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#Source Code Fuzzy Logic Arduino driver#
Sabertooth 2x25 motor driver unit realizes the final motor control action. The system was tested in a caterpillar robot.” The ARM microcontroller sends the control commands to the BMS5005 robot controller. The system also has an LCD display for monitoring the control system response. The BNO055 is a nine Degree Of Freedom (DFO) module. The orientation detection unit consists of two orientation detection modules BNO055 which includes MEMS sensors and are combined together in one chip with ARM cortex M0 processor. The system uses an ARM cortex M3 microcontroller to perform the control of the application. The head orientation is measured using Euler angles (Roll, Pitch and Yaw). The first OD reads the wheelchair orientation, and the second OD unit is fixed on the user’s head and used to control the speed and direction of the system. by means of Orientation Detection (OD) units. Head movements can be acquired using MEMS sensors (accelerometer, gyroscope and magnetometer) such as mentioned by Ruzaij et al. Moreover, MicroElectroMechanical Sistems (MEMS) can be placed on the body or on the wheelchair with the aim to measure body movements. The sensor output is proportional to the difference between the two capacitance variations, and any change of position produces a variation when the user changes the position.”. When an angular velocity is applied, the masses move, varying an internal capacitance. Its operation is based on two parallel oscillating masses that are always in opposite directions and at the same velocity. The gyroscope is a sensor which measures angular velocity. Accelerometers are transducers that produce an output signal related to acceleration, and the more common are the piezoelectric. It is common to use magnetometers to get in a complete manner the orientation variables analysis. One of the devices used for movement acquisition is Inertial Measurement Unit (IMU), which is an electronic unit that acquires and sends data of angular velocity and body movement.”Inertial sensors measure acceleration and angular velocities and are used in applications of movement analysis. In the literature review, published articles between 20 developed wheelchair control devices using head movements. in the State of the Art about electronic instrumentation and wheelchair control. Electric-powered wheelchairs have been designed since years ago improving the hardware system using different types of instrumentation instead of classic joystick as indicated by Callejas-Cuervo et al.