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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?