Questions Email hoke uiuc edu 5 11 MOTES motecom c motecom h These files were supplied by Spencer Hoke who programmed the wireless motes Questions Email hokeQuiuc edu TinyOS DEVELOPMENT NOTES 18 6 TinyOS DEVELOPMENT NOTES Here you will find some notes explaining our code and some tips to help you avoid the problems we ran into while coding the TinyOS portion of the project We were using Mica2 motes for this project It is recommended you read through everything sequentially 6 1 TinyOS TinyOS is an open source operating system designed for wireless embedded sensor networks It features a component based architecture which enables rapid innovation and implemen tation while minimizing code size as required by the severe memory constraints inherent in sensor networks http www tinyos net 6 1 1 Where to Get Help If you have never used TinyOS before the tutorial available at http www tinyos net tinyos 1 x doc tutorial index html is highly recommended Work through each section to go through examples of how to write programs and use the motes 6 1 2 Using the Motes To program the motes attach them to a mote programming board Then connect it to a computer that has TinyOS installed through the parallel port
11. R K 1 3 1 4 1 5 Alpha available from http shark sssup it 3 Computers 2 with ISA slots for DT2811 card Dell 350 MHz ISA Gateway 200 MHz ISA C93847 1 GHz 2 Framegrabber cards Osprey 101 and Winfast TV2000 2 Analog cameras Osprey 101 Webcam and Day Night Security Camera 1 DT2811 A D card and cables 3 Ethernet cards 1 Track Painted Black 1 Cart Painted Black 1 Rod Black Taped 1 Power Module PA0103 preconfigured 1 2600 MCD Blue LED for camera tracking TinyOS version 1 1 0 available from http www tinyos net 3 MICA2 Motes 3 Mote Programming Boards for serial port connection 1 Manual Binder AD1200 and S Ha R K 1 3 Manuals 1 Toolbox with level screwdriver black tape etc 3 2 Stage 1 DT2811 Control IPC_DT2811 1 Computer running S Ha R K 1 5 Alpha 1 DT2811 A D card and cables Track amp Cart amp Rod amp Power Module 3 3 Stage 2 Camera Control IPC_Camera 2 Computers running S Ha R K 1 5 Alpha 1 Framegrabber card 1 Analog camera 1 DT2811 A D card and cables 1 LED Track amp Cart amp Rod amp Power Module 3 4 Stage 3 Remote Network Control IPC_RC 2 Computers running S Ha R K 1 5 Alpha 2 Ethernet cards 1 DT2811 A D card and cables Track amp Cart amp Rod amp Power Module EQUIPMENT 3 5 Stage 4 Network Camera Control IPC_NETCAM 3 Computers running S Ha R K 1 5 Alpha 3 Ethernet cards
12. They were programmed using TinyOS version 1 1 0 http www tinyos net A schedule for EQUIPMENT NOTES 11 transmitting was determined beforehand and programmed into the motes Each computer had a serial cable connected to COM1 and a mote programming board which had a mote on it Questions about the motes should be directed to Spencer Hoke hoke uiuc edu Questions Email taoluo engineering uiuc edu S Ha R K DEVELOPMENT NOTES 12 5 S Ha R K DEVELOPMENT NOTES Here you will find some notes explaining our code and some tips to help you avoid the prob lems we ran into while coding the S Ha R K portion of the project It is recommended you read through everything sequentially The main functions are discussed so you can follow along through the code Our progression through S Ha R K versions Began with S Ha R K 1 3 S Ha R K 1 3 had conflicts with framegrabber cards and the DT2811 cards Moved to S Ha R K 1 4 S Ha R K 1 4 had conflicts with framegrabber cards and the Ethernet cards Moved to S Ha R K 1 5 Alpha S Ha R K 1 5 Alpha had conflicts between Ethernet cards and USB ports Moved to S Ha R K 1 5 Alpha patch Currently using S Ha R K 1 5 Alpha patch 5 1 Important S Ha R K Types 5 1 1 Main Task The int main function is a task in S Ha R K and it is scheduled as a Non Real Time task Thus it has the lowest priority out of all the tasks So if tasks don t get initialized or keyboard won t accept inputs assuming
13. a tee aide A E A a 12 A a AAA IP E A RN 12 5L Hard Tasks sif dk AA A A HERS ek 12 E Lasks s Dir eTa e de ESR ey es Es et Ome i ul aana GAAL ee Gs 12 AU ADS ell Stale ls eu ee ee arp os ane et due ee ane ee ape Wee sai 12 5 2 Adding Drivers libdep mk La tub bo E a Ae ee eee 13 53 DT2811 A D Card Driver dt2811 c dt2811 h is sae a aogier cate Sk ated 13 Ad Stage IPE ATID 2 AA oad SE ee eR ee 14 BA AL v id w itentet si lt lt se eh oA ae Go es Spe ee Be Se eh 14 542 mt da MOE nw Tal Poe ee A eee A oe a e ele 14 94 3 Old calibrado acco he Kher bch Sele dea ea Se ee ek Ys Sek 14 5AA Moat VOUNCt AV ots 4 018 e O bk gle ts 14 5 4 5 TASK readingReg A E he eed GR i Oe ee 14 5 9 5 6 5 7 5 8 5 4 6 TASK cart or cart_control a a a Framegrabber Code camera c camera b a a Stage 2 IPO Camera m urdei ep A a a a A 2 a a ange SAAE Ea SI 5 6 1 TASK display inputs 0 rl BS ce ds ee pedos Stage o IPORO sb hn shod a yesh eg kee td depended ety Ged toe cay Ses ad Ethernet Network network c network b 0 o 5 8 1 5 8 2 5 8 3 FRAME make_packet up wet ge Bo chet SS ode eS Sess TASK network senado TASK network_receive 2 0 0 0 a a ee 59 Staged IPO NETCAM oia aos ey de ene al Sue nae u ee SL PRG NIG TOP dE at aes tact y dle Bate a ide Sc 5 11 MOTHS motecom c motecom h 4 104 106 AA OR TinyOS DEVELOPMENT NOTES 6L SOS ach A tai ate ee Whe Pasa BO aS eed ke ae a
14. the data For writing to the card you just need to split your value into the low and high byte and output to the D A register Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu S Ha R K DEVELOPMENT NOTES 14 5 4 Stage 1 IPC_DT2811 This program is the basic inverted pendulum stabilizing controller It reads from both built in potentiometers to get the rod s angle and cart s x position then calculates the voltage to output to move the cart It communicates with only the DT2811 card This demo is the base of all our other demos so the code frequently reappears with minor adjustments 5 4 1 void waitenter This function appears in every later program It stops the program from running until the Enter key is press Usually one Enter key press can finish two waitenter calls sending CR LF so it might be necessary to call waitenter twice sequentially 5 4 2 int da_motor This function appears in every later program It just takes in one float and outputs it to the correct channel of the dt2811 card 5 4 3 void calibrate This function appears in every later program It is called once during the start of our program and it stores the potentiometer inputs at several different points This allows our conversions functions to operate Later on it will be modified to accept camera inputs and network inputs but its job is still the same storing initial data so that the conversions functions can operate 5 4
15. track hardware changed and needs to be recalibrated DETAILED SOLUTION Because of use the hardware will change over time Screws loosen track became uneven etc You will just have to recheck each one by one Since these changes also affect the control gains you will most likely need to find any calibration values and the gains again 8 1 9 Ethernet network does not work SOLUTION If Ethernet cable is securely in place S Ha R K may not support your network card DETAILED SOLUTION Test out your Ethernet card using official demos such as Talk or Network Also make sure you only have one active Ethernet card You can disable Ethernet cards by either removing them for PCI cards or disabling them through the BIOS for cards built in to the motherboard 8 1 10 After exiting the screen becomes gibberish SOLUTION Reboot DETAILED SOLUTION This only happens when using BTTV in the demo and on only one of our computers Dell It doesn t really affect our testing since we can hit the up arrow key in DOS to restore the last command But rebooting will fix that problem TROUBLESHOOTING 25 8 1 11 Restarting S Ha R K freezes computer during S Ha R K initialization SOLUTION Reboot DETAILED SOLUTION This happens on one of our computers Dell but works fine on the other two You will have to reboot the computer after exiting the demo 8 1 12 The image from the framegrabber is not desired SOLUTION Reboot DETAILED SOLUTION
16. uiuc edu jha4 engineering uiuc edu 5 5 Framegrabber Code camera c camera h Most of the code was taken from the BTTV demo The function start_frame_grabber starts the framegrabber and grab_command retrieves the image from the hardware The task draw_image_task reads from the framebuffer and draws the image pixel by pixel onto the screen Our task track_led_task also reads from the framebuffer but only draws the pixels that exceed the threshold Next it looks for the boundaries of the drawn pixels and averages them to determine the LED position Therefore it is extremely important that there are no sources of light or reflections that exceed the threshold besides the LED itself When using the framegrabber grx_text must be used to display text on the screen No other print methods cprintf printf xy will work In the makefile SHARKOPT must have FB _12C__ _BTTV_ In the initfile you must init FB26 12C26 and BTTV26 Look in our code for the exact method The image that is outputted to the screen is 320 by 240 since most framegrabbers only output to that resolution One thing though most of the time it outputs only a partial image to the screen 80 down the image there will be a line and the rest of the picture below that will be the upper part of first image ever outputted to the screen as in it never updates We can t describe it very well so your best bet would be to test out the S Ha R K BTTV demo it happens in the offi
17. 2 Framegrabber cards 2 Analog cameras 1 DT2811 A D card and cables 1 LED Track amp Cart amp Rod amp Power Module 3 6 Stage 5 FTIEDF Mote Control IPC_MOTECAM 3 Computers running S Ha R K 1 5 Alpha 3 MICA2 Motes running TinyOS 1 1 0 3 Mote programming boards 2 Framegrabber cards 2 Analog cameras 1 DT2811 A D card and cables 1 LED Track amp Cart amp Rod amp Power Module EQUIPMENT NOTES 8 4 EQUIPMENT NOTES This section contains notes about the equipment we used This section will probably only be useful to you if you have the same equipment However it might be helpful to skim it at least because some of it might apply to you 4 1 Computers S Ha R K is quite picky about computers Programs that run fine on one may not run at all on another Other times programs that execute fine on one computer may have problems on another It is recommend to test your program frequently and on multiple computers NOTE Since S Ha R K is a real time operating system tasks that cannot be scheduled on one computer may be able on a faster one The same applies in reverse Keep that in mind when setting deadlines for tasks 4 2 DT2811 A D Card This card uses an ISA slot so whatever program you develop using this card has to run on a slow PII or lower system The cable had already been wired to use the ground channel in the card to reduce the noise so no further modifications were necessary We labe
18. B _PATH libmyDriver a endif endif To use myDriver add _myDriver__ to SHARKOPT of the makefile ie SHARKOPT __myDriver__ Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu 5 3 DT2811 A D Card Driver dt2811 c dt2811 h IMPORTANT NOTE The card only supports a range from 5 to 5 volts Anything beyond these ranges will register as either the min or the max The output from our potentiometer can exceed these ranges thus we had to be careful in our experiments We recommend you test first using the calibration phase of our programs any except the first program to find the min and the max S Ha R K did not supply a driver for this card so we wrote our own If you are not interested in writing a new driver you can skip the rest of this section Read the AD1200 Reference Manual for an idea on how the DT2811 card works We could not locate the DT2811 Manual so we use the 100 compatible AD1200 Manual The main points of interest are the registers for reading and writing to the card Finding the addresses of these registers should be of utmost importance We believe that for ISA cards the addresses are set on the card itself Once the addresses are found it is a simple task of writing and reading from these registers For reading first output the mode you want we use mode 0 to the control register Once the 7th bit in the control register is set A D is done you can read from the low and high byte to get
19. Overview for Inverted Pendulum Demo Tao Luo taoluo engineering uiuc edu Jaehoon Ha jha4 engineering uiuc edu Spencer Hoke hokeQuiuc edu Marco Caccamo mcaccamoQuiuc edu January 27 2005 Contents 1 INTRODUCTION 4 2 GOALS 5 2d AMATIN GOAL 60 go i cys he ga A IR ae eA te a 5 2 25 SU GO Mag a O a a A BR IS SO 5 2 2 1 Stage 1 DT2811 Control UPC Dr 281 lyn 4 oe oe Ace ee Bae ee A 5 2 2 2 Stage 2 Camera Control IPC_Camera 5 2 2 3 Stage 3 Remote Network Control IPC_RC 5 2 2 4 Stage 4 Network Camera Control IPC_NETCAM 5 2 2 5 Stage 5 FTIEDF Mote Control IPC_ MOTECAM 5 3 EQUIPMENT 6 3L Lota valle e te te sd is a tr Moko eG te ite E os 6 3 2 Stage 1 DT2811 Control IPC DP 2801 ts A ER 6 33 Stage 2 Camera Control IPC Camera id aoe SS a ee ee 6 3 4 Stage 3 Remote Network Control IPCRC 6 3 5 Stage 4 Network Camera Control IPC_NETCAM T 3 6 Stage 5 FTIEDF Mote Control IPC_ MOTECAM T 4 EQUIPMENT NOTES 8 4J Computers ca ia aa e a a ae a A a a Re ee A 8 AO DITA DONI a ude oh Og a a db a Be he de 8 4 3 Power Module PAU LOG che ite a desk eat a woe dnl See Say AS 8 4A Track Cart Rod and LED 5 5 a SR AA a ak rd ae dA 8 4 5 Framegrabber Cards bs us arp e ER A AAA 9 O o O ee 8 10 A Analog Camaras dr da dde ta do en e E 10 A O A A A ee te one fee 10 5 S Ha R K DEVELOPMENT NOTES 12 5 1 Important S Ha R K Types ett ap
20. cial demo By rebooting there is a chance that it will disappear and we get a complete image But it doesn t really bother our program as long as the bottom part is dark so track_led_task doesn t pick it up If it is not dark try turning the camera on and off or the room lights on before turning the camera on Finally all the framegrabber tasks should be soft since drawing to the screen is time consuming and if it misses we don t want the control to stop Questions Email jha4 engineering uiuc edu 5 6 Stage 2 IPC_Camera We added a camera input to IPC_DT2811 to get IPC_Camera Everything is pretty much the same except it now uses a camera for the horizontal data instead of the potentiometer S Ha R K DEVELOPMENT NOTES 16 5 6 1 TASK display_inputs This task appears in every later program It runs only in the calibration phase for debugging purposes You can look at the values printed to make sure everything is ok Once calibration is done a flag is set and the task exits out of the while loop We did this because we could not get task_kill to work from another task Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu 5 7 Stage 3 IPC RC IPC_DT2811 was split into two different programs an I O IPC_IO and a controller IPC_Controller They communicate using UDP on the Ethernet network One computer running IPC_IO reads potentiometer inputs and sends them over the Ethernet to another computer r
21. ed to the cameras if the program is picking up any extra light than the LED There should only be a white circle indicating the LED position Everything else must be covered or blocked because these reflections throw off our tracking program since it looks for the bright spot in the image 4 5 Framegrabber Cards S Ha R K 1 5 alpha supports the following framegrabber cards Hauppauge WinTV Osprey 100 200 500 2000 540 ATI TV Wonder Leadtek WinFast TV 2000 WinFast VC 100 STB TV PCI FM Gateway P N 6000704 I 0 Data Co GV BCTV3 PCI GV BCTV4 PCI GV BCTV5 PCI Pinnacle PCTV 3Dfx VoodooTV FM VoodooTV 200 VoodooTV 100 STB OEM Askey Magic others TView99 CPHO6x TView99 CPHO5x TView99 CPHO61 06L T1 LC Askey CPHO50 AVerMedia TVPhone98 TVCapture 98 VDOMATE TV TUNER CARD Phoebe TV Master CPHO60 Terratec TValue Philips PAL B G Terratec TValue Temic PAL B G Terratec Tvalue Philips PAL 1 Terratec TValue Temic PAL 1 Terratec TV Radio Terratec TV V1 05 Terratec TValue LR102 EQUIPMENT NOTES 10 Terratec TValue Radio Zoltrix Genie TV Provideo PV143A PV143B PV143C PV143D PV150A 1 PV150A 2 PV150A 3 PV150A 4 PV150B 1 PV150B 2 PV150B 3 PV150B 4 IVC 100 IVC 200 IVC 200G IVC 120G GrandTec Multi Capture Grand X Guard Modular Technology MM201 MM202 MM205 MM210 MM215 PCTV FlyVideo 98 LR50 Chronos Video Shuttle II 98EZ LR51 CyberMail AV 98FM LR50 Typhoon TView TV FM Tuner Sensoray
22. eter sensors to balance the inverted pendulum In this document are the tips and bits of wisdom we offer to students unfamiliar with our demo and or inverted pendulums GOALS 5 2 GOALS 2 1 MAIN GOAL To stabilize the inverted pendulum using camera sensors transmitting data through wireless motes using the Fault Tolerant Implicit EDF scheduling algorithm 2 2 SUBGOALS 2 2 1 Stage 1 DT2811 Control IPC_DT2811 After testing and configuring the base equipment stabilize the inverted pendulum using two potentiometer sensors one for angle of the pendulum and one for cart s position 2 2 2 Stage 2 Camera Control IPC_Camera Adding the camera equipment stabilize the inverted pendulum using one potentiometer sensor for the rod s angle and a camera for the cart s horizontal movement 2 2 3 Stage 3 Remote Network Control IPC_RC Using the UDP network protocol stabilize the inverted pendulum using the two potentiome ter sensors read by a local I O program and sent to a remote networked control program 2 2 4 Stage 4 Network Camera Control IPC _NETCAM Using the UDP network protocol stabilize the inverted pendulum using two switchable remote networked cameras and a local control program 2 2 5 Stage 5 FTIEDF Mote Control IPC_MOTECAM Using wireless mote support stabilize the inverted pendulum using two switchable remote networked cameras and a local control program EQUIPMENT 6 3 EQUIPMENT 3 1 Total Available S Ha
23. ew DETAILED SOLUTION Use 3 32 hex screwdriver to tighten the screw a little bit Only a tiny bit is needed 8 1 4 Rod potentiometer range is not as desired SOLUTION Adjust the potentiometer screw to change the voltage DETAILED SOLUTION While holding the rod still use a flathead screwdriver to adjust the potentiometer screw at the base of the rod receptacle 8 1 5 Cart potentiometer range is not as desired SOLUTION Adjust the potentiometer screw to change the voltage DETAILED SOLUTION While holding the rod still use a flathead screwdriver to adjust the potentiometer screw holding the big wheel in place TROUBLESHOOTING 24 8 1 6 Cart moves even when the program is not running SOLUTION Send 0 volts to the cart DETAILED SOLUTION Run any of our programs the cart is stopped during the calibration phase Or in your code have the card send out 0 volts assuming range is 5 to 5 to stop the cart You should always stop send 0 volts to the cart before shutting down any program 8 1 7 Cart balances but then slowly moves off in one direction SOLUTION Track needs to be levelled DETAILED SOLUTION Adjust the tracks height with the two screws hold the ends of the track 7 64 hex or the four stands below the wooden base If the track is level and the problem persists play around with the track perhaps unevening the track will fix this problem 8 1 8 Cart and rod stop balancing with working program SOLUTION The
24. f the previous stage attach one of the cameras to the controller computer Go to folder shark root demos IPC_Camera and type make Copy the exe cutable created onto the controlling computer and run it Follow on screen instructions 7 3 Stage 3 Remote Control Now attach two computers to the internet or a local network One computer should be connected to the cart through the A D card Go to folder shark root demos IPC_RC and type make This time there will be two executables created Run IPC_IO on the computer connected to the cart and run IPC_Control on the other computer Run both and follow on screen instructions Note If you are not running this in our lab you will probably need to change the IP addresses in the code before compiling 7 4 Stage 4 Network Camera This section requires a third computer also attached to the internet or a local network One computer should be connected to the cart through the A D card the other two should be connected to cameras Go to folder shark root demos IPC_NETCAM and type make There will be two executables created Run IPC_NET Controller on the computer connected to the cart and run IPC_NET Camera on the other computers Run both and follow on screen instructions 7 5 Stage 5 Motes Use the same setup as Stage 4 but this time do not connect the computers to the network Plug a mote attached to a mote programming board into serial port COM1 on each com puter Program the mo
25. l EQUIPMENT NOTES 9 moves it changes the resistance in these potentiometers which in turn changes the voltage returned to the DT2811 card Once again the DT2811 card can only take from 5 to 5 volts so care must be taken to never exceed these ranges when running your inverted pendulum stabilizing program To zero the cart we recommend lifting the cart and turning the big wheel until it registers at 0 volts S Ha R K program should show this Then place it down on the center of the track For the rod place the level against the rod and adjust so the air bubble is in between the two lines If the rod voltage changes after moving it back to the original position the rod receptacle might be too loose There is a small star screw that can be tightened using a 3 32 Allen wrench However if over tightened the rod will not move freely and will stick most often in the vertical position You must experiment how much to tighten it For us the rod itself cannot be removed from the rod receptacle We think it may be su per glued This presents a problem because the equation to calculate gains needs the masses of the cart and rod individually To avoid this problem we founf all our gains through trial and error If using a sensitive camera such as our Day Night camera it is recommended to tape the bottom of the rod black to prevent reflections from the bright LED You will be able to see on the Black amp White image on the computer connect
26. led the colors of the wires corresponding to the card s pin outs in the AD1200 Manual 4 3 Power Module PA0103 For us this had been wired already so we did not have to change anything 4 4 Track Cart Rod and LED These were all wired and configured to work with the DT2811 card already so no large modifications were necessary An LED was taped onto the cart to provide an easy way for the cameras to track the cart It was wired to the Power Module in series with resistors The track was set to be level with the ground However over time it needs readjust ing It is recommended that you check before you start In the toolbox there should be a level for this job Each foot of the base can be twisted to adjust the height and the level of the track itself can be adjusted with the two screws size 7 64 hex We found the track dips in the center so we stuck some paper underneath it We painted the wood matte black to cancel the reflections from the bright LED The track should be secured either by tape or other means to the table since the movement of the cart will cause it to move also Two potentiometers adjustable resistors are built into the cart The rod angle poten tiometer is the big yellow cylinder on top of the cart It can be adjusted by the screw in front of the cart The second potentiometer can be found behind the big wheel of the cart It can be adjusted by the screw holding the big wheel in place As the rod and the whee
27. sage to hold the medium Budget is also used up at the end of each hyperperiod if the same node starts and stops the schedule 6 2 11 Real Time Updating of Data from Serial Port This protocol is meant to be connected to a data source that sends update packets across the serial port Using Interface RTUpdate incoming packets are interpreted and the appropriate data is overwritten with the new data Start and stop radio transmission functions are available see FAIEDFSched h for list of packet types Incoming data must be spread out or bytes from the serial port will be overwritten i e if two bytes arrive on serial port during the processing of a byte from the radio the first byte will be dropped 6 2 12 Not Implemented in this Version Stale recovery states Aperiodic sending structure left for future addition of this Sleeping when idle Dynamic number of budget flags bytes this one always sends 2 Support for messages longer than 1 packet must be split into two Use function sendDone in FAIEDFM to handle this if you want Questions Email hokeQuiuc edu RUNNING THE PROGRAMS 22 7 RUNNING THE PROGRAMS 7 1 Stage 1 DT2811 First the controlling computer should be connected to the cart through the A D card Go to folder shark root demos IPC_DT2811 and type make Copy the executable created onto the controlling PC and run it Follow on screen instructions 7 2 Stage 2 Camera In addition to the setup o
28. tes as discussed in the previous section The mote plugged into the controller should be programmed as a receiver and the other two should be transmitters Avoid touching the circuitry of the mote and programming boards as they can be easily damaged Go to folder shark root demos IPC_MOTECAM and type make There will be two executables created Run IPC_MOTEController on the computer connected to the cart and run IPC_MOTECamera on the other computers Run both and follow on screen instructions for calibration Questions Email hokeQuiuc edu TROUBLESHOOTING 23 8 TROUBLESHOOTING In this section you will find problems we went through and how we fixed them 8 1 Problems and Solutions 8 1 1 Floppy disk died SOLUTION Don t run S Ha R K with floppy disks for an extended amount of time i e overnight DETAILED SOLUTION When running S Ha R K from a floppy disk you will notice that the floppy disk access light is always on S Ha R K never tells the disk to stop spinning Ejecting the disk after the program starts works fine We also recommend copying the files to the HD first if you will be running the program for a long time 8 1 2 Rod is sticking when it s close to perpendicular SOLUTION Loosen rod receptacle screw DETAILED SOLUTION Use 3 32 Allen wrench to loosen the screw a little bit Only a tiny bit is needed 8 1 3 Rod voltages changes after moving back to the same position SOLUTION Tighten rod receptacle scr
29. the input code is part of int main another task may be preventing main from running due to the low priority 5 1 2 Hard Tasks A hard task is given a period and maximum execution time If a hard task does not finish before it s deadline the program will halt and an error message will be printed Hard tasks should only be used for events that must be completed by their deadline If missing a deadline should not stop the program use a soft task instead 5 1 3 Soft Tasks In S Ha R K soft task are not just hard task which ignores execution time overruns Instead soft tasks are scheduled using their own server usually CBS Also they don t use deadlines like with hard tasks they use mean execution times Therefore it is possible for soft tasks to consume all of the CPU resources preventing lower tasks like int main from ever running 5 1 4 Cabs Cabs allow for one writer and multiple readers We recommend using cabs instead of mutexes Read our code or the official documentation to learn how to use cabs S Ha R K DEVELOPMENT NOTES 13 5 2 Adding Drivers libdep mk Any drivers you add in the drivers folder must be added into config libdep mk The format is the following adding myDriver myDriver ifeq findstring __myDriver__ USELIB myDriver__ EJ INCL I BASE drivers myDriver include ifeq LIB_PATH libmyDriver a wildcard LIB _PATH libmyDriver a LINK_LIB lmyDriver LIB_DEP LI
30. unning IPC_Controller The controller calculated the proper output voltage and sends it back to the first computer which outputs it to the cart Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu 5 8 Ethernet Network network c network h These functions are adapted from code found in the official Talk demo The sender and receiver s IP addresses must be known for network to work Both send and receive tasks should be soft 5 8 1 FRAME make_packet This function constructs a packet to be sent over the Ethernet network A packet is not necessary but we felt it would be cleaner 5 8 2 TASK network send Takes the packet from make_packet and sends it over the Ethernet network 5 8 3 TASK network_receive Receives the packet from the Ethernet network and puts it into a cab Questions Email taoluo engineering uiuc edu jha4 engineering uiuc edu 5 9 Stage 4 IPC_NETCAM We took IPC_Camera and made the camera sensors remote The camera sensors IPC_NETCamera send their data through the Ethernet using UDP to the controller IPC_NETController The controller calculates the control output and sends it to the cart which is connected to the controller computer The network code is split into two files network_receiver and S Ha R K DEVELOPMENT NOTES 17 network_sender IPC_NETCamera uses network_sender while IPC_NET Controller uses net work_receiver because the sending is only done in one direction
Download Pdf Manuals
Related Search