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WEEK 11

EXPERIMENTS ON THE SYSTEM

Experiment on finding the program to control the actuator motor using motor driver

For this part, first is to test the program on the controlling the actuator as to represent the wheelchair going through either upward slope or downward slope. The following coding is to test the functionality of the motor driver movement including the direction of the actuator motor. 

Coding for motor driver:

Coding for controlling the motor driver

According o the above figure, the coding was to test and identify the movement of the actuator motor as well to determine the condition of seat represent either going upward or downward slope. This test will be the reference for testing with the IMU sensor later. The condition of the wheelchair for this testing as below:

The seat move downward

From the above figure, the experiment were done to test the functional of the actuator motor for moving the seat of the wheelchair. This condition show the seat go downward.

The seat move upward

From figure shows that the experiment were done to test the functional of the actuator motor for moving the seat of the wheelchair. This condition show the seat go upward.

Note that the actuator motor works well with the code that had been done, so the next experiment was to test on the embed IMU sensor with the motor driver together in one program.

 Experiment on Finding the program to control the IMU sensor along with the actuator motor.

For this part, was to find the full program to control the IMU sensor together with motor driver. As for this experiment, it will show how the objective of this project are. The experiment start with the coding embed the IMU sensor together with the code of the motor driver according to the section A. 

The coding was to test and identify the movement of the actuator motor as well along with the IMU sensor that works together. This experiment was to determine the condition of seat represent either going upward or downward slope. The condition of the wheelchair and the seat for this testing are as followed:

Experiment represent the wheelchair going through upward slope - The seat will go down

From figure, the experiment were done to test the functional of the actuator motor for moving the seat of the wheelchair together with the IMU sensor. In this condition, the IMU sensor detected the condition of the wheelchair going through an upward slope. So the seat will move downward to stable with the condition of the wheelchair.

Experiment represent the wheelchair going through downward slope - The seat will go up

While for this part the experiment were done to test the functional of the actuator motor for moving the seat of the wheelchair together with the IMU sensor. In this condition, the IMU sensor detected the condition of the wheelchair going through a downward slope. So the seat will move upward to stable with the condition of the wheelchair.

Experiment represent the wheelchair is at stationary condition - The seat will remain to original position

In this condition, the IMU sensor detected the condition of the wheelchair at a stationary position. So the seat will move to original position.