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. Frankencar Agile is Not Just for Software Matt Spradley
- 2. Outlaws Just Have to Fit 2
- 3. Typical Dumb Outlaws • Fan Powered • CO2 Powered 3
- 4. I Want a MakerBot 4
- 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 Pack Infrared Tach Sensor Start 400 Watt Sensor Brushless Motor Belt Drive Robust Steel 30A 1-3/8” Extra 4 Wheel Drive Chassis Sticky Wheels
- 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. Get a Napkin… or Spreadsheet Pinewood 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. Divide and Conquer • Smart Control – Sensors – Interconnects • Strong – What to use for structure? • Fast – What motor? 8
- 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. 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. VEX Robotics Design System to the Rescue Hardware and Metal Kit ($80) No BDUF! 11
- 12. Brushless Outrunner = Awesome + Tons of Torque Video: http://www.youtube.com/watch?v=gT6noEibnpg 12
- 13. Time to Build V1 • Major blocks validated • Refine • Now just software 13
- 14. Block Diagram Changed these 14
- 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. Back to That 4X Reduction • 16
- 17. A Matter of Torque Fix that part… easy Rotation Motor Lift Car Chassis 17
- 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. 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 parts Total Cost: ~ $405 19
- 21. Links http://www.arduino.cc http://www.vexrobotics.com http://www.robotmarketplace.com http://www.hobbypartz.com https://www.epictinker.com https://www.sparkfun.com http://www.sainsmart.com http://www.seeedstudio.com Specific Parts: Wheels - http://www.robotmarketplace.com/products/0-T40P-143BG-HS4.html Shafts - http://www.robotmarketplace.com/products/0-70105.html Bearings - http://www.fingertechrobotics.com/proddetail.php?prod=ft-bearing-block Motor - http://www.hobbypartz.com/86ma07-2215-1950kv.html 21