Balancing Ball Control

TSHWANE UNIVERSITY OF
TECHNOLOGY
DEPARTMENT OF ELECTRICAL ENGINEERING
Course: Project Report Practical 2
PROJECT REPORT:
BALANCING BALL
Student Name: Olushola Anne Moremie ABATAN

Student No.: 208327488
Supervisor: De Vries Johannes
Template for Project Report by A.J. Visser, 2008, Updated by J. De Vries 2011
Table of Contents
Page no.
1.1 Introduction.........................................................................................6
1.2 Problem statement..............................................................................7
1.3 User requirement specification...........................................................7
1.4 Budget................................................................................................7
1.5 Literature review.................................................................................8
1.5.1 Feedback systems........................................................................8
1.5.2 Mechanical design of a ball-on-plate balancing system...............8
1. Mechanical actuators..........................................................................9
2. Hydraulic actuators...........................................................................10
3. Pneumatic actuators.........................................................................10
1.5.3 Control electronics......................................................................10
1.5.4 RC Servo Motors.........................................................................12
1.5.5 Software algorithms....................................................................14
1.6 Proposed practical design or strategy...............................................15
1.7 Design of product..............................................................................17
1.7.1 Software Flow Diagram and description.....................................17
1.7.2 Circuit Diagram and description.................................................18
1.7.3 PCB Layout.................................................................................20
1.7.4 Software Code and Comments...................................................21
1.8 Implementation of product...............................................................26
1.9 Testing procedure..............................................................................26
1.10 Necessary changes encountered.......................................................27
1.11 Results of the tested product / procedure..........................................27
1.12
Comparison of results vs. requirements........................................27
1.10 conclusions and recommendations...................................................27
Appendix.......................................................................................................28
1.11 A.1 Final Gantt chart.........................................................................28
1.12 A.3 Detail designs.............................................................................30
1.13 A.4 Software......................................................................................31
1.14 Bill of Materials.................................................................................36
Table of Figures
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1: Ball-on-plate system assembly 1.13..............................................9

2: A mechanical linear actuator with digital readout.1.13.................9
3: Example of Electric motors..........................................................10
4: Working of DC brushed motors....................................................11
5: Stepper motor example...............................................................11
6: Relationship between pulse with and the rotor position..............12
7: Anatomy of an RC servo motor 1.13............................................13
8: Details of a different part of an RC servo motor 1.13..................13
9: Connection cable of RC Servo Motor............................................14
10: Block Diagram of the proposed balancing ball..........................15
11: INFRARED LED...........................................................................15
12: Pin Diagram of the pic16f684...................................................16
13: Software Flow Diagram of the proposed balancing ball.............17
14: Inputs and Outputs pins.............................................................17
15: Circuit diagram of RC Servo motor, Power Supply and ICSP......18
16: Circuit diagram of IR led emitter................................................19
17: Circuit diagram of the IR Receiver.............................................19
18: PCB Layout of the complete circuit............................................20
19: PCB Layout of the RECEIVER......................................................20
20: PCB Layout of IR EMITTER..........................................................20
21: PWM of One SERVO MOTOR.......................................................26
22: PWM of BOTH SERVO MOTORS..................................................26
23: Testing points.............................................................................27
24: GANT CHART 1...........................................................................28
25: GANT CHART 2...........................................................................28
26: GANT CHART 3...........................................................................28
List of Tables
Page no.
Table 1-1 Most important component cost......................................................7
etc.
Abstract
This report is to describe the design and development strategy to accomplish a control
system to balance a ball on a plate. We will have two modes of operation in the system; one
mode of operation is the Joystick control used to control manually the X-Y axis and the other
mode is the Autonomous mode where we will use the IR beam to control the X-Y axis.
1.1
Introduction
The goal of this project is to develop a ball-on-plate balancing system, capable of controlling
the position of a ball on a plate for both X and Y positions without the risk of the ball falling off.
Each tilting axis will be operated on by an RC servo electric motor. Each motor will be
controlled using software, with a minimum of position feedback for control. The control of the X
and Y positions should be with a joystick or automatic using IR beam control.
Various modes of operations have been used:
1. System 1: At RPI (Renssselaer Polytechnic Institute), they have developed a ball on plate
balancing where they have used initially a horizontal plate which is tilted along each of
two axes in other to control the position of the ball. Each tilting axis operated by an
electric motor. The motor is controlled using software with a minimum of position
feedback for control. The position of the ball on plate is sensed through a resistive touch
screen.
2. System 2: The balancing ball project has also been done at School of Engineering,
Monash University Malaysia. A PC based system has been developed. A
vision system named CCD camera has been incorporated as the feedback sensor to
acquire the real-time position of the steel ball. Two actuators, namely the stepper motors
are utilized to control the motion of the base plate system. These actuators are controlled
from NI-ELVIS workstation.
3. System 3: Another ball on plate balancing has been designed at RPI; they have used a
spatial linkage mechanism for actuating the plate. They have use a resistive touchsensitive glass screen for sensing the ball position. Simple brushed DC motors have been
used to control the encoder feedback to achieve a servo position control. A PID controller
has been used.
4. System 4: The ball on plate balancing has been developed using LEGO by Kenn. Using
a webcam to control the position of the ball on the plate and PID control.
5. System 5: At Miskabir University of Technology a fuzzy logic controller has been
developed; they have used a resistance sensor for controlling the position of the ball.
6. System 6: By Daniele, the balancing ball on plate has been developed using LEGO
MINDSTORMS, using a model predictive control of PID for the controller, for the
feedback system, he used NXTcam.
The aim of this project will be to create a ball-plate system using a joystick control and
autonomous control platform to allow the X and Y-axis of movement of a ball by means of RC
servo motors.
1.2
Problem statement
6
The Goal of the balancing ball system will be first to create a system
that can hold a ball in a certain defined position. From there, the goal will
then be able to move the ball on the platform in varying specific position.
1.3
User requirement specification

The user requirement specification is as followed:
The platform control surface should be 40 cm X 40 cm.
The use of two axis analog Joystick to be able to control X and Y
movement of the platform.
The use of RC servo motors for the actuators of the platform.
The platform should be able to tilt maximum 5 cm when
measured on the sides.
The sensitivity level of the joystick potentiometer should be
variable
1.4
Budget
The budget cost will be determine according to the 40X40 IR led, the RC
servo motor and the joystick input control.
Refer to appendix A.5 for a detail layout of the budget.
Table 1-1 Most important component cost
Components
Cost [R]
80X IR beam Control
3, 45 per 10 = R27, 6
2 X RC servo motor
400 Each = R800
1 X The Joystick(2 axis)
R100
Total component cost:

R927, 6
1.5
Literature review
Different types of ball on plate system have been done before:
1.
2.
3.
4.
5.
System 1: At RPI, resistive touch screen ball on plate system using DC gear motors for
the tilting of the plate.
System 2: At Monash University Malaysia, CCD camera ball on plate system and
Stepper motors for moving the plate.
System 3: At RPI, PID controller and brushed DC motors have been used to design the
balancing ball on plate.
System 4: LEGO PID controller has been used to develop the balancing ball on plate by
Kenn.
System 5: Fuzzy logic controller ball on plate at Miskabir University of Technology.
6. System 6: LEGO MINDSTORMS controller ball on plate by Daniele Benedetelli.

In this paragraph the different parts of the design and the mechanism used are discussed:
1.5.1 Feedback systems

Different types of ball feedback have been used. The purpose of the
feedback is to control the position of the ball.
These are the three major types of feedback used:
1. System 1: Resistive touch screen
2. System 2: CCD Camera
3. System 3: PID Controller
1.5.2 Mechanical design of a ball-on-plate

balancing system
The mechanical design of a ball on plate balancing system is based on
the physical design of the system; how to design the motor connection and
the platform.
Various mechanical designs have been used:
1. System 1:
Several physical components in addition to the motors, shafts, gears, belts, and encoders
were used in order to realize the construction of the system. They made parts included a
specialized axle, yoke, and motor mounting bracket. Each of these parts of the system was
machined out of aluminum stock and their full dimensions. A special axle was designed to
support the touch screen on the tilt axis.
2. System 2:
Two actuators, namely the stepper motors are utilized to control the motion of the base plate
system. These actuators are controlled from NI-ELVIS workstation.
8
3. System 3:
The physical system consists of an acrylic plate, an actuation mechanism for tilting the plate
about two axes. Each motor drives one axis of the plate rotation angle and is connected to the
plate by a spatial linkage mechanism. Each side of the spatial linkage mechanism is a four-bar
parallelogram linkage. See Figure 2 1.
Figure 2 1: Ball-on-plate system assembly

4. System 4:
He settled on using a Hough transformation of contour extractions. This actually worked
quite well, with a success rate of over 80%, after a lot of tweaking of course. That still left him
with around 900 data points to do by hand, but it wasn't so bad in the end. He has since then
tweaked the algorithm and now regularly reaches a success rate of 90%.
Actuators drive motions in mechanical system by converting electrical energy into some
form of mechanical motion.
Some types of actuators:
LINEAR ACTUATORS:
A linear actuator is an actuator that, when driven by a non-linear motion, creates linear
motion (as opposed to rotary motion, e.g. of an electric motor). Mechanical and hydraulic
actuations are the most common methods of achieving the linear motion.
1. Mechanical actuators
Mechanical linear actuators operate by conversion of rotary motion into linear motion.
Mechanical actuators typically convert rotary motion of a control knob or handle into linear
displacement via screws and/or gears to which the knob or handle is attached.
Figure 2 2: A mechanical linear actuator with digital readout.
2. Hydraulic actuators
Hydraulic actuators or hydraulic cylinders typically involve a hollow cylinder having a
piston inserted in it. The two sides of the piston are alternately pressurized/de-pressurized to
achieve controlled precise linear displacement of the piston and in turn the entity connected to
the piston. The physical linear displacement is only along the axis of the piston/cylinder. This
design is based on the principles of hydraulics. A familiar example of a manually operated
hydraulic actuator is a hydraulic car jack. Typically though, the term "hydraulic actuator" refers
to a device controlled by a hydraulic pump.
3. Pneumatic actuators
Pneumatic actuators, or pneumatic cylinders, are similar to hydraulic actuators except they
use compressed gas to provide pressure instead of a liquid.
4. Electro-mechanical actuators
Electro-mechanical actuators are similar to mechanical actuators except that the control knob
or handle is replaced with an electric motor. Rotary motion of the motor is converted to linear
displacement of the actuator.
A rotary driver (e.g. electric motor) is mechanically connected to a lead screw so that the
rotation of the electric motor will make the lead screw rotate. A lead screw has a continuous
helical thread machined on its circumference running along the length (similar to the thread on a
bolt). Threaded onto the lead screw is a lead nut or ball nut with corresponding helical threads.
1.5.3 Control electronics

The control electronic is based on how to drive the motors and how to control the motors
from the microcontroller. The control electronics used electric motor to convert electrical energy
into mechanical energy.
There are many types of motors that can be used in a linear actuator system.
Figure 2 3: Example of Electric motors
10
A.
DC MOTORS
A DC motor is designed to run on DC electric power. The most common DC motor types are
the brushed and brushless types, which use internal and external commutation respectively to
periodically reverse the current in the rotor windings. There are two types:
Brushed DC motors: A brushed DC motor is an internally commutated electric motor
designed to be run from a DC power source.
Figure 2 4: Working of DC brushed motors
When the coil is powered, a magnetic field is generated around the armature. The left side
of the armature is pushed away from the left magnet and drawn toward the right, causing
rotation.
Brushless DC motors: BLDC motors also known as electronically commutated motors
(ECMS, EC motors) are synchronous electric motors powered by direct current(DC)
electricity and having electronic commutation systems, rather than mechanical
commutations and brushes.
B.
AC MOTORS
An AC motor is an electric motor driven by an alternating current. There two types named:
Induction motor: runs slightly slower or faster than the supply frequency. The magnetic
field on the rotor of this motor is created by an induced current.
Synchronous motor: does not rely on induction and as a result, can rotate exactly at the
supply frequency or a sub-multiple of the supply frequency. The magnetic field on the
rotor is either generated by current delivered through slip rings or by a permanent
magnet.
C.
STEPPER MOTORS
A stepper motor (or step motor) is a brushless, synchronous electric motor that can divide a
full rotation into a large number of steps. The motor's position can be controlled precisely
without any feedback mechanism, as long as the motor is carefully sized to the application.
Figure 2 5: Stepper motor example

11
Stepper motors operate differently from DC brush motors, which rotate when voltage is
applied to their terminals.
Stepper motors have multiple "toothed" electromagnets arranged around a central gearshaped piece of iron. The electromagnets are energized by an external control circuit, such as a
microcontroller. To make the motor shaft turn, first one electromagnet is given power, which
makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth
are thus aligned to the first electromagnet, they are slightly offset from the next electromagnet.
When the next electromagnet is turned on and the first is turned off, the gear rotates slightly to
align with the next one, and from there the process is repeated. Each of those slight rotations is
called a "step", with an integer number of steps making a full rotation. In that way, the motor can
be turned by a precise angle.
D.
SERVO MOTORS
A servomotor is used within a position-control or speed-control feedback control system.

Servomotors are used in applications such as machine tools, pen plotters, and other control
systems. The dynamic response characteristics such as winding inductance and rotor inertia are
also important; these factors limit the overall performance of the servomechanism loop. Large,
powerful, but slow-responding servo loops may use conventional AC or DC motors and drive
systems with position or speed feedback on the motor.
A servo system differs from some stepper motor applications in that the position feedback is
continuous while the motor is running; a stepper system relies on the motor not to "miss steps"
for short term accuracy, although a stepper system may include a "home" switch or other element
to provide long-term stability of control.
As electronics control, we will be using the motors and specifically RC SERVO MOTORS
because when it is set to a position, it keeps that position until when you set to another position
again.
1.5.4 RC Servo Motors

RC servos used PWM to control the position of an object. A 1.0 ms pulse rotates the shaft
all the way counter-clockwise. A 1.5 ms pulse puts the rotor at neutral (0 degrees), and a 2.0 ms
pulse will position the shaft all the way clockwise. The pulse is sent to the servo at a frequency
of approximately 50 Hz. The relationship between the pulse width and the rotor position is
shown in picture
Figure 2 6:
Relationship between pulse with and the rotor position
12
The picture in figure 2.2 represents the different blocks of an RC servo.
Figure 2 7:
Anatomy of an RC servo motor
Explanation of each block

The controller circuit: This is the "brain" of the Servo. This circuit is responsible to read
the user's input signal (pulses) and translate it into a motor revolution in such a way, that
the drive shaft will be rotated to the desired position.
The feedback potentiometer: The shaft of the potentiometer is attached to the drive
shaft of the servo. When the drive shaft rotates, so does the potentiometer. In that way,
each and every rotation angle of the drive shaft corresponds to a different resistance of
the potentiometer. By reading the potentiometer's resistance, the controller is able to
know the exact angle of the drive shaft of the servo.
The motor: This is usually a small high speed DC motor controlled by a H-bridge circuit
attached to the servos' controller.
The gearbox: The gearbox will drive the motor's revolution to the drive shaft. Also, the
rpm will be significantly reduced and the torque will be increased. The torque is one of
the main characteristics of RC servos.
The drive shaft: When all of the above operate in perfect harmony,
the drive shaft will be rotated with accuracy to the user's requested
angle.
Figure 2 8:
Details of a different part of an RC servo motor

13
They do not simply run on a DC voltage like a standard DC motor. They have 3 wires.
Red is power (generally 3V 12V max), black is ground and then there is another wire, usually
white or yellow that is the input signal wire.
Figure 2 9: Connection cable of RC Servo Motor
The RC servo motor is the best one because of his property to position its output into a
position that exactly corresponds with the movement of the corresponding stick.
1.5.5 Software algorithms

Three major control algorithms have been used:
1. PID control in Microcontroller
2. Optimal Matlab control
3. Fuzzy Logic control
We will be using the PID CONTROL in Microcontroller, because it is adequate to obtain a very
high response speed.
14
1.6
Proposed practical design or strategy
Two Joysticks
for X-Y axis
control
CONTROLLER
Servos control
IR beam control
Figure 2 10:
Block Diagram of the proposed balancing ball
Description of the Inputs:

Four of the Analog to Digital pins of the PIC are used.
a) Joystick Control
A joystick is an input device consisting of a stick that pivots on a base. Its read the
analog value and converts to an angle in which the plate must turn into.
Two Analog to Digital pins of the PIC should be used, for the user to be
able to control X and Y movement of the platform (see picture in A.3).
b) IR Beam Control
Infrared beam are invisible electromagnetic radiation that has a longer wavelength than
visible light and is detected most often by its heating effect. This method shall be used to
follow and know the position of the ball on the plate.
Another two Analog to Digital pins of the PIC should be used to X and Y movement of the
platform.
How does IR LED WORKS?
In my project, I am using IR beams that can determine the position of the ball at any
time on the plate. This Led should be placed 40 in the X-axis and 40 in the Y-axis (1 IR per
centimetre resolution) to create a grid of IR light beams. When the beam is broken(get
obstructed), the photo transistors from X and Y axes detect the IR light beams which have been
interrupted and transmit exact signals that identify the X and Y axes coordinates to the plate then
the plate shall be tilt to that specific angle.
15
Figure 2 11: INFRARED LED
c) The Controller
This is the brain of the whole system. It reads the two inputs. Its convert the two inputs to
the two outputs. The two outputs are the servos. These servos checked the pulse that has been
send and also the beam that have been broken. If the beam that has been broken is greater than
20, the pulse should tell the system to turn fully clockwise and if the beam is less than 20, it
should go clockwise opposite direction. In case the beam is near the middle, close to the middle
nothing should happen the ball should remain in the middle of the plate.
I will be using the PIC16F684 see Figure 2 12:
Figure 2 12: Pin Diagram of the pic16f684

Description of Pin out Labels
Label
Description
+5V
Ground
External Voltage Reference
PORTA/PORTC Programmable I/O
A/D Channel
External Interrupt Input
PWM Output
Description of the Output:

d) Servos
At the output, we shall be controlling the two axes (X-Y), using RC servo motors. These
servos are involved in the design and the tilting of the plate. The feedback is sent to the RC servo
to achieve a servo position control.
Pulse width modulation is used to send information to the RC Servo Motor controller (in
this case a Hobby Motors). A pulse of about 20 milliseconds are required to control the Hobby
Motor, where the duty cycle (high time) of the pulse must be between 1 and 2 milliseconds. A
duty cycle of 1.5miliseconds will cause a neutral state. By decreasing the duty cycle, the motor
will move in reverse, where it will reach maximum speed at 1 millisecond. By increasing the
16
duty cycle, the motor will move in a forward motion, where 2 milliseconds will be the full speed.
To generate these signals, the PWM module of the PIC is used. The ability to create an 20
millisecond pulse depends on the selected frequency of the oscillator, and the settings of the
timer modules of the microcontroller. For this reason a slow frequency of 500 KHz are used to
drive the PIC.
1.7 Design of product
1.7.1 Software Flow Diagram and description

Start
Set I/O
50% Duty Cycle
(Set Panel Flat)
Test Switch?
Joystick
mode
Autonomous
mode
Read
Analogue
Voltage
2,
3>
Change
Duty Cycle
Figure 2 13:
>2,
7
Change
Duty Cycle
Set Panel
Flat
End
Read
Voltage
Analogue
2,
Change
Duty Cycle
>2,
7
Change
Duty
Cycle
Software Flow Diagram of the proposed balancing ball
Description of the proposed software flow diagram

1. Set I/O:
In here, we specified which of the microcontroller pins we are using. See
Figure 2 13:
Figure 2 14: Inputs and Outputs pins
17
2. 50% Duty Cycle (Set Panel Flat):

In here, we set the panel flat by setting the PWM Duty Cycle to 50%.
3. Test Switch:
Now, we need to know in which mode are we? To do so we need to test the switch in other
to select one mode, this should be done in software.
Let say, we are running the Joystick mode in first position and the Autonomous mode in
second.
If no switch is selected, we must set the panel flat and end the process.
4. Joystick Mode:
We shall read the analogue voltage from the ADC (0 5Vdc). If the voltage is smaller (>)
than 2.3, according to the position in which the plate was set to, change the duty cycle to the
selected position, and if the voltage is greater (<) than 2.7, according to which position the plate
was, change the duty cycle to the selected position.
5. Autonomous Mode:
We shall read the analogue voltage from the ADC (0 5Vdc). If the voltage is smaller (>)
than 2.3, according to the position in which the plate was set to, change the duty cycle to the
selected position, and if the voltage is greater (<) than 2.7, according to which position the plate
was, change the duty cycle to the selected position.
1.7.2 Circuit Diagram and description
Figure 2 15: Circuit diagram of RC Servo motor, Power Supply and ICSP
From the above circuit:

U1, Pic16F684
MOTOR 1 and MOTOR 2 are RC Servo Motors
18
R1,R2, Resistor
Connector 1, Power Supply
Connector 2, ICSP
Connector 3, Inputs
SW5, Switch
Figure 2 16: Circuit diagram of IR led emitter
40 x Led
R1, R2, R3, R4, R5, R6, R7, R8, Resistor 180Ohms
Connector, Power Supply
Figure 2 17: Circuit diagram of the IR Receiver
19

40 X Phototransistors (Receivers)
40 X Resistors 1KOhms
40 X Resistors 100Ohms
1 X Connector 2 pins, Power Supply
1.7.3 PCB Layout
Figure 2 18: PCB Layout of the complete circuit
Figure 2 19: PCB Layout of the RECEIVER
Figure 2 20: PCB Layout of IR EMITTER
20
1.7.4 Software Code and Comments

include<htc.h>
__CONFIG(INTIO & UNPROTECT & MCLRDIS & PWRTEN & WDTDIS & BORDIS);
#define _XTAL_FREQ
500000
//oscillator
frequency for __delay_ms
unsigned char adc_result_x, adc_result_y;
unsigned char adc_x, adc_y;
unsigned char count=0;
/***************************INITIALIZATION******************************/
void initialize()
{
//1=Input 0=Output
CMCON0=7;
//Disable comparators
PORTA=0b00000000;
//Clear port A
TRISA=0b00110100;
//RA4 RA2 RA5 INPUTs
PORTC=0b00000000;
//Clear port B
TRISC=0b00001111;
//RC5 OUTPUT
ANSEL=0b00001100;
//AN3 analog input
PR2=155;
PIR1=0;
//Peripheral Interrupt request register 1
T2CON=0b00000111;
//prescaler 1:16, postscaler 1:1, Timer2 On
TMR2=0;
//Start with zero counter
}
/******************************ADC X****************************************/
unsigned char ADC_x_READ()
{
ADCON1=0b01110000;
//FRC: Clock derived from a dedicated internal
oscillator=500KHz max
ADCON0=0b00001001;
//Left
justified,
voltage
reference=VDD,
AN2=Analog Input, Initiate ADC and wait for start conversion
__delay_us(10);
//wait 10us for acquisition time
GODONE=1;
while(GODONE);
adc_result_x=(ADRESH);
return adc_result_x;
}
/******************************ADC Y****************************************/
unsigned char ADC_y_READ()
{
21
ADCON1=0b01110000;
ADCON0=0b00001101;
//Left
justified,
voltage
reference=VDD,
__delay_us(10);
GODONE=1;
while(GODONE);
adc_result_y=(ADRESH);
return adc_result_y;
}
/********************************DELAY*************************************/
void delay()
{
unsigned int j;
for(j=0; j<100;j++)
{
__delay_us(20);
}
}
/
***********************************SWITCH**********************************/
unsigned char IS_SW5_PRESSED()
{
if(RA5==1)
//Is SW pressed?
{
//YES
__delay_ms(10);
//Wait 10ms for debounce
return 0;
//if not pressed
}
else
{
return 1;
}
}
/**************************MAIN FUNCTION*********************************/
void main()
{
OSCCON=0b00110101;
initialize();
CCP1CON=0b00001100;
//Single Output
CCPR1L=13;
while(1)
{
if(IS_SW5_PRESSED()==1)
{
count++;
}
if(count==1)
{
adc_x=ADC_x_READ();
if(adc_x>138)
22
if(CCPR1L < 25)

{
CCPR1L ++;
}
__delay_ms(100);
}
else if(adc_x<120)
{
if(CCPR1L > 0)
{
CCPR1L --;
}
__delay_ms(100);
}
else
{
CCPR1L=13;
__delay_ms(100);
}
}
if(count==2)
{
count=1;
}
}
}
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1.8
Implementation of product
???????????????????This project teach how to derive a feedback system.

1.9
Testing procedure
Explain the procedure that is going to be followed to test the system /

software / strategy.
The procedure to follow for testing the system is as follow:
The mechanical system will be tested first for alignment and free
movement.
Secondly, the motor ability to rotate the mounting plate will be
tested. By applying differents inputs signals to the motors
separately, MPLAB HI-TECH C, has been used to graph the rotational
position response. See Figure 2 21: PWM of One SERVO MOTOR and
Figure 2 22: PWM of BOTH SERVO MOTORS
Figure 2 21: PWM of One SERVO MOTOR
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Figure 2 22: PWM of BOTH SERVO MOTORS
Several tests have been performed on the Joystick. The Joystick is

constituted of two (2) potentiometers. These potentiometers used two
different analogue pins of the PIC16F684.
Testing the IR led for controlling the two servos.
After all the mechanical questions have been addressed the control
algorithms will be tested. Simple tasks like the ball rolling and stopping
at a certain point. With MPLAB IDE, now able to direct the ball in two
directions.
Figure 2 23: Testing points
1.10 Necessary changes encountered

The major problem that I have had is how to control one servo at the time
using one ADC pin of the PIC16F684 per servo. Finally, I have used Full
Bridge PWM of the enhanced mode which gave me the possibility of using
different PWM for different ADC.
1.11 Results of the tested product / procedure

Use graphs and / or tables to show the results of the product / procedure.
Also explain what the results in each graph or table means.
SERVO 1
SERVO 2
25
ADC1
PWM 1
CENTER POSITION
LEFT POSITION
RIGHT POSITION
ADC2
IR 1
IR 2
1.12
PWM 2
PWM 1
CENTER POSITION
LEFT POSITION
RIGHT POSITION
CENTER POSITION
LEFT POSITION
RIGHT POSITION
PWM 2
CENTER
POSITION
LEFT POSITION
RIGHT POSITION
Comparison of results vs. requirements
Compare the results in paragraph 4.2 with the requirements in paragraph

2.4. Use a table to do this comparison. Also discuss which results are
similar to the requirements and which are different.
1.10 Conclusions and recommendations
Write an overall conclusion on the whole project, i.e. why certain parts of
the project were successful and why certain parts of the project were not
successful.
NB! NB! The conclusions should be on the project itself and not so much
on what you have learned.
Also recommend what should be the changes or focus for similar projects
in the future.
26
Appendix
1.11
A.1
Final Gantt chart
Figure 2 24: GANT CHART 1
Figure 2 25: GANT CHART 2
27
Figure 2 26: GANT CHART 3A.2
Literature Review
1.
http://www.cats.rpi.edu/~wenj/ECSE4962S04/final/team2finalreport.pdf,
(11Ja)
2.http://digital.ni.com/worldwide/singapore.nsf/web/all/A0420E70B017638F8625724
9002EC41E, (11Ja)
3.http://www.das.ufsc.br/~camponog/Disciplinas/DAS-5341/Interesting_articles/ballplate.pdf, (11Fe)
4. http://eissq.com/BallandPlate/index.html#Introduction , (11Fe)
5.http://oru.academia.edu/NimaMohajerin/Papers/375716/Position_Control_of_Ball_a
nd_Plate_System_Using_Fuzzy_Logic_Controller, (11Fe)
6. http://robotics.benedettelli.com/ballandplate.htm (Benedettelli, 2008)

http://pcbheaven.com/wikipages/How_RC_Servos_Works/ (Lazaridis, 2009)
:http://awtarlab3.engin.umich.edu/pdf/awtar_craig_2.pdf , (11Fe)
1 http://en.wikipedia.org/wiki/Linear_actuator, (11Fe)
28
1.12
A.3
Detail designs
Joystick
29
1.13
A.4
Software
include<htc.h>
__CONFIG(INTIO & UNPROTECT & MCLRDIS & PWRTEN & WDTDIS & BORDIS);
#define _XTAL_FREQ
500000
//oscillator
frequency for __delay_ms
unsigned char adc_result_x, adc_result_y;
unsigned char adc_x, adc_y;
unsigned char count=0;
/***************************INITIALIZATION******************************/
void initialize()
{
//1=Input 0=Output
CMCON0=7;
//Disable comparators
PORTA=0b00000000;
//Clear port A
TRISA=0b00110100;
//RA4 RA2 RA5 INPUTs
PORTC=0b00000000;
//Clear port B
TRISC=0b00001111;
//RC5 OUTPUT
ANSEL=0b00001100;
//AN3 analog input
PR2=155;
PIR1=0;
//Peripheral Interrupt request register 1
T2CON=0b00000111;
//prescaler 1:16, postscaler 1:1, Timer2 On
TMR2=0;
//Start with zero counter
}
/******************************ADC X****************************************/
unsigned char ADC_x_READ()
{
ADCON1=0b01110000;
ADCON0=0b00001001;
//Left
justified,
voltage
reference=VDD,
__delay_us(10);
GODONE=1;
while(GODONE);
adc_result_x=(ADRESH);
return adc_result_x;
}
/******************************ADC Y****************************************/
unsigned char ADC_y_READ()
{
ADCON1=0b01110000;
ADCON0=0b00001101;
//Left
justified,
voltage
reference=VDD,
__delay_us(10);
GODONE=1;
while(GODONE);
adc_result_y=(ADRESH);
return adc_result_y;
}
30
/********************************DELAY*************************************/
void delay()
{
unsigned int j;
for(j=0; j<100;j++)
{
__delay_us(20);
}
}
/
***********************************SWITCH**********************************/
unsigned char IS_SW5_PRESSED()
{
if(RA5==1)
//Is SW pressed?
{
//YES
__delay_ms(10);
//Wait 10ms for debounce
return 0;
//if not pressed
}
else
{
return 1;
}
}
/**************************MAIN FUNCTION*********************************/
void main()
{
OSCCON=0b00110101;
initialize();
CCP1CON=0b00001100;
//Single Output
CCPR1L=13;
while(1)
{
if(IS_SW5_PRESSED()==1)
{
count++;
}
if(count==1)
{
adc_x=ADC_x_READ();
if(adc_x>138)
{
if(CCPR1L < 25)
{
CCPR1L ++;
}
__delay_ms(100);
}
else if(adc_x<120)
{
if(CCPR1L > 0)
{
31
CCPR1L --;
}
__delay_ms(100);
}
else
{
CCPR1L=13;
__delay_ms(100);
}
}
if(count==2)
{
count=1;
}
}
32
}A.5 Datasheets
PHOTOS
SERVOS
Larger-Standard size digital servo with large torque and featuring strong metal gears.
Ideal for wheel steering on a Crawler, 1/8th Scale Buggy and 50 size airplane
Features
Precision made metal gears
Production and quality control of plastic component in our servos follow the standard of branded
digital camera
33
Totally Green from material to production, our servos are environmentally friendly.
Spec Check
Dimensions: 40.7 x 20 x 42.4mm
Weight: 61g
Speed (sec/60): 0.18
Torque (kg-cm/oz-in): 16.0/222.1
Gear: Metal
Case: Plastic
IR LED
PHOTOTRANSISTOR (Receivers)
34
1.14
Bill of Materials
Bill Of Materials For Circuit Complet.DSN

Design Title
Author
Revision
Design Created
Design Last Modified
Total Parts In Design
:
:
:
:
:
:
Circuit Complet.DSN
<NONE>
<NONE>
15 March 2011
20 June 2011
9
2 Modules
Quantity:
2
References
M1, M2
Value
TBLOCK-I3
Order Code
References
R1, R2
Value
10k
Order Code
Value
PIC16F684
Order Code
Value
Connector 2
TBLOCK-I4
Connector 1
SPDT - SW
Order Code
2 Resistors
Quantity:
2
1 Integrated Circuits
Quantity:
1
References
U1
4 Miscellaneous
Quantity:
1
1
1
1
References
ICSP
OUTPUTS
POWER SUPPLY
SW5
24 June 2011 12:34:27 AM
35
Bill Of Materials For EMITTER FINAL 1.DSN

Design Title
Author
Revision
Design Created
:
:
:
:
:
:
EMITTER FINAL 1.DSN

<NONE>
<NONE>
30 March 2011
23 June 2011
49
8 Resistors
Quantity:
8
References
R1-R8
Value
180
Order Code
References
D1-D4
D5-D40
Value
MV2108
LED
Order Code
Value
Connector
Order Code
40 Diodes
Quantity:
4
36
1 Miscellaneous
Quantity:
1
References
POWER SUPPLY
24 June 2011 12:37:05 AM
36
Bill Of Materials For RECEIVER FINAL 1.DSN

Design Title
Author
Revision
Design Created
:
:
:
:
:
:
RECEIVER FINAL 1.DSN

<NONE>
<NONE>
30 March 2011
23 June 2011
123
82 Resistors
Quantity: References
42
R1, R3, R5, R7, R9, R11, R13,
R15, R17, R19, R21, R23,
R25, R27, R29, R31, R33,
R35, R37, R39, R41, R43,
R45, R47, R49, R51, R53,
R55, R57, R59, R61, R63,
R65, R67, R69, R71, R73,
R75, R77, R79, R81, R82
40
R2, R4, R6, R8, R10, R12,
R14, R16, R18, R20, R22,
R24, R26, R28, R30, R32,
R34, R36, R38, R40, R42,
R44, R46, R48, R50, R52,
R54, R56, R58, R60, R62,
R64, R66, R68, R70, R72,
R74, R76, R78, R80
Value
1k
Order Code
100
40 Transistors
40
Q1-Q40
Value
2N3390
Order Code
1 Miscellaneous
1
POWER SUPPLY
Value
Order Code
Connector 1
24 June 2011 12:38:32 AM
37

Balancing Ball Control

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Balancing Ball Control

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TSHWANE UNIVERSITY OF

Student Name: Olushola Anne Moremie ABATAN

1: Ball-on-plate system assembly 1.13..............................................9

User requirement specification

80X IR beam Control

400 Each = R800

1 X The Joystick(2 axis)

Total component cost:

6. System 6: LEGO MINDSTORMS controller ball on plate by Daniele Benedetelli.

1.5.1 Feedback systems

1.5.2 Mechanical design of a ball-on-plate

Figure 2 1: Ball-on-plate system assembly

Figure 2 2: A mechanical linear actuator with digital readout.

1.5.3 Control electronics

Figure 2 3: Example of Electric motors

Figure 2 4: Working of DC brushed motors

Figure 2 5: Stepper motor example

A servomotor is used within a position-control or speed-control feedback control system.

1.5.4 RC Servo Motors

Relationship between pulse with and the rotor position

The picture in figure 2.2 represents the different blocks of an RC servo.

Anatomy of an RC servo motor

Explanation of each block

Details of a different part of an RC servo motor

Figure 2 9: Connection cable of RC Servo Motor

1.5.5 Software algorithms

Proposed practical design or strategy

Block Diagram of the proposed balancing ball

Description of the Inputs:

Figure 2 11: INFRARED LED

Figure 2 12: Pin Diagram of the pic16f684

Description of the Output:

1.7.1 Software Flow Diagram and description

Software Flow Diagram of the proposed balancing ball

Description of the proposed software flow diagram

Figure 2 14: Inputs and Outputs pins

2. 50% Duty Cycle (Set Panel Flat):

1.7.2 Circuit Diagram and description

From the above circuit:

Figure 2 16: Circuit diagram of IR led emitter

From the above circuit:

Figure 2 17: Circuit diagram of the IR Receiver

From the above circuit:

1.7.3 PCB Layout

Figure 2 18: PCB Layout of the complete circuit

Figure 2 19: PCB Layout of the RECEIVER

Figure 2 20: PCB Layout of IR EMITTER

1.7.4 Software Code and Comments

if(CCPR1L < 25)

???????????????????This project teach how to derive a feedback system.

Explain the procedure that is going to be followed to test the system /

Figure 2 21: PWM of One SERVO MOTOR

Figure 2 22: PWM of BOTH SERVO MOTORS

Several tests have been performed on the Joystick. The Joystick is

Figure 2 23: Testing points

1.10 Necessary changes encountered

1.11 Results of the tested product / procedure

Comparison of results vs. requirements

Compare the results in paragraph 4.2 with the requirements in paragraph

Final Gantt chart

Figure 2 24: GANT CHART 1

Figure 2 25: GANT CHART 2

Figure 2 26: GANT CHART 3A.2