trash2d2 oral report 2 imdl david mercado. summary of function main objective: collect garbage...
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Summary of Function
•Main Objective: Collect Garbage
•Motor-Driven Abilities:▫Roam & Avoid Obstacles▫Open Lid At Hand
Detection•Special Sensor System:
▫Detect Presence of High Frequency Sounds
▫Go to Origin of Sound
Special Sensor: Microphone •Electret Microphone
▫2 Microphones (Left/Right)
▫3.3 V Input▫Analog Output
•Breakout Board▫Attaches to Electret
Microphone▫Contains Op-Amp,
Resistors, and Capacitors
Special Sensor: Analog Processing•Bandpass Filter
▫Filtered to only allow ~ 1 kHz to ~ 8 kHz range
•Op-Amp▫Resistor combination for 100x amplification
Special Sensor: Digital Processing•Necessary for further
frequency filtering•Filter Algorithm
▫Array & For Loop for Sample Collection
▫Peak-to-Peak calculations to determine frequency
▫Peak magnitude calculations to determine volume & signal strength
Special Sensor: Location Orientation•Orientation of Sound
▫Rotate towards stronger signal – right vs. left microphone
▫Strength based on volume algorithms
▫Dish receptor oriented outwards to better capture directional sound