Breadboard Testing

The next step in the prototyping process was to test the individual components. In addition the code needed to control these components was programmed. Motor control was written such that the motor moved at a speed of four inches per second until limit switches were pushed. A button was used to act as the user interacting with the crutch, providing a signal to deploy or retract the crutch. Additionally, the shutting off of the motor holding torque was tested. As seen in the image below, 0.3A is needed to hold the screw in place. With an additional button this can be powered off for additional power savings.

The code framework for the state chart described in Software Planning was also implemented. Testing was performed to capture the analog readings of the various pressure sensors that correspond to human touch. Detection was identified with LED lights. These sensors will be used to determine if someone is holding or using the crutch.