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FrankencarAgile is Not Just for SoftwareMatt Spradley
Outlaws Just Have to Fit                           2
Typical Dumb Outlaws• Fan Powered          • CO2 Powered                                       3
I Want a MakerBot                    4
Frankencar                    Arduino Nano                     Control Unit        3-Axis           LED “Bling”Digital Rea...
It’s Fun: Arduino is Awesome – Learn about It• Arduino Nano Specs  –   Atmel ATmega328  –   32 KB Flash RAM  –   2 KB SRAM...
Get a Napkin… or SpreadsheetPinewood Derby w/ 1.2” Wheels   Outlaw Pipe Dream• 2.6 seconds (50 ft)           • 1 second• 1...
Divide and Conquer• Smart Control   – Sensors   – Interconnects• Strong   – What to use for structure?• Fast   – What moto...
Arduino UNO for Control• Open source• C-Based Dev Platform• ATmega328• 32 KB Flash RAM• 2 KB SRAM• 1 KB EEPROM• 16 MHz• 14...
Start with the Architecture… I Mean Chassis• Turnkey or mod would be great. Would R/C cars  work?                         ...
VEX Robotics Design System to the Rescue                   Hardware and Metal Kit ($80)No BDUF!                           ...
Brushless Outrunner = Awesome + Tons of TorqueVideo: http://www.youtube.com/watch?v=gT6noEibnpg                           ...
Time to Build V1• Major blocks validated• Refine• Now just software                           13
Block Diagram                Changed                these                          14
Flowchart  Tach Interrupt                                    Start   Calculate:    Distance     Speed                     ...
Back to That 4X Reduction•                            16
A Matter of Torque                                   Fix that                                   part… easy                ...
What Did We Learn?• Validate and iterate• Big Design up Front (BDUF) a Waste of Time• Divide and Conquer• Modular is Good ...
Cost• $20    Arduino Nano• $80    VEX Hardware and Metal Kit• $60    Various sensors and displays• $20    400 watt brushle...
http://mattspradley.com/outlaw
Linkshttp://www.arduino.cchttp://www.vexrobotics.comhttp://www.robotmarketplace.comhttp://www.hobbypartz.comhttps://www.ep...
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Frankencar - Agile is Not Just for Software

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Using agile techniques to build an outlaw pinewood derby car from scratch, no wimpy kits involved. The result is Frankencar! A 400 watt brushless motor powered, Arduino controlled torque monster that smokes the competition. Learn aspects of Agile that apply outside of software development. Uncover universal truths that will improve any project. Find other uses for a Dremel tool. But mostly, discover how you can apply your geekitude to something beyond software, even if you’ve never touched a soldering iron, and have a lot of fun doing it.

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Frankencar - Agile is Not Just for Software

  1. 1. FrankencarAgile is Not Just for SoftwareMatt Spradley
  2. 2. Outlaws Just Have to Fit 2
  3. 3. Typical Dumb Outlaws• Fan Powered • CO2 Powered 3
  4. 4. I Want a MakerBot 4
  5. 5. Frankencar Arduino Nano Control Unit 3-Axis LED “Bling”Digital Readout Accelerometer 60A Electronic Speed Controller (ESC) 1300 mAh 40C 11.1 V LiPo Power PackInfrared Tach Sensor Start 400 Watt SensorBrushless Motor Belt Drive Robust Steel 30A 1-3/8” Extra 4 Wheel Drive Chassis Sticky Wheels
  6. 6. It’s Fun: Arduino is Awesome – Learn about It• Arduino Nano Specs – Atmel ATmega328 – 32 KB Flash RAM – 2 KB SRAM – 1 KB EEPROM – 16 MHz – 14 Digital I/Os (6 PWM) – 8 Analog Inputs – 2 Interrupts – .73” X 1.7” 6
  7. 7. Get a Napkin… or SpreadsheetPinewood Derby w/ 1.2” Wheels Outlaw Pipe Dream• 2.6 seconds (50 ft) • 1 second• 13 mph average • 34 mph average• 3700 rpm • 9630 rpm 7
  8. 8. Divide and Conquer• Smart Control – Sensors – Interconnects• Strong – What to use for structure?• Fast – What motor? 8
  9. 9. Arduino UNO for Control• Open source• C-Based Dev Platform• ATmega328• 32 KB Flash RAM• 2 KB SRAM• 1 KB EEPROM• 16 MHz• 14 Digital (6 PWM)• 6 Analog• 2 Interrupts• 32 Single-Byte Registers• $18 BUCKS !!! 9
  10. 10. Start with the Architecture… I Mean Chassis• Turnkey or mod would be great. Would R/C cars work? Seed of an Idea for later! 10
  11. 11. VEX Robotics Design System to the Rescue Hardware and Metal Kit ($80)No BDUF! 11
  12. 12. Brushless Outrunner = Awesome + Tons of TorqueVideo: http://www.youtube.com/watch?v=gT6noEibnpg 12
  13. 13. Time to Build V1• Major blocks validated• Refine• Now just software 13
  14. 14. Block Diagram Changed these 14
  15. 15. Flowchart Tach Interrupt Start Calculate: Distance Speed < Target > Target Acceleration Motor +2% Acceleration Motor -1% = Target Store global telemetry data Leaky Update readout and Abstraction LED display End Any limits reached End 15
  16. 16. Back to That 4X Reduction• 16
  17. 17. A Matter of Torque Fix that part… easy Rotation Motor Lift Car Chassis 17
  18. 18. What Did We Learn?• Validate and iterate• Big Design up Front (BDUF) a Waste of Time• Divide and Conquer• Modular is Good and Bad• Experience Counts• You Will Make Mistakes• On to V2 18
  19. 19. Cost• $20 Arduino Nano• $80 VEX Hardware and Metal Kit• $60 Various sensors and displays• $20 400 watt brushless motor• $50 60 amp ESC• $75 Misc. electronic parts• $100 Misc. mechanical partsTotal Cost: ~ $405 19
  20. 20. http://mattspradley.com/outlaw
  21. 21. Linkshttp://www.arduino.cchttp://www.vexrobotics.comhttp://www.robotmarketplace.comhttp://www.hobbypartz.comhttps://www.epictinker.comhttps://www.sparkfun.comhttp://www.sainsmart.comhttp://www.seeedstudio.comSpecific Parts:Wheels - http://www.robotmarketplace.com/products/0-T40P-143BG-HS4.htmlShafts - http://www.robotmarketplace.com/products/0-70105.htmlBearings - http://www.fingertechrobotics.com/proddetail.php?prod=ft-bearing-blockMotor - http://www.hobbypartz.com/86ma07-2215-1950kv.html 21

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