emram mini-sumo project innovations. emaram innovations team members: nick enriquez project manager,...

EMRAMEMRAM

Mini-Sumo Project

INNOVATIONSINNOVATIONS

EMARAM INNOVATIONSEMARAM INNOVATIONSTeam Members:Team Members:

Nick EnriquezNick EnriquezProject Manager, MCU Programmer, PCB DesignProject Manager, MCU Programmer, PCB Design

Isai MichelIsai MichelWebmaster, Body & Mechanics, Programming Webmaster, Body & Mechanics, Programming

supportsupport

Christian MarquezChristian MarquezParts Requisition, Sensors, Programming SupportParts Requisition, Sensors, Programming Support

Christopher ReyesChristopher ReyesPresentation Editor, Motors, Power Supply SupportPresentation Editor, Motors, Power Supply Support

Catherine AcainCatherine AcainReports Editor, Power Supply, PCB supportReports Editor, Power Supply, PCB support

““The Juggernaut”The Juggernaut”

PROJECT OVERVIEWPROJECT OVERVIEW

Mini-Sumo CompetitionMini-Sumo Competition Design SpecificationsDesign Specifications

• 500g maximum weight500g maximum weight• 10cm x 10cm maximum width 10cm x 10cm maximum width

and lengthand length• No destructive techniquesNo destructive techniques

Our Design ApproachOur Design Approach• Robust FrameRobust Frame• High TorqueHigh Torque• Bi-DirectionalBi-Directional• Simple but effective software Simple but effective software

implementationimplementation

Body & Body & MechanicsMechanics

ChassisChassis

Track systemTrack system SprocketSprocket IdlerIdler TracksTracks

RotationRotation

MotorsMotors

FUTABA S3305 MOTORS

D ouble-click to add an object

FUTABA S3305 MOTORSFUTABA S3305 MOTORS

SERVO MODIFICATIONSERVO MODIFICATION

Pulse Width & RPM TestingPulse Width & RPM Testing

SensorsSensors

Photo SensorsPhoto Sensors

QRD1113 Reflective Object Sensors (Fairchild Semiconductors)QRD1113 Reflective Object Sensors (Fairchild Semiconductors) 4.36 V swing (4.59 V to 228 mV) from black to white surfaces4.36 V swing (4.59 V to 228 mV) from black to white surfaces 1 V – Threshold1 V – Threshold About 5mm above the groundAbout 5mm above the ground

Distance SensorsDistance Sensors

• Sharp IR Proximity Sensors (GP2Y0A21YK)• 400 mV – Threshold• Detects at 70 cm

Power SupplyPower Supply

Lithium Ion Polymer BatteryLithium Ion Polymer Battery 3.7 V each3.7 V each 7.4 V Total Provided7.4 V Total Provided Light-Weight: 19.84gLight-Weight: 19.84g Easy to Charge and Easy to Charge and

RechargeRecharge

Voltage Regulation SchematicVoltage Regulation Schematic

System RequirementsSystem Requirements

Voltage RequirementsVoltage Requirements 5V and 6V5V and 6V Current Draw: Current Draw: 650mAH – 850mAH650mAH – 850mAH Power: Power: 4.81WH-6.29WH4.81WH-6.29WH Battery Rating: Battery Rating: 800mAH 800mAH Expected Battery Life:Expected Battery Life:

(5.624WH / 6.29WH)*(60 min) = 53 min(5.624WH / 6.29WH)*(60 min) = 53 min

Actual Power Supply Output:Actual Power Supply Output:

Voltage OutputsVoltage Outputs 5.0 and 6.4V5.0 and 6.4V Current Draw: Current Draw: 760mAH760mAH Actual Power Supplied:Actual Power Supplied: 5.624WH5.624WH Average Battery Life:Average Battery Life: 45 minutes45 minutes

Microcontroller Microcontroller

SYSTEM INTEGRATIONSYSTEM INTEGRATION

5V REG

FRONT IR SENSOR

FRONT PROXIMITY

SENSOR

7.4

Ba

ttery

POWER SUPPLYADC

REAR IR SENSOR

REAR PROXIMITY

SENSOR

6V REG

PWG

MICROCONTROLLER

LEFT MOTOR

RIGHT MOTOR

MUX

Freescale MC9S12C32Freescale MC9S12C32 HardwareHardware::

• Module UtilizationModule Utilization• Programming via BDM PortProgramming via BDM Port• Removal of componentsRemoval of components

SoftwareSoftware::• Delay functionDelay function

5-Second Start Delay5-Second Start Delay Line Sense FunctionLine Sense Function

• Sensor ResponseSensor Response• MotorsMotors

Utilizing PWM vs. Bit bangingUtilizing PWM vs. Bit banging Controlled by adjusting Duty Controlled by adjusting Duty

CycleCycle• StrategyStrategy

YES

Are we at the

boundary?

Is enemy in range?

MODE:Pull-Away

MODE:Attack

NO

5-second delay

MODE:Turn and Seek

Program Start

YESNO

Algorithm FlowchartAlgorithm Flowchart

Project Project Scheduling & Scheduling &

BudgetBudget

GANTT CHARTGANTT CHART

QTY QTY PARTPART PRICEPRICE DISTRIBUTORDISTRIBUTOR

22 Servo High TorqueServo High Torque 69.9869.98 TOWER HOBBIESTOWER HOBBIES

   Standard w/ MetalStandard w/ Metal    towerhobbies.comtowerhobbies.com

   GearsGears      

22 Infrared ProximityInfrared Proximity 29.1629.16 Spark FunSpark Fun

   SensorsSensors    sparkfun.comsparkfun.com

22 Timing BeltTiming Belt 11.3211.32 sdp-si.comsdp-si.com

44 Timing PulleysTiming Pulleys 46.4846.48 sdp-si.comsdp-si.com

22 Lithium ion batteriesLithium ion batteries 20.0020.00 Tower HobbiesTower Hobbies

22 IR Proximity SensorsIR Proximity Sensors 29.1629.16 sparkfun.comsparkfun.com

22 3-pin JST connectors3-pin JST connectors 4.644.64 sgBOTICsgBOTIC

         sgbotic.comsgbotic.com

22 Li-Polymer BatteryLi-Polymer Battery 15.9015.90 Electronics GoldmineElectronics Goldmine

   MiscellaneousMiscellaneous N/A N/A J. KennedyJ. Kennedy

   TOTALTOTAL 226.64226.64   

COST SUMMARYCOST SUMMARY

LIVE DEMONSTRATIONLIVE DEMONSTRATION

WEBSITEWEBSITEPlease visit us at:

http://emram.sdsu.edu

Demo DayDemo DayFriday, May 4th 2007

In front of the Engineering Building

•BBQ @ 12:00pm

•Project Judging @ 1:30pm

•Live Demonstration @ 2:00pm