Embodied Speech and Facial Expression Avatar Progress Report 1

Transcription

1 Embodied Speech and Facial Expression Avatar Progress Report 1 Presented to Professor Ricardo Gutierrez-Osuna on February 23, 2004 by Dan Harbin - Evan Zoss - Jaclyn Tech - Brent Sicking - 1 -

2 Table of Contents Accomplishments... 3 Control of Motor Direction... 3 Motor Control Circuitry... 3 Figure 1: Motor Control Schematic... 3 Disassembling Yano... 4 Figure 2: Yano being hacked... 4 Testing the Microcontroller... 4 Figure 3: SV203 Commands... 5 Figure 4: Test software user interface from Pontech... 6 Graphical User Interface Framework... 6 Figure 5: Motor Control GUI... 7 Figure 6: Facial Expression Selection GUI... 7 Time Schedule & Immediate Goals... 8 Figure 7: Gantt chart... 8 References

3 Accomplishments Control of Motor Direction Circuitry is needed in order to move Yano s motors in two directions. We decided to connect an h-bridge to each motor in order to reverse the polarity of the motor supply voltage. The TC4424 takes two logic inputs, one for enable, one for direction, two power inputs and two power outputs. The h-bridge supports up to 12V and 3A, so it is compatible with our motors and SV203 control board (which need 6V). Each h-bridge is less than $2.00, however Evan was able to get free samples and they have already arrived in the mail. Motor Control Circuitry Once deciding on the h-bridges to control the direction of the motors, we designed a circuit diagram connecting the SV203, h-bridges and motors. Limit Switches SV203 Servo Control PWM V+ GND EN REV TC4424 V+ GND Out 1 Out 2 Serial Port Motor Figure 1: Motor Control Schematic - 3 -

4 Disassembling Yano Our Yano toy arrived, and we began hacking him out on Tuesday, February 17. We severed the head, and discovered the leads for the motors and end switches are connected to Yano s circuit board via simple, removable connectors (Figure 2). This makes it easy to connect the leads to our circuitry. Figure 2: Yano being hacked Testing the Microcontroller Upon receiving the SV203, we first decided to test sending it commands through HyperTerminal. We attached a 6V power supply and two leads from a logic analyzer to the board. By using ASCII strings given to us in the SV203 manual (Figure 3), we were successfully able to send commands to the SV

5 Figure 3: SV203 Commands Next, we tested the SV203 with test software written in Visual C++ MFC available at the Pontech website (Figure 4). This software contains a class, CCOM, which is used to communicate with the serial port, and a class, SV200, which is used to communicate information with the SV203 board. We were able to compile and run the software successfully, and it appeared to communicate with the board according to readings from the logic analyzer

6 Figure 4: Test software user interface from Pontech Graphical User Interface Framework Brent developed framework for our graphical user interface in Visual C++.NET MFC. There are two parts to the interface, motor control (Figure 5) and facial expression selection (Figure 6). Each motor is defined by the Motor class. This class stores the current position of each motor, the maximum position it can safely reach, and the direction it is moving (+/- 1). Each instance of a Motor also has the ability to calibrate; meaning, we find and set the maximum position and return the motor to its base position. class Motor { public: Motor(); bool needsadjusting(int destpos); void calibrate(); int getdirection(); void setdirection(int destpos); int getcurrentpos(); void setcurrentpos(int newcurrentpos); int getmaxpos(); private: int m_maxpos, m_currentpos, m_direction; }; - 6 -

7 Figure 5: Motor Control GUI Figure 6: Facial Expression Selection GUI - 7 -

8 Time Schedule & Immediate Goals According to our Gantt chart (Figure 7), we appear to be on schedule. We have created a design for out hardware circuitry, acquired all the necessary parts, and hacked the Yano toy. Figure 7: Gantt chart Over the next several weeks, we hope to: Test reading input from the SV203 microcontroller Write code to calibrate the motors, and incorporate with our software framework Hook up Yano s head to the control board and software Create a circuit board to go between the SV203 and Yano s head that contains the h-bridges with connectors for the SV203 pins and for Yano s head connectors

9 References 1. TC4424 H-bridges / 2. Microcontroller-based Motor Control