ELM 4071 Miniproject

10/18/2006

Team Gary

Dan Farley

Tyson Rogstad

Erik Flum

Rob Koch

Gary Zigmann

Rob

ELM 4071 Miniproject

10/18/2006

Background Information

• Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects.

• MARV includes a HC12 microcontroller, a Scorpion XL motorcontroller and two Denso DC gear motors.

• The frame is constructed of 8020 extruded aluminum which allows easy assembly and alteration.

Rob

ELM 4071 Miniproject

10/18/2006

Problem Statement

MARV2 is in an empty room. When MARV2 senses its battery is low, it needs to autonomously recharge its battery.

Rob

ELM 4071 Miniproject

10/18/2006

Solution Statement

• Use mechanical switch to simulate voltage low condition

• Sends MARV into search routine, where it aims to detect a light source

• Motors are controlled by voltage drop across the sensors mounted on front and rear

Rob

ELM 4071 Miniproject

10/18/2006

Docking Station

IR Emitter

AC to DC

BatteryMicrocontrollerMotorcontroller

IR Receiver

MARV

System Overview

Electrical Probe

Dan

ELM 4071 Miniproject

10/18/2006

MARV Finding Docking StationBattery Voltage Is Low, IR Receivers Activated, MARV Spins

Dan

ELM 4071 Miniproject

10/18/2006

MARV Finding Docking StationReceiver Detects IR Emission

Dan

ELM 4071 Miniproject

10/18/2006

MARV Finding Docking StationMARV Spins Until Both Receivers Are Equal

Dan

ELM 4071 Miniproject

10/18/2006

MARV Finding Docking StationMicrocontroller compares rear sensor to front sensor

Dan

ELM 4071 Miniproject

10/18/2006

MARV Finding Docking StationMARV Reaches Docking Station, Probes Touch Electrical Connection

Dan

ELM 4071 Miniproject

10/18/2006

Mechanical Design of Docking Station

AC to DCIR Controls

Vertical Supports

Alignment BracketsFor IR Emitters

Electrical Connection

Wood Base

Gary

ELM 4071 Miniproject

10/18/2006

Mechanical Design of Probes

Gary

ELM 4071 Miniproject

10/18/2006

Code Flow ChartBattery Low

Check Buttons Spin Left

Compare Front Sensors

Compare Front and Rear Sensor

Go Straight

Stop

Drive Straight

350 ms

Stop Button

Pressed

Vlow On

Rear Sensor Greater Than

or Equal to Front Sensor

Front Sensors

Not Equal

Front Sensors Equal

Front Sensor Greater than Rear Sensor

Gary

ELM 4071 Miniproject

10/18/2006

Sample CodeJSR Read_ATD1LSRDLSRDLSRDLSRDSTAB Sensor1LDAA Sensor2LDAB Sensor1CBALBEQ TestRear

(Shifting bits to decrease resolution of sensor value)

Find_Home:MOV #31, PWMDTY0MOV #47, PWMDTY1LDD #350JSR Delay_DmsJMP Check_Buttons

(Arcing MARV by driving one motor faster than the other to compensate for spin routine)

Gary

ELM 4071 Miniproject

10/18/2006

Charging Circuit

On Charging Station

Erik

ELM 4071 Miniproject

10/18/2006

Infrared Emitter Circuitry

Erik

ELM 4071 Miniproject

10/18/2006

Sensor Circuit

To HC12

CdS resistor

Erik

ELM 4071 Miniproject

10/18/2006

Light circuit

Standard Wall Receptacle

Erik

ELM 4071 Miniproject

10/18/2006

Personnel Assignments

TYSON Sensors & Emitters

ERIK Power Supply

ROB Docking

DAN Software

GARY Software

Tyson

ELM 4071 Miniproject

10/18/2006

Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8Group upConcepts and Design IdeasResearchBuilding MARVsFinalizing IdeasCharging Circuit(Building and Testing)Sensor/Emitter Circuit (Building and Testing)Testing MotorcontrollerSoftware to HC12Software IdeasMotor SoftwareSensor Detection SoftwarePresentation

Work Breakdown Structure

Tyson

ELM 4071 Miniproject

10/18/2006

Budgetprobes 1 $5.00 $5.00 $5.00 $5.00probe mounts 1 $3.00 $3.00 $3.00 $3.00wire 1 $5.00 $0.00 $5.00 $0.00stallpoly 1 $3.00 $0.00 $3.00 $0.00IR Sensors 5 $5.00 $5.00 $25.00 $25.00IR Emitter 6 $1.60 $1.60 $9.60 $9.605 minute epoxy 1 $1.00 $0.00 $1.00 $0.00tape 1 $1.00 $0.00 $1.00 $0.00assorted electronic components 1 $1.00 $0.00 $1.00 $0.00bread board 1 $2.50 $0.00 $2.50 $0.00

plywood 1 $9.00 $0.00 $9.00 $0.002x's 1 $4.00 $0.00 $4.00 $0.00steel rails 1 $1.50 $0.00 $1.50 $0.00legs 1 $2.00 $0.00 $2.00 $0.00screws 1 $1.00 $0.00 $1.00 $0.00light 1 $13.00 $0.00 $13.00 $0.00resistor 7 $0.05 $0.00 $0.35 $0.00electolytic capacitor 1 $0.80 $0.00 $0.80 $0.00capacitor 2 $0.30 $0.00 $0.60 $0.00voltage regualtor 1 $2.00 $0.00 $2.00 $0.00transformer 1 $8.00 $0.00 $8.00 $0.00diode 1 $0.05 $0.00 $0.05 $0.00op-amp 1 $0.30 $0.00 $0.30 $0.00LED 1 $0.05 $0.00 $0.05 $0.00bridge rectifier 1 $2.20 $0.00 $2.20 $0.00power resistor 2 $1.15 $0.00 $2.30 $0.00transistor 1 $0.12 $0.00 $0.12 $0.00

total estimated cost: $1,036.87total actual cost: $162.60

Charging Station Budget

Tyson

ELM 4071 Miniproject

10/18/2006

Questions?

Tyson