Joseph D’Amato
Husein Rashed
Steven Ostertag
Rohan Vivek
T.S. Rockwell
The System
A.
Hardware
I.
II.
III.
IV.
The Raspberry Pi (vs Arduino)
Better Support – Python
Better Development Environment – SSH, HDMI Output
Tradeoff – Less ideal for real-time system
User Input
a.
The WiiMote
Bluetooth Interface
Well defined python module available
b.
The Joystick
Inexpensive
USB Interface
Well defined python module available
Sensor Input – Ultrasonic
Used for similar applications in cars (backup sensor)
Cheap
Easy to use
Motor Control
Controlled with PWM from the Pi
The System
B. System Operation
I.
User in Chair
-
II.
III.
Operates chair in same manner as standard electric wheelchair
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
Safety
-
Ultrasonic sensors placed strategically to prevent collisions
Software
Inside The PDF
• All this plus…
• Major Modules – Contents of each program file
• Connections
• Future Plans
• Reported Problems
Questions?
?