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Final Presentation Team Amaze Me

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Title: Final Presentation Team Amaze Me


1
Final PresentationTeam Amaze Me
  • May 8, 2008

2
Content
  • Members
  • Overview of Project
  • Goals
  • Structure of Design
  • Design Decisions
  • Problems Improvements
  • Status
  • Discussion Demo!

3
Members
  • John Miyajima
  • Brandon Gibu
  • Chad Higa
  • Justin Ogata

4
Overview
  • Construct an autonomous mouse
  • Traverse a 16 x 16 maze
  • Implementing better components
  • Efficient solving algorithm

5
Goals
  • Find the center!
  • Applying our experience
  • Approach project with short goals
  • Using the Gantt Chart

6
Structure of Design
7
Structure of Mouse
Power Unit
Driving Unit
Pulse motor
Rotations
5 V supply
Rabbit µProcess 2000
Control Movement
Charge batteries
Sensor conditions
Sensing Unit
Step Down Voltage
Sensor byte values
8-bit Reading
5 V supply
Sensor Running Sequence
Analogue Value
12 V supply
Figure 1 Block Diagram of Mouse
8
Hardware Design
Rabbit Microprocessor
PCB
Side Sensors
Wheels
Chassis
Figure 2 Front View of Mouse
9
Hardware Design
Rabbit Microprocessor
PCB
Battery Pack
Chassis
Wheels
Figure 3 Side View of Mouse
10
Hardware Design
Rabbit
PCB
Battery Pack
Figure 4 Top View of Mouse
11
Software Design
12
Software Design
  • Algorithm
  • Seeking Right Wall Hugger
  • Tracking ? K-Controller ??
  • Costates for loops
  • Global functions
  • If statements ? Navigation

13
Example of Costates K Controller
  • KvalueLsensor/Rsensor
  • costate
  • waitfor(DelayMs(3))
  • //Counter mouse to the Right
  • if(Kvalue gt 0.10 Kvalue lt 1.00) // Kvalue
    less than 1
  • PORTA4OFF // Control the rotation of
    right motor
  • PORTA6OFF // Control the rotation of
    left motor
  • costate
  • PORTA5ON // Pulse the clock
  • PORTA7ON
  • PORTA5OFF
  • waitfor(DelayMs(5)) // Delay
    one motor first
  • PORTA7OFF // Delay the other
    motor shortly after
  • waitfor(DelayMs(10))

Figure 5 Top view
Figure 6 Code of Tracking Using Costates
14
Example of for Loop
  • void straight(void) // Go straight!
  • int z, i
  • for( z0 z lt 50 z) // Repeat the Sequence
  • PORTA4OFF // Control rotation of right
    motor clockwise
  • PORTA6ON // Control rotation of left
    motor counter clockwise
  • for(i0 iltforspeed i) //
    Hold the values
  • PORTA5ON // Clock pulse for right
    motor
  • PORTA7ON // Clock pulse for
    left motor
  • PORTA7OFF // Switch clock
    pulse
  • PORTA5OFF

Figure 7 Straight Global Function
15
Example of Global Function
  • void rightturn(void) // Turn right !
    This works!
  • int m,n
  • for(m0 m lt 90 m) // 90 is a perfect value
    for perfect 90 degree turns!!
  • PORTA4OFF // Control rotation of right
    motor counter clockwise
  • PORTA6OFF // Control rotation of left motor
    counter clockwise
  • for(n0 nlt forspeed n) // forspeed
    clock speed
  • // Hold the values
  • PORTA5ON // Clock pulse for
    right motor
  • PORTA7ON // Clock pulse
    for left motor
  • PORTA7OFF // Switch clock
    pulse
  • PORTA5OFF

Figure 8 Right Turn Global Function
16
If Navigation
  • if(Lsensor gt 55 Msensor gt 80 Rsensor gt 45)
    // 111Pattern
  • reverse()
  • stop()
  • oneeighty()
  • stop()
  • step()
  • read()

Figure 10 Dead End Case
Figure 9 Dead End Code
17
Interesting Features
  • Packing Contest (3rd Place) ? Changes
  • Alkaline ? Lithium
  • Bread board ? PCB
  • K Controller

Video 1 Tracking
18
Design Decisions
  • Components that we didnt use
  • Switcher
  • Used Voltage regulator
  • Ball caster
  • Sliders
  • LiFePO4 battery
  • AA

Figure 11 Sliders cushions
19
Problems Solutions
  • AA battery pack
  • Leaked fluid damage
  • Due to contact to chassis
  • Handle with care
  • Difficulty assembling PCB
  • Brute force!
  • Staying on task
  • Work harder!

Figure 12 Fluid on battery pack
20
Outstanding Problems
  • Coding!

21
Future Improvements
  • Implement desired components
  • Switcher
  • Ball caster
  • LiFePO4 battery
  • PCB Rabbit
  • Better Wheels
  • Use Dip Switch ? Multiple Algorithms
  • Apply Floodfill

22
Current Status
  • Gantt Chart
  • Coding
  • Hugger

Table 1 Final Gantt Chart
23
Acknowledgements
  • People
  • Dr. Dobry
  • Alex Zamora
  • Tyson Seto-Mook
  • Toy Lim
  • Quang
  • Joanne Flores
  • Monalisa Cabahug
  • Team
  • Raiton-No Desuku

24
Questions Discussion
  • Stand by for demo
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