Tilt Controlled Vehicle

1
Hardware In this project, I utilized two
CY3209-ExpressEVK kits and one CY3214 PSoCEval
USB kit.
Tilt Controlled Vehicle
Software The source code for the project was
programmed in C using the PSoC Designer software,
aided by PSoC Programmer (which was used to
program the microprocessor) by Cypress.
Harry Levine Alex Mandel Isaac Gutekunst
Code Snippet
void drive(int motor, int velocity) if
(motor 0) positiveRangeL params.maxL -
params.medL negativeRangeL params.minL -
params.medL positiveStepL
positiveRangeL/10 negativeStepL
negativeRangeL/10 if (velocity lt 0 )
velocity -1 pulseWidth params.medL
(negativeStepL velocity) else
pulseWidth params.medL (positiveStepL
velocity) else if (motor 1)
positiveRangeR params.maxR -
params.medR negativeRangeR params.minR -
params.medR positiveStepR
positiveRangeR/10 negativeStepR
negativeRangeR/10 if (velocity lt 0 )
velocity -1 pulseWidth params.medR
(positiveStepR velocity) else
pulseWidth params.medR (positiveStepR
velocity) void main() while (1)
x flatten(i2cData.accelX) y flatten
(i2cData.accelY) if (x lt 0) leftPower
mag(y,x) rightPower mag(y,-x)
else leftPower mag(y,-x) rightPower
mag(y,x)
Statement of Purpose To create a remote control
car controlled by the tilt of an accelerometer.
CY3209-ExpressEVK

Project Goals Guidelines The goal of this
project is to incorporate and combine the skills
we have attainted at COSMOS UCSD 2008 with our
creative problem solving skills to create remote
controlled vehicle controlled by the tilt of an
accelerometer.
Main vehicle (left), remote (right)
CY3214-PSoCEval USB
Procedures 1. Install PSoC Development Software
(PSoC Designer, PSoC Programmer). 2. Create new
system-level project named AccSlave. 3. Program
Slave kit CY3209-ExpressEVK graphically to
wirelessly send the X and Y outputs of its
accelerometer to a Master board. 4. Create a new
system-level project named AccMaster. 5. Program
Master kit CY3209-ExpressEVK to receive X and Y
input from Slave and to output X and Y values via
I2C (be sure to set the sub addresses in the
slave controller properties equal to the offset
of the buffer values in which you want to
write). 6. Create new chip-level project named
Car. 7. Program CY3214 PSoCEval USB kit to write
the received X and Y values from I2C into the
variables of the buffer and to output 2
frequencies to the servo pins that are directly
proportional to the X and Y values. 8. Attach 2
servos with wheels to the CY3214 PSoCEval USB. 9.
Attach the signal operator wires to the
frequency pins of the chip. 10. Attach the Vcc
and Ground pins of the servos to power lines
connected to a battery. 11. Connect Car with
AccMaster with the I2C wires. 12. Connect the
voltage pin and the ground pin on the LCD port of
the CY3209 board to the power and ground pins on
the CY3214 board. 13. Connect the battery to the
holder of the CY3209 (feed through a switch if
desired).
Abstract Robots are becoming a key part of our
everyday lives. Whether for convenience, or for
saving a life, robots serve purposes every single
day. We have created a prototype for a new type
of robot control mechanism that simplifies the
task of maneuvering a robot through possibly
dangerous locations. Conventional remote control
systems are hard to use because they require
using various knobs, joysticks and sliders. This
system uses an accelerometer based controller
that responds to tilts and hand movements. The
two servos are wirelessly controlled to operate
the movement of a small car.  The wireless
signals from an accelerometer are passed to a
CY3209-ExpressEVK board and then are passed on by
I2C to a CY3214 PSoCEval USB board.  This board
in turn transmits the signal to the servos,
allowing the car to go forward, backward, left,
or right, all controlled by a slight tilt.  This
project implements the technical aspects of the
hardware and software, detail instructions for
re-creating the remote control device, results of
testing the new remote control device, and future
implications of this technology.  With this new
technology, wiggling a single finger can control
the movement of a robot just as well as a
conventional joystick, however it requires less
concentration and skill than a conventional
joystick, allowing the operator to concentrate on
other aspects of controlling the robot.
Isaac Gutekunst