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RAMMBO
the Robot
Butler
Robert Morson
Angela Uribe
Melissa Jansen
Mahdi Moghaddamzadeh
Bianca Ragin
Our team (as stated above)
Proje
ct O
verv
iew
Serves snacks/beverages
upon requestFind owner locationObstacle avoidance mechanism
Used in offices and at homes
to save time Served right to your desk,
couch, beds, etc…
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
LogisticsBianca Ragin
Functional Gantt Chart
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Mile
stone 1
Delive
rable
sGeneration of motor driver
signals
Motor modes complete
Forward and Backward to
show control
PCB revision 1 done
Power system functional
Command transmitter
debugging interface
Robot body structure built
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Mile
stone 2
Delive
rable
sLooks pretty
Finalized body complete
Paddle sensors active
Optical encoder functioning
Obstacle maneuvering
Functional combination of
blocks
Establish wireless
communication
Comes on command
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Desi
gn E
xpo
Deliv
era
ble
s
Receive commandsSends back status updates
Finds caller through remote vs. computerManeuvers easily
through congested room
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Division of Labor
BiancaPower SystemsPrimary and auxiliary power designDocumentation and ScheduleCDR compilation.Schedule trackingHardwareFrame designMaterial research
AngieMovementMotor mount designHardwareFrame constructionMaterial TestingPower SystemsPower research
RobertMicrocontrollerLead software designAlgorithm designMovementCommand programmingTest DesignTest area designTest data collection
MahdiWirelessCore circuit designPeripheral designCircuit constructionMicrocontrollerSoftware developmentAlgorithm developmentSoftware developmentSensingUltrasonic
MelissaSensingTactile SwitchesUltrasonicDocumentation and BudgetCDR compilation.Resource trackingTest DesignHardware test designTest data collection
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Monetary Budget
Bought Items Part Qty Cost Total+taxXbee 1mW 2 50.00 50.00Atmel Microcontroller 1 0 0Brushless Motor 12 V ROB-08913 2 11.66 12.95Paddle switches 6 9.90 10.70
Motor Driver MC33887 1 39.95 40.00Lithium-ion Battery PSH-12100F2-FR 1 27.95 43.67Castors SBT-1CS-3/8 2 11.99 25.90Xbee Explorer USB WRL-08687 2 24.95 49.90USB Cable A to B CAB-00512 1 3.95 3.95USB Cable A to B CAB-00515 1 3.95 3.95Fasteners 20 1.20 1.20Aluminum Rode tube 4 42.68 42.68Threaded Rod 4 10.47 10.47ATmega 328 Chip 1 5.50 5.50ATmega 328 Chip 1 4.30 4.30Tires Dagu Wild Thumper Wheel 2 29.90 43.85Total 349.02
Items Needed Qty Cost Total + taxOptical Encoders 2 13.90 29.50Ultra Sonic Finders 2 24.95 26.95Other Electrical Parts 200 200Expo Poster 1 50 50Expo Technical Reference Manual 1 50 50Expo Users Manual 1 50 50
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Power SystemsBianca Ragin
Pow
er
Up
9V Battery Pack no more
Lead Acid Battery 12VDC 41 Watts per Cell
10.5 Amp. Hr. 8lbs overall Rechargeable Nonspillable
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Volt
age
Regula
tor
Through holeLM317Voltage divider sets
output voltageOutput Current = 1.5ANeeded Voltages: 12V, 5V, 6.6V
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Pow
er Te
sting
Pin vs. Pout
Motors – 9V
Microcontroller – 9V
Xbees – 3.3V
Motor Driver – 6V
Encoder – 6V
Using Voltage Regulators
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Power Circuit
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Vin = 12VTo motor To micro-controller
To Xbee
To encoder To motor driver
9V Reg
9VCC
3.3V Reg
3.3VCC
6V Reg
6VCC
Board DesignMelissa Jansen
Level 0
Functional Decomposition
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Level 1
Functional Decomposition
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Level 2 - Motor
Functional Decomposition
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Level 2 – Obstacle
Avoidance
Functional Decomposition
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Infrared Sensor
Level 2 –
Find Caller
Functional Decomposition
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
SensingMelissa Jansen
Wall sensing
Transmitter & receiver next to each other
Very inexpensive
Single pole double throw
Short circuits when pressed
Very inexpensive
Simple to implement
Obstacle
Avoidance
InfraredTactile
Switches
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Obsta
cles
Find Caller
GPS Ultrasonic
Transmitter on Remote
Two Receivers on Robot
Price within budget
Need two units
Accurate within cm
Accuracy increases price
Not within budget
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Ultra
sonic
Senso
r Te
stin
g
Switches Voltage
Interrupt
Infrared Time delay
Interrupt
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Senso
r Testin
g Ultrasonic
Voltage based on signal
strength
Comparison of voltages
from separate receivers
Algorithm for movement
working with motors
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Programming and the
MicrocontrollerRobert Morson
Atmega 2560
Direct subsystems control
Moving RAMMBO about
Atmega 328P
Wireless controller
Telling RAMMBO what to
do
Micro
contro
llers
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
2560 Software
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Command Receiver
Main
Send Data Back
WirelessData Transfer
Use Xbee
RS232
One-byte commands
Send back information Wire
less
Data
Transfe
r
Testing commands
0x0: Status
0x1: Rotate Left
0x2: Rotate Right
0x3: Forward
0x4: Stop
User Commands
0x9: Come
0xA: Go away
More for other functions
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
2560 Software
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Command Receiver
Main
Find Direction
Location Detecto
rSend Data Back
Wireless Transmission
Use Ultrasonic Sensing
A-to-D
Signal Strength
Comparison
Loca
tion &
Dire
ction S
ensin
g
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
2560 Software
Command Receiver
Main
Find Direction
Location Detecto
rSend Data Back
Move Forward
Rotate
Stop
Movement
Wireless Transmission
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
PWM
Motors
Square Wave
Set period, duty cycleM
ove
ment
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
2560 Software
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Command Receiver
Main
Find Direction
Obstacle
Handler
Collision Detecto
r
Location Detecto
rSend Data Back
Move Forward
Rotate
Stop
Movement
Blink Eyes Talk
User Interaction
Wireless Transmission
Pre-Recorded Audio
MATLAB for PWM
Talkin
gRobert has no idea what he is talking about!
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
2560 Software
Command Receiver
Main
Find Direction
Obstacle
Handler
Collision Detecto
r
Location Detecto
rSend Data Back
Move Forward
Rotate
Stop
Movement
Blink Eyes Talk
User Interaction
Wireless Transmission
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
328P Software
Main
Send Command
Attend Response
Set Informative LEDs
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Test
ing
LEDs
Various Voltage-Testing
EquipmentLogic Analyzer Verify RS232 transmission
Output numbers from
registers / variables
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Motor ControlAngela Uribe
DC Motor
Two DC Motors 12 V Rated
Voltage
Operating Voltage from 4.5V-
12V
Max Current at 48mA
RPM at Max Voltage 415rmps
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Moto
rs
Tire
s/C
ast
ors Wild Thumper Wheel
120X60mm
Easily mountable
Shaft diameter 4mm
Carbon Steel Castor Omni-directional
Ball material
One inch ball rotatesTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Optica
l
Enco
ders
Hardware
GP2Y0D810Z0F
Operating range 2.7V-6.2V
Current pulled: 5mA
Digital voltage output
Distance sensor
2cm-10cm
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Moto
r Drive
rDual MC33887 Motor
Driver DC Motors Range 5V-28V
Used for Both Motors
Driver Chips 2 Inputs CW/CCW and PWM 2 Enable Pins 2 Disable PWM inputs “Low”
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Moto
r Drive
r
Sch
em
atic
MC338877 Motor Diver
ChipTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Moto
r D
rive
r to
M
oto
r Te
stin
g
Hardware Pulse Width Signal Speed of Motor Forward/Reverse Supply Voltage of 4V-
12V
Software Set Speed Set Direction Enable
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
CommunicationMahdi Moghaddamzadeh
Wir
ele
ss
Com
munic
ati
on
Two Xbees
RX, and TX ports for communication
Powering Xbees through Microcontrollers
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Volt
age
Leve
l Shifte
r
3.3 V to 5 V and vise versa
Ground from Xbee
3.3 V from Xbee
3.3 V Data Output
3.3 V Data Input
5 V Data Input
5 V Data Output
5 V from Atmega Ground from
Atmega
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Com
munica
tion
Testin
g
1st stage: PC to PC
2st stage: PC to Atmega
3rd stage: Atmega to Atmega
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Com
munica
tion
Testin
gSetting up Xbee’s through
X-CTU software
1st stage: PC to PC
Communication through X-
CTU terminals
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Com
munica
tion
Testin
gSend data through X-CTU terminal
Receive it through Xbee
connected to the MicroC
Turn on an LED
2st stage: PC to Atmega
PC (X-CTU)Xbee
Atmega2560
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Com
munica
tion
Testin
g
Send data through Atmega328
Receive data through
Atmega2560
Testing: two buttons/two LED’s
Then Vice Versa
3rd stage: Atmega to Atmega
(yet to be done)
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Risks/Solutions/Contingency PlansMahdi Moghaddamzadeh
Change o
f Pla
ns
NO CANDY SHOOTING
SYSTEM…
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
It’s REALLY difficult!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Risks, D
ela
ys &
Contin
gencie
s
Ultrasonic Sensors Ability to sense the signal
coming from owner
Path Finding
Most efficient algorithm
Controller failure
Interrupts and function calls not
working properly
Motor driver implementation
functional
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Conclusion
On schedule
ExpectationsExpo objectives
RAMMBO is awesome.
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011
Questions?Thanks
NOT this Rambo!!!
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011