TONGUE DRIVE SYSTEM

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Dhanavanthri, SwathiGollapudi, ParimalaNagamalla, Vamshi KrishnaRouthu, Anshul

OVERVIEW• Tongue is the least effected part in our body

• It is also the most flexible part in our body

• A tongue driven system is very much useful to patients who are paralyzed or handicapped as they can drive the system( wheel chair) with their tongue without much effort.

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tongue without much effort.

Hall EffectSensor 1

Hall EffectSensor 2

BLOCK DIAGRAM

ADC

ADCCONTROLLER

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Hall Effect Sensor 3

Hall Effect Sensor 4

Driver ICSN754410

Motor 1

Motor 2

ADC

ADC

CONTROLLER(MSP 430)

PWM

Schematic Diagram

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BLOCK DIAGRAM

• The hall effect sensor generates analog signal proportional to magnetic field.

• The ADC converts the analog values into digital

• The controller configures the PWM in accordance to the software(algorithm)

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software(algorithm)

• The PWM controls the speed of the motor

• The H-Bridge driver drives the motor in Both directions.

Hall Effect Sensor:

• A1321 Linear Bipolar Hall Effect Sensor

• Hardware interface ADC

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• Component Tested

H-Bridge Driver: SN754410

• SN754410 is a bidirectional driver and can drive two motors at a time.

• Hardware interface PWM

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• Hardware interface PWM

• Component Tested

f12 - S1 & S2 > 750 // forward

f34 - S3 & S4 > 600 // backward

f1 - S1 > 950 // left

f2 - S2 > 950 // right

Algorithm

S1 S2f12

f1 f2

f13

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f2 - S2 > 950 // right

f3 - S3 > 700 // speed increase

f4 - S4 > 700 // speed decrease

F13- S1 & S3 > 600 // stop

S3 S4f34f3 f4

S1 S2f12

f1 f2f12 � forward() � sf

f34 � backward() � sb

f1 � left() � sl

f2 � right() � sr

Algorithm

f13

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S3 S4f34f3 f4

f2 � right() � sr

f3 � speed_increase() � ssinc

f4 � speed_decrease() � ssdec

F13� stop() � ss

MSP 430 has: ADC10- 10 bit analog-digital converter has 210 =1023ADC12- 12 bit analog-digital converter has 212 =4095

ADC10:

Analog to Digital Converter

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A/D Converter0V to 5V 0 to 1023

Hall EffectSensor

Magneticfield

AnalogOutput

A/D Converter 0 to 1023

Analog to Digital Converter

0V to 5V

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Analog Voltage from Sensor Corresponding Digital Value

0V ~0

2.5V ~512

5V ~1023

TACCR0

TACCR1

PWM Concept0xFFFFh

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Duty Cycle = ( TACCR1/ TACCR0) *100

PROGRESS

• ADC implementation is done.

• PWM output is implemented in program.

• Schematic is build and soldering is done.

• Algorithm pseudo-codeis finalized.

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• Algorithm pseudo-codeis finalized.

TASKS TO BE COMPLETED BY NEXT MEETING

• We have to integrate all the software modules with the main algorithm.

• Test the complete system with the working motors.

• As a plan B, a simple algorithm will be developed in which there will be only one direction with fixed speed.

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Dhanavanthri, Swathi – Hardware Schematic

Gollapudi, Parimala – PWM implementation

Nagamalla, Vamshi Krishna – ADC implementation

Task Distribution

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Routhu, Anshul – Algorithm & Integration

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