Project

# Title Team Members TA Documents Sponsor
60 Digital Pitch Shifter for Guitar
Eric Moreno
William Chang
Zhengjie Fan
Shengyan Liu design_document1.pdf
final_paper1.pdf
other1.jpeg
photo1.jpeg
presentation1.pptx
proposal1.pdf
# **Digital Pitch Shifter for Guitar**

Team Members:
- William Chang (wqchang2)
- Eric Moreno (emoren40)

# **Problem**

Guitarists without access to a tremolo system face significant limitations in their ability to create expressive vibrato and pitch-bending effects, which are essential for adding emotional depth and dynamic variation to their playing. Without these techniques, the guitar’s sound can feel static or restrained, especially in genres like rock, blues, and jazz, where pitch manipulation is crucial. Traditional tremolo systems, though effective in addressing this issue, require invasive modifications to the guitar body, such as routing or altering the bridge. These changes not only compromise the guitar’s original design but can also affect its sound and value. Additionally, such systems may not be suitable for all playing styles, or for guitarists who prefer a more minimalist approach. As a result, players seeking greater versatility in their instrument face the difficult choice between sacrificing their guitar’s aesthetics or settling for limited expressive capabilities. This is the gap the proposed project aims to fill.

# **Solution**

The solution to the aforementioned issue is a compact, attachable digital pitch-shifting device that uses a sonic sensor to detect the proximity of the guitarist’s hand to the bridge of the guitar. As the player moves their hand closer or farther from the sensor, the pitch of the guitar signal is dynamically adjusted, allowing for real-time pitch shifts up or down. This enables the guitarist to perform expressive techniques like vibrato and pitch bending, similar to those provided by traditional tremolo systems, but without the need for invasive body modifications. Additionally, the device includes a switch or button that lets the player toggle between upward or downward pitch shifts, offering greater flexibility in controlling the pitch. This lightweight solution enhances the player's creativity while preserving the guitar’s natural design and playability. Furthermore, the additional buttons or switches can enable further effects such as reverb, chorus, or delay, giving the player more creative control over their sound. These augmentations enhance the guitarist’s ability to experiment with a wider range of tones and textures without needing to modify the guitar's body or permanently alter its design.

# **Solution Components**

**Sonic Sensor**

The HC-SR04 ultrasonic sensor will play a crucial role in detecting the proximity of the guitarist’s hand to the sensor, which will then be used to adjust the pitch of the guitar signal. The sensor operates using two primary pins: the Trigger pin and the Echo pin. The Trigger pin receives a pulse signal from the ESP32 to initiate the emission of an ultrasonic wave, while the Echo pin sends back a signal to the ESP32 that is used to calculate the distance based on the time it takes for the wave to return. This distance will dynamically influence the intensity of the pitch-shifting effect.

**Guitar Preamp**

A guitar preamp pedal will be placed between the guitar and the microcontroller to boost the guitar’s signal, which typically ranges in the hundreds of millivolts. The preamp will increase the signal to a level suitable for the ESP32's ADC, ensuring that the microcontroller can properly process the audio input.

**Microcontroller (Audio I/O, Signal Processing, Sensor I/O)**

The ESP32 microcontroller will serve as the central unit responsible for managing both the input and output of signals, as well as performing real-time signal processing for the project. One of its primary roles will be handling audio input and output through its ADC (Analog-to-Digital Converter) and DAC (Digital-to-Analog Converter) pins. The ESP32 will convert the guitar signal from analog to digital using the ADC, process it with pitch-shifting algorithms, and then convert it back to analog using the DAC for output to a guitar amplifier. In addition to audio processing, the microcontroller will interact with the HC-SR04 ultrasonic sensor by sending a trigger pulse through its GPIO pin to the TRIG pin in order to initiate a reading. It will then read the output of the Echo pin to calculate the distance between the sensor and the player’s hand, which will influence the pitch-shifting parameters. Furthermore, the microcontroller will manage user interactions such as toggling effects or adjusting parameters using additional GPIO pins connected to buttons or switches.

**Guitar Amplifier**

A 7-watt combo amp will be used to amplify and output the pitch-shifted guitar signal from the ESP32 to an audible level. After the microcontroller processes the audio and applies the pitch shift, the combo amp will boost the signal, making it loud enough for the guitar speaker to produce sound.

**Power System**

The power management system will use a 5V power supply to ensure stable operation of both the ESP32 microcontroller and the HC-SR04 ultrasonic sensor. Since the ESP32 requires 3.3V, a voltage regulator will step down the 5V supply to provide a stable 3.3V output for the microcontroller. The HC-SR04 sensor, which operates at 5V, will be powered directly from the same 5V supply to ensure proper functionality. A common ground will be shared between all components to maintain reliable communication. Additionally, since the HC-SR04’s Echo pin outputs 5V, a voltage divider can be used to step down the signal to a safe 3.3V for the ESP32’s GPIO.

# **Criterion For Success:**

- Non-Intrusiveness – The device must attach to the guitar without requiring permanent modifications, preserving the instrument’s original design and functionality.

- Real-Time Pitch Control – The pitch of the guitar signal should shift dynamically (range of 2 octaves) in response to the player’s hand movements, ensuring smooth performance.

- Adjustable Pitch Direction – A switch or button should allow the player to toggle between shifting the pitch up or down, providing flexibility.

- Maintain Guitar Signal Integrity – The device must process the guitar’s audio cleanly, maintaining tonal quality without noticeable latency or unwanted distortion.

- Compact and Lightweight Design – The attachment should be small and light enough to avoid interfering with playability or altering the guitar’s balance.

- Reliable Power Source – The system must have a stable and efficient power supply, ensuring consistent performance without frequent battery replacements or power interruptions.

- Expandable Features – The device should support additional effects like reverb, chorus, or delay through buttons or switches to enhance creative possibilities.

Antweight Battlebot Project

Jeevan Navudu, Keegan Teal, Avik Vaish

Antweight Battlebot Project

Featured Project

# Antweight Battlebot

Team Members:

- Keegan Teal (kteal2)

- Avik Vaish (avikv2)

- Jeevan Navudu (jnavudu2)

# Problem

In order to compete in Professor Gruev’s robot competition, there are many constraints that need to be met, including:

- Maximum weight (2lbs)

- Allowed materials (3D-printed thermoplastics)

- Locomotion system and fighting tool

- Wireless control via Bluetooth or Wifi

The main goal of this competition is to design a Battlebot that is capable of disrupting the functionality of the other Battlebots with our fighting tool while maintaining our own functionality.

# Solution

For the project, we plan to build a battlebot with a custom electronic speed controller (ESC) that can independently control three brushless motors: two for the drive system, and one for the fighting tool. This ESC will be controlled by an STM32 microcontroller, to which we will add a Bluetooth module to connect to it and specify how much power we want to send to each motor. To communicate with our robot, we will use a laptop that can connect to Bluetooth.

# Solution Components

## Vehicle Controller

The main subsystem of the robot will be a combined vehicle control board and ESC. This subsystem will contain an STM32 Microcontroller that will serve as the brain for the whole robot. With this MCU, we’ll be able to flash our whole software package that will be able to control the speed and direction of the robot, the robot’s weapon, and the Bluetooth communication.

## Power Module

This subsystem includes the battery, the voltage regulators/converters needed to power the electronics, and the necessary battery monitoring circuitry. Specifically, for the battery, we will use a 14.8V 4S2P LiPo pack to power all the components. There will also be a voltage short detection circuit for the battery that will shut down the robot in case of a short to ensure safe practices. This subsystem also contains a 5V linear regulator and 3.3V linear regulator to power the low voltage electronics.

## Drivetrain/Powertrain

This subsystem includes the motors and H-bridges needed to control both the wheels and weapon of the robot. The H-bridges will be made with regular N-MOSs that will be controlled by a PWM signal sent from the STM32 MCU. This H-bridge setup will be able to control the voltage and polarity sent to the motors, which will be able to control the speed of the wheels or weapon. This subsystem will also include the mechanical wheels of the robot and actual hardware of the weapon, which will be a spinning object. Since all the wheels and the weapon have the same mechanical motion, they can all use the same hardware and software electronically, with minor adjustments in motor selection and the actual mechanical hardware/peripheral.

## Bluetooth Module

One big requirement for this project is the ability for the robot to be controlled wirelessly via laptop. The STM32 MCU has bluetooth capabilities, and with additional peripheral hardware, the robot will be able to communicate over bluetooth with a laptop. The goal for the laptop is to be able to control the speed, direction, and weapon of the robot wirelessly and also have a display for live telemetry.

## Mechanical Design

The last part of our project would be the mechanical design of the robot chassis and weapon. For the chassis and weapon material, we decided to go with PLA+ as it offers a blend of being strong and robust but not being too brittle. The drive system will be a 2-wheeled tank style drive with one motor controlling each side of the robot. For the weapon, we are looking to utilize a fully 3D-printed drum that will have a 100% infill to maximize the rotational inertia which can lead to bigger impacts.

## Criterion for Success

We would consider our project a success if we are able to communicate with the robot from our computer as in sending throttle and steering commands to the robot, if those commands are then processed on the robots microprocessors and the motors are sent the according power needed to move and behave in the way that we want during a match.

## Alternatives

The most commonly used electronics in current antweight battlebots consist mostly of RC drone parts. We plan to create a very similar ESC to those on the market but it will have an integrated Bluetooth wireless capability as well as telemetry monitoring. We also want to focus on minimizing packaging size to lower weight and increase flexibility as much as possible.

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