Dia-Bot Project Overview

Diagnostic Robot for Georgia Tech Interdisciplinary Capstone Design Fall 2021

Electrical & Software Team

• Connor Truono
• Catherine Kasper

Mechanical Team

• Hunter Present
• Andrew Galant
• Douglas Walker
• Jason Poitter

Full project reports and documentation can be found at the Operation Omega Team Website hosted by the Georgia Tech ECE Senior Design Course: http://eceseniordesign2021fall.ece.gatech.edu/sd21f09/

Dia-bot Software Documentation

Overview

To Run the Program Testing with GUI: sudo python3 DiaBotGUI.py

Controls: Suppress print statements Suppress debugging functions Tag what the function interfaces with

Files Code

• Alerts.py
• DataCollection.py
• DataDisplay.py
• DataProcessing.py
• DCMotor.py (Deprecated for other motor system)
• DiaBotGUI.py
• DualHBridge.py (Deprecated for other motor system)
• FileIO.py
• PiInterface.py
• Positioning.py
• robot_test.py (Note: all the functionality has been removed from this file and placed into others.)
• Threads.py

Pictures

• Assets/
• Arrow-Down-Left.jpg
• Arrow-Down-Right.jpg
• Arrow-Down-S.jpg
• Arrow-Down.jpg
• Arrow-Left-A.jpg
• Arrow-Left.jpg
• Arrow-Right-D.jpg
• Arrow-Right.jpg
• Arrow-Up-Left.jpg
• Arrow-Up-Right.jpg
• Arrow-Up-W.jpg
• Arrow-Up.jpg
• Camera-Icon.jpg
• Clear-Icon.jpg
• Delete-Icon.jpg
• Video-Frame.jpg

Pin Connections

Item	Component Pin	Pi Pin
LED	Long Lead	11
DualHBridge	PWM (in)	12
DualHBridge	Motor A (in 1)	15
DualHBridge	Motor A (in 2)	16
DualHBridge	PWM (in)	19
DualHBridge	Motor B (in 1)	21
DualHBridge	Motor B (in 2)	22
DualHBridge	Motor Enable	18
Camera	N/a	camera port

Alerts.py

Imports: sys, tkinter, time, threading, math, random, enum

Classes Used: DataCollection

DataCollection.py

Description: Contains the DataCollection class which has 4 subclasses: SoundLevelCollection, VibrationCollection, PositionCollection, and TemperatureCollection

DataCollection Class

variables:

• name
• units
• samplingRate
• globalStartTime
• t (list of times)
• data (list of data)

DataCollection( name, units, samplingRate, globalStartTime)

• Initializes the DataCollection instance with the a name, units of data to be collected, sampling rate and data collection start time
• Creates two Lists data for a collection of the data and t for time stamp that correlates to the data value

addData(t, data) - helper function

• Adds the data value data which was taken at time t
• Mutex locks the lists

readAndAddData(*args)

• calculates t
• reads the data value
• calls readData(t, data)

SoundLevelCollection Class

Description: subclass of DataCollection

SoundLevelCollection(name, units, samplingRate, globalStartTime)

• Initializes the SoundLevelCollection instance using the super's function

readData() @toBeFilledIn

VibrationCollection Class

Description: subclass of DataCollection

VibrationCollection(name, units, samplingRate, globalStartTime)

• Initializes the VibrationCollection instance using the super's function

readData() @toBeFilledIn

PositionCollection Class

Description: subclass of DataCollection

PositionCollection(name, units, samplingRate, globalStartTime)

• Initializes the PositionCollection instance using the super's function

readData() @toBeFilledIn

TemperatureCollection Class

Description: subclass of DataCollection

TemperatureCollection(name, units, samplingRate, globalStartTime)

• Initializes the TemperatureCollection instance using the super's function

readData() @toBeFilledIn

DataProcessing.py

Imports: sys, tkinter, time, PIL, threading, multiprocesssing, math, random, matplotlib

Classes Used: DataCollection

Data processing

variables:

• tkTop
• dataCollection
• dataMutex
• globalUImutex

DCMotor.py

DiaBotGUI.py

DualHBridge.py

PiInterface.py

(move) Variables

• top Tk
• led
• camera
• speed
• zoom
• gpioMode
• pi
• motors

Threading Variables

• graphRefreshTime
• programRunning
• collectData
• startTime

Functions

• exit
• elapsedTime #debugging
• totalElapsedTime
• setSpeed
• moveForwardPress()
• moveForwardRightPress()
• moveForwardLeftPress()
• moveBackwardPress()
• moveBackwardRightPress()
• moveBackwardLeftPress()
• moveRightPress()
• moveLeftPress()
• moveRelease()
• stopMovement()
• ledOn()
• ledOff()

Threads.py

UI Page Layout