AnDevCon 2014 - Android, Motion Control and Automated Testing

Transcript

1. Android, Motion Control and Automated Hardware Testing William Chen - AnDevCon 2014
2. Agenda • What is Leaf? • Custom Hardware Challenges • Motion Control • Implementation • Libraries William Chen - AnDevCon 2014
3. What is Leaf? A tablet point-of-sale designed to allow brick and mortar businesses to remain competitive as commerce shifts to connected technologies
4. The First Tablet
   Built for Business • Mobile Form Factor! • Custom Hardware! • Less Expensive! • More Reliable! • More Secure William Chen - AnDevCon 2014
5. Custom Device / Custom Solution • End Product = Integrated System • Depth, not Width • Diverse Operating Environments • Wireless Communication • Physical Usage William Chen - AnDevCon 2014
6. Integrated System - Tablet Hardware (Motherboard + Peripherals) William Chen - AnDevCon 2014 LeafOS (Android + Security/Peripheral Control) Leaf SDK (Shared Functionality) Applications
7. Integrated System - Terminal Payment Hardware Payment Application LeafOS / SDK / Apps LeafPresenter Leaf Cloud Leaf Payment Gateway Leaf Web Services William Chen - AnDevCon 2014
8. Challenges • Qualification/spec verification • Stress testing • System testing William Chen - AnDevCon 2014
9. Motion Control • Physical Motion • Electrical Command / Interface William Chen - AnDevCon 2014
10. Motion Control System • Motor • Encoder • Limit Switches • Reference Markers • Controller William Chen - AnDevCon 2014
11. Motor Components • Mover • Bearings • Coil • Magnets William Chen - AnDevCon 2014
12. Encoder • Encoder • Limit Switches (Hard / Soft) • Reference Markers William Chen - AnDevCon 2014
13. Controller • I/O • Feedback • Tuning • Absolute / Relative Motion William Chen - AnDevCon 2014
14. Our System - Motor • ThorLabs DDS220M - 220 mm Linear Direct Drive Stage William Chen - AnDevCon 2014
15. DDS220 Specs • High Repeatability: 0.25 um • Positional Accuracy: < 0.3um • Linear Optical Encoders • Linear Bearings William Chen - AnDevCon 2014
16. Our System - Controller • ThorLabs BBD201 - 1-Channel Benchtop 3-Phase Brushless DC Servo Controller William Chen - AnDevCon 2014
17. BBD201 Controller I/O
18. Our Solution • DDS220 + BBD201 • Serial to Ethernet converter • Driver layer & Client libraries / apps William Chen - AnDevCon 2014
19. Solution Advantages • (Not designed for this) • Integrated, Ready-to-use • Pre-tuned • Absolute Positioning William Chen - AnDevCon 2014
20. Solution Challenges • Windows • Asynchronous Communciation • Binary Protocol • Driver Implementation William Chen - AnDevCon 2014
21. Integration • Generalizable to different motor types • Cross platform abstraction layer • Xamarin based, but can be ported William Chen - AnDevCon 2014
22. Code Walkthrough • Communcation Protocol • API Layer William Chen - AnDevCon 2014
23. References • Controller Library & Sample Apps: https://github.com/wkchen/ APTLib • Event based socket client library: https://github.com/Surfea/ SocketLib4Net William Chen - AnDevCon 2014