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ECE 477 DESIGN REVIEW TEAM 7 SPRING 2013COST ROBOT
CAROLINE TRIPPEL, ANDREW LOVELESS, ERIC OSBORNE, BRYAN DALLAS
Outline• Project overview • Project-specific success criteria• Block diagram• Component selection rationale• Packaging design• Schematic and theory of operation• PCB layout• Software design / development status• Project completion timeline• Questions / discussion
Project Overview• Design and build a compact robot to traverse a maze• Use the robot to generate an ASCII representation of the
entire maze• Mark light locations on map as they are discovered• Revisit lights intelligently
throughout the maze in a user-defined order
Project-Specific Success Criteria
• An ability to detect proximity to maze walls and prevent wall collisions.
• An ability to find specific locations in the maze based on the placement of colored lights.
• An ability to turn and change direction of movement. • An ability to generate an ASCII representation of the
explored maze. • An ability to transfer stored ASCII map to a GUI program
on a desktop computer via USB.
Component Selection Rationale• Microcontroller: Microchip PIC18F4550
• Memory Size: 2048 Bytes RAM• 13 10-bit ADC Channels• 2 PWM• I2C• USB• 44 pins
• Fuel Gauge: Linear LTC4150• Simple setup, small circuit, easy monitoring
Component Selection Rationale• Digital Compass: Honeywell HMC6352
• I2C, easy setup, simple communication
• Short Range Sensor: Phigets 1103_1• Range: 0-100 mm (0-3.94 in)
• Long Range Sensor: Sharp GP2Y0A02YK0F• Range: 20 – 150 cm (7.87 – 59 in)
• Color Light Sensor: Avago HDJD-S822-QR999• 3 analog input for RGB, easy use
Component Selection Rationale• H-Bridge: Texas Instruments L293DNE
• Built in diodes for noise suppression
• Geared Motor: Solarbotics GM3• Small, provides enough power to push our robot without stalling
• Digital Isolators• Protects microcontroller from high motor voltage
• 24MHz Oscillator• Required for USB communication
Packaging DesignThree tiered octagon-shaped body:
• Tier 1• PCB, peripheral headers • Compass
• Tier 2• 3X short range proximity sensors• 1X RGB color sensor
• Tier 3• 1X Long range IR sensor• 2X DC Motors / Wheels• 1X 7.4V, 2 cell, Lithium-Ion Battery
Software Design
• Completed• USART for printing/debugging• PWM frequency/duty cycle control• Timing modules / interrupts• A/D conversion• Bidirectional USB communication
• Started• I2C, compass communication• Modified Tremaux Algorithm for maze traversal
Project Completion TimelineTask Week
8 9 10 11 12 13 14 15 16
Base routines tested with peripheral hardware
X X
Robot base / motor construction
X X
Power prototyping / motion control
X X X X
PCB population / testing X X X
Robot construction X X X X X
Robot maze code X X X
USB/Maze display program code
X X
Final packaging / construction X X