Week 11 Demo / Test Results Verification

P12215 Wandering Ambassador

Demo Agenda

• Review of Test Results• Demo of all devices functioning• Demo of functioning diagnostics UI• Boot up with the customer• Demo of Quick Disconnect

Customer needs

Voltage Regulator Test Results

"Digital 5V" Supply

• Powers USB Hub, Compass Module

Voltage Regulator Continued

Pandaboard Power Supply

Voltage Regulator Tips and Tricks

• Maximum of 5A available on each regulator• Not enough extra amperage for additional peripherals on Pandaboard supply• Extra amperage available for additional peripherals on "5V Digital" supply

Voltage Regulator Test Points

Battery Indicator

System Testing Results-Sonar

Measured Distance Detected Distance Distance From Sonar Distance from Center12 12.08 48 5.7524 24.17 60 5.7536 36.25 72 5.7548 48.34 112 7.1560 60.4272 72.5184 84.5996 96.65

108 108.76120 122.86132 134.95144 147.03156 161.13168 173.22180 185.3192 197.39204 209.47

Sonar testing was done by centering the robot sonar along a seam in the tiles on the floor. Markers were then laid out every foot, with 0 being on the ground directly underneath the sonar. A large flat object was then placed in front of the sonar at every foot interval. The sonar returns an analog voltage that when used in conjunction with a scaling factor, determines the sensed distance. To test the beam width, at the distances shown below, the same object was placed in the center, then moved off to the side incrementally until the sonar did not detect it. Interestingly there are some fringe effects right on the cusp of the beam. More measurements were not taken for beam width because of the relatively slow rate of increase.

System Testing Results-Infrared

f(x) = 3.54 x^-1.36R² = 0.966390370845827

Distance vs Voltage

The infrared sensors were tested the same was as the sonars. The distance cannot be obtained as easily as it was for the sonars, however. Measurements have to be taken and a line-fit (shown below) has to be applied to find the function to determine the sensed distance.

WebServer / Diagnostic Mode

Questions?