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? ?