1 benjamin and jacob porta. 2 introduction design selection robot behavior budget

1Benjamin and Jacob Porta

2

Introduction

• Design Selection

• Robot Behavior

• Budget

3

Design Selection

• Movement

• Ball handling

• Processing

• Power

• Chassis

4

Movement

• Dual Mabuchi RE-260RA Drive Motors

• PS/2 Mouse Encoders

5

Ball Handling

• Gate

• Ball Sensor

• Propulsion Solenoid

6

Gate

7

Ball Sensor

• Infrared• Ball reflects signal

when captured

8

Propulsion Solenoid

• From Solenoid City Part # SOODH030052 Push Type D frame solenoid with 1.25” of stroke

• Provides 170% of needed force

9

Processor

• PIC18F452– 2 PWM– USART– 32K Program Bytes– 40 MHz Clock

10

Power

• Processor– 9 Volt battery regulated at 5 Volts– Lasts for 6 matches

• Drive Motors/Gate– 4 C cell batteries– Lasts for 2 matches

• Solenoid– 12 AA Batteries– Lasts for 1 match

11

Chassis

Top Layer Bottom Layer

12

Robot Behavior

Reset Button

Pressedat any

time

Determine Robot Color and Goal Position

Initialize mouse andall variables

Receive data packetfrom RF device

Administrative update Determine mode

of operation

Turn off all motion devices

Receive data packetfrom RF device

No

Administrative update Yes

Turn on Power Switch

Timeout mode

Go To:Movement Test (pg xx)

Switchfor robot color

and goallocation

Power on reset to allow clock to

stabilize

No

Administrative updatemode

Yes

Start Play,Resume Play,Ball Handling

or Multi-ballTest Modes

Go To:Gameplaying

mode (pg xx)

13

Robot Behavior

Has robot beento opponents

goal?

No

No

Administrative update? Yes

Receive data packetfrom RF device

No

Yes

No

Calculate directionto opponents goal

Drive motors oppositedirection until encoders indicate proper direction

change

Robot facingopponents goal?

Calculate distance to opponents goal

Drive motors untilencoders indicate

proper position change

Yes

Has robotbeen to

home goal?

No

Yes

Yes

Drive motors untilencoders indicate

proper position change

Calculate distance to home goal

Drive motors oppositedirection until encoders indicate proper direction

change

Robot facinghome goal?

Calculate direction to home goal

Is robot in itsown goal

Yes

No

Movement Test

Go To:Administrative update mode (pg xx)

Go To:Timeout Mode (pg xx)

14

Robot Behavior

Yes

Yes

Yes

No

Game overGo To:

Timeout Mode (pg xx)

Drive motors opposite of each other until encoders indicate

proper direction change

Game Play Mode

Receive RFPacket

Are three ballsin either

robot's goal?

Is robot facingclosest ball?

Determine directionchange to make robot

face closest ball

Has fifth packetbeen received?

Yes

AdministrativePacket?

Determine distancefrom robot to ball

Go To:AdministrativeMode (pg xx)

Go To:Ball Return

Mode (pg xx)

Has gate sensorcaused containment

gate to close?

Target ClosestBall

Determine wall distances90 and -90 degreesfrom direction of ball

Is opponent betweenrobot and ball?

Yes

No

Yes

Have robot turnin direction of furthest

calculated wall distance andtravel 1 foot

No No

Determine distance toball then drive motorsforward until encoders

indicate distance toclosest ball covered

Are there anyvisible ball

not in robot'sgoal?

Yes

No

No

No

Receive RFPacket

AdministrativePacket?

Yes

Go To:AdministrativeMode (pg xx)

Yes

No

Has gate sensorcaused containment

gate to close?

No

Go To:Ball Return

Mode (pg xx)

Has this pathbeen used 3 consecutive

times?

No

Yes

15

Robot Behavior

Determine wall distances90 and -90 degreesfrom direction of ball

Have robot turnin direction of furthest

calculated wall distance andtravel 1 foot

Receive RFPacket

AdministrativePacket?

Go To:AdministrativeMode (pg xx)

Determine distance of robot from goal

Calculate PWMsignal to send to

solenoid for ball totravel proper distance

Open ballcontainment

gate

Send PWMsignal to solenoid

Go To:GamePlaying

Mode (pg xx)

Ball Return Mode

Is opponent or otherballs between

robot and goal?

Yes

No

Yes No

16

BudgetPart Name Quantity Description

Cost per part

If free, reason why Total cost

1/4" plywood11.2in by

8.76inWood for top cover Free Scrap wood Free

1290-79 battery holder

1 9-volt battery holder $1.34 $1.34

517-ICO-406-S8A-T 1 40-Pin dip socket $0.21 $0.21

Angle aluminum 3 1/16"*3/4"*4' $1.85 $5.55

BC4AAW battery holder

3 AAx4 battery holder $1.00 $3.00

BH24CL 1 Cx4 battery holder $1.37 $1.37

Capacitors Free Supplied in lab Free

Dip switches 1 Three switch package FreeRecycled from PC

motherboardFree

Ecs-2100A-10.0 MHz

1 10 MHz oscillator $2.13 $2.13

Etching resist transfer sheet

1Used to print traces on

PCB$1.50 $1.50

Ferric chloride 1/8 of bottle PC board enchant $4.00 $0.50

Futaba23004 1 Servo FreeThe controller board

was burntFree

L7805CV voltage regulator

1 5-volt voltage regulator FreeRecycled from pc

power supplyFree

LM339 comparator 1 Quad comparator $0.99 $0.99

Part Name Quantity DescriptionCost per

partIf free, reason why Total cost

Marbles 2 Large marbles Free Donated from nephew Free

OP294 LED 1 Inferred LED FreeRecycled from

programmable remoteFree

OP505B phototransistor

1 Inferred phototransistor FreeRecycled from

programmable remoteFree

PC board 1 PC board $4.29 $4.29

PIC 18F452 1 Processor Free Free sample Free

Pin Headers FreeRecycled from old

motherboardsfree

PS/2 mouse 1 Computer mouse FreeNo one uses a ball

mouse anymoreFree

Resistors Free Supplied in lab Free

s-20-150-h-lp solenoid

1Solenoid from

solenoidcity.com$36.33 $36.33

Sheet metalApproximat

ely 5ft^20.039" thick aluminum

SN754410 6 Dual h-bridges $1.88 $11.28

Tamiya 2 Motors with gear head $12.00 $24.00

Wooden wheels 2 2" wooden drive wheels FreeCut from scrap

plywoodFree

Total $91.99

17

QUESTIONS?