The document describes a smart mount system that uses two servo motors controlled by an MSP430 microprocessor to adjust the vertical and horizontal tilt of the mount based on input from a potentiometer and accelerometer. The system includes code modules for initializing and controlling the servos and reading acceleration data to calculate the vertical angle of the mount. Safety considerations include not overloading the servos and ensuring a stable structure.

1. Smart Mount
Joseph Gulotta, Nicholas Parisi, Ryan Wright

2. Description
 Design consists of two servo motors
1. Controls up/down tilt movement
2. Controls left/right tilt movement

3. Requirements
 Must be able to change vertical angle
 Must be able to change horizontal angle
 Must be able to calculate the vertical angle via the
accelerometer
 Must be able to move to any position easily

4. Functions
 Tilt the mount up and down
 Tilt the mount right and left
 Calculate the vertical angle
 Be able to set any position easily

5. Resources
 1 MSP430 LaunchPad Microprocessor
 2 Servo Motors
 1 Accelerometer
 Voltage Divider Circuits
 2 Potentiometers
 Breadboard
 Wires linking the MSP430 to the breadboard
 1 Board to represent a wall
 1 board to represent the mount & monitor
 Power Supply in Lab – May eventually be changed
to an external supply

6. State Diagram
Set
Vert.
Pos.
Initial
Set
Horz.
Pos.
Calc.
Angle
Final
Pos.

7. Inputs & Outputs
 Input
 Power Supply in Lab
 Potentiometers
 Effects duty cycle and PWM
 NOTE: PWM does not go through the pot, that would just
decrease the amplitude.
 Team made the initial mistake of putting the PWM into the pot.
 Output
 Servo Arm Positions
 Angle of the vertical tilt
 Accelerometer

8. Algorithms & Error Handling
 Algorithms
 Turn each servo in their respective direction.
 Done by turning the potentiometer.
 Setting duty cycles
 Calculating angle via the accelerometer
 Error Handling
 Unsure what to put here, more to come soon.

9. Communication
 The MSP430 will communicate to the servo motors
and provide power
 The voltage divider circuit with the potentiometer will
communicate position to the servo arm
 The accelerometer will communicate the vertical
angle to the user

10. Coding Practices
 Neat, commented code
 Modular
 Able to be re-used easily
 No hard coding.
 Error Handling
 Informing and specific
 More to be added soon.
 Interfaces
 COBS
 ADC

11. Software Architecture
 Code Modules – Builds on the servo ADC lab
 Main
 Calls ADCInit() and ServoInit()
 Calls ServoSetDuty, passing in StartADC() and adding 1100 to it.
This is done because the servo may not turn due to the duty cycle
not being in the proper range. The transfer function here simply is
StartADC()+1100.
 Servo.c
 ServoInit(void)
 ServoInit initializes the servo. This sets the timer, output mode, output
pin, and which peripheral will be used. In addition, the period that it will
operate at is 20ms. An initial duty cycle for the PWM is set.
 ServoSetDuty(uint16_t regVal)
 ServoSetDuty looks at the values stored in regVal and compares it to
the upper and lower duty bounds set by Servo.h, making sure that the
duty cycle does not go above or below the bounds set.
 ServoStop
 Stop the servo from performing its current task.

12. Software Architecture
 Code Modules Continued.
 Servo.h
 Contains macros for upper and lower bounds for the timer, thus
defining the duty cycle’s lower and upper bounds. Also declares
the functions ServoInit(void), ServoSetDuty(uint16_t regVal), and
ServoStop(void).
 Adc.c
 ADCInit()
 Declares registers to enable and control the ADC.
 StartADC(void)
 Starts the analog to digital conversion. While certain registers are
active, whatever is stored in the 10 bit ADC memory register will be
returned.
 Adc.h
 Declares the functions ADCInit() and StartADC(void).
 MSP430_launchpad.h
 Defines Pins & Buttons for the MSP430 launchpad.

13. Software Architecture
 Code Modules Continued.
 Accelerometer Module
 Accelerometer Read
 Reads the x, y, and z values acceleration data gathered by the
accelerometer.
 Accelerometer Get Data
 I^2C read operation to fetch the data gathered by “Accelerometer
Read”.
 User will use “Accelerometer Get Data” to get the x, y, and z
acceleration data, and return it.
 Use a structure -- pass it in, place data in, pass it back.
 Uint16 inside structure.

14. Power and Grounding Management
 Power
 Powered from the computer
 Need to get a different supply.
 Grounding
 1 common ground
 Power ground

15. Safety Assessment
 Don’t overload the servos by putting too much
weight on the end.
 Structure must be stable and not break
 Breaking would cause damage to whatever is being held
up.
 Proper grounding

16. Documentation
 Lab report complete with pictures and references
 MSP 430 datasheet
 Accelerometer datasheet
 PowerPoint outlining the project
 Gantt Chart outlining our progress