Oral Report Rev2

Advanced Robotic Mapper (ARM) Scott Crook ECET 497 Apr. 28, 2008 A Robot that builds a map of it’s Environment!

Block Diagram PC Operator Interface Battery Charger Vehicle Wireless Link Power & Motor Drivers Mapping Sensors Main Controller & LCD Position & Orientation Tracking

Position & Orientation Tracking Block Optical Encoder Schematic/Hookup Diagram ,[object Object],[object Object],[object Object],[object Object]

Position & Orientation Tracking Block Down Counter Up Counter CLK EN EN CLK A !A B ,[object Object],[object Object],[object Object],[object Object]

Position & Orientation Tracking Block Digital Compass Schematic/Hookup Diagrams ,[object Object],[object Object],[object Object],[object Object]

Battery Charger MAX 713 Battery Charger Schematic ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],I fast = 250mV/Rsense

Main Controller/LCD ,[object Object],[object Object],[object Object],[object Object]

Software Overview - Main Controller Initialize HW Check for Commands Do Commanded Action Command Received? Check Position Y N

Software Overview OI Initialize Wait for port select Wait for connection request Connect to vehicle Wait for command event Translate & Relay user command to vehicle Update Map Mapping/Position update? Disconnect Request Disconnect Y Y N N

Basic Tests ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Test Expected Actual Date LCD Report OK OK 3-23-08 Robot Weight < 10 lbs 3 lbs 2-5-08 Temp 40 deg F HW OK HW OK 2-16-08 Temp 80 deg F HW OK HW OK 2-16-08

Surface Detection Test ,[object Object]

Bidirectional Square Path Test ,[object Object],[object Object],[object Object]

Bidirectional Square Path Test Results Dir Run X exp (cm) X actual (cm) Error (cm) Y exp (cm) Y actual (cm) Error (cm)  exp (deg)  actual (deg) Error (deg) CW 1 -6.1 0 +6.1 6.9 12.5 +5.6 90 95 +5 CW 2 -19.6 -5 +14.6 -7 13.5 +20.5 100 104 +4 CW 3 -6.4 1.5 +7.9 -22.3 15 +37.3 100 118 +18 CW 4 8.4 0 -8.4 -34 16 +50 80 147 +67 CW 5 49.3 1 -48.3 -36.1 12 +48.1 95 172 +77 CCW 6 4 2.5 -1.5 20.9 12 -8.9 90 95 +5 CCW 7 4.7 -2 -6.7 31.1 6 -25.1 90 116 +26 CCW 8 16 0.5 -15.5 31.6 15 -16.6 90 107 +27 CCW 9 7.2 1.2 -6 32.7 5 -27.7 90 113 +23 CCW 10 -1.7 0 +1.7 47.5 8 -39.5 90 130 +40

Software Functionality Tests ,[object Object],[object Object],Type Name Ok Date Command Motor Dir Y 2-5-08 Command Motor Speed Y 2-5-08 Command Turret Angle Y 2-5-08 Command CPU Reset Y 2-5-08 Request IR Data Y 2-5-08 Request Compass Data Y 2-5-08 Request ARM Info Y 2-5-08

Budget Item Cost PCB Costs $66 Electromechanical $206.70 Sensors $197.38 Mechanical $254.31 Power (Batteries, etc) $75.70 Bluetooth $147.85 Prototyping Misc $141.61 LCDs $35.90 Motor Driver ICs $73.45 Other Parts (ICs, etc) $75.00 Shipping $176.99 Total $1450.89

Conclusions, Problems & Recommendations ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Oral Report Rev2

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Oral Report Rev2