joseph d’amato husein rashed steven ostertag rohan vivek t.s. rockwell
TRANSCRIPT
Joseph D’Amato
Husein Rashed
Steven Ostertag
Rohan Vivek
T.S. Rockwell
Remote Controlled WheelchairWith Collision Avoidance
A. HardwareI. The Raspberry Pi (vs Arduino)
- Better Support – Python- Better Development Environment – SSH, HDMI Output- Tradeoff – Less ideal for real-time system
II. User Input
a. The WiiMote- Bluetooth Interface- Well defined python module available
b. The Joystick- Inexpensive- USB Interface- Well defined python module available
III. Sensor Input – Ultrasonic
- Used for similar applications in cars (backup sensor)
- Cheap
- Easy to use
IV. Motor Control
- Controlled with PWM from the Pi
The System
B. System OperationI. User in Chair
- Operates chair in same manner as standard electric wheelchair
II. Remote User- Has ability to gain control of the wheelchair while disabling
onboard control- Remote user maintains control of the wheelchair until released- Uses directional pad on remote for forward/backward/left/right
III. Safety- Ultrasonic sensors placed strategically to prevent collisions
The System
Software
• All this plus…
• Major Modules – Contents of each program file
• Connections
• Future Plans
• Reported Problems
Inside The PDF
?Questions?