team p.a.c.k men ee 296 project. chris mcleod hardware specialist
Post on 22-Dec-2015
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Team P.A.C.K menEE 296 Project
Chris McleodHardware specialist
Kyle TanabeLogic and programming specialist
Paul LindenSystems specialist
Aaron LakePower specialist
P.A.C.K. Rat our hard working mouse.
February 1
Breadboard Stage
March 1~Connection of the driver circuit.
~Portability in power sources.
~Many tedious connections.
~sodering , clipping wires for connections.
Goals
• Design and Build a robot capable of finding the center of a maze
• Have the mouse be able to return back to the center without looking for a new path.
By the end of March
• Complete fabrication of the sensor layout.
• Basic tracking and alignment code for traveling down a corridor.
By April 5
• Have all the code up and running.
• Begin trouble shooting.
Breakdown of project
Rabbit 2000 processor
Drive system
Sensory input
Input/Output logic
Maze solving
System power management
Power management
• AA Duracell NiMH rechargable batteries.
• 2.05 A/hr, 1.2V
• Processor = 5V
• Motors = 9.6V
• Sensors = 5V
• 16 total batteries
Drive system
• Motors: NEMA 17 stepper motors 9.6 VDC
1.8o step uni-polar
• Chassi: single piece of 1/8” aluminum custom fit to specifications.
• Wheels: custom aluminum alloy rims with rubber treads radius = 2.35cm
Driver Circuit
Underneath view
Sensory system
• 20 infrared sensors, 4 on each corner.
• 4 middle sensors .
• Top down design.
• Symmetrically placed along board with enhanced peeking abilities.
Top right corner sensor layout
Sensory Layout
Middle sensors
Outer sensors
Traveling down a corridor the inner four sensors remain on telling the mouse that it is centered.
These sensors correct and adjust alignment and also scout out walls in theory.
When the mouse reaches a possible turning point the four outer sensors will go off.
When all 4 middle sensors all activated the mouse knows to turn.
Logic and processing
• Rabbit 2000 microprocessor.
• Dynamic C
• Tracking based on sensory input.
• Maze flooding concept to solve maze.
7,7 7,6 7,5 7,4 7,3 7,2 7,1 7,0
6,7 6,6 6,5 6,4 6,3 6,2 6,1 6,0
5,7 5,6 5,5 5,4 5,3 5,2 5,1 5,0
4,7 4,6 4,5 4,4 4,3 4,2 4,1 4,0
3,7 3,6 3,5 3,4 3,3 3,2 3,1 3,0
2,7 2,6 2,5 2,4 2,3 2,2 2,1 2,0
1,7 1,6 1,5 1,4 1,3 1,2 1,1 1,0
0,7 0,6 0,5 0,4 0,3 0,2 0,1 0,0
Maze Flooding
Logic Modules
• Driver– Search Mode
• Sensors• Decision• Movement (Left,Right,Forward,U-Turn)• Direction• Alignment
– Found Mode
Sample Algorithm
• Forward Movement– Initialize sensor readings– Do following until moved 1 square
• Move forward 12 steps• After each step check sensors
– If sensors detect turn, set sensor reading as such
• Check Alignment and fix if alignment no good
– Check Alignment– Alter array
Additional thoughts
• Potential problems:
design issues
logic problems
power issues
• What we will Learn: Teamwork
Engineering Applications
C C and more C
Any questions?
Tanks for coming out!