IEEE SouthEastCon 2006Team MembersSouthEastCon 2006 Hardware CompetitionDesign ConstraintsTasksComponentsStepper Motor TestsStepper Motor Distance TestDistance Travel Test ResultsStepper Motor Angle TestAngle Test ResultsStepper Motor Weight TestWeight Test ResultsSensorsLine SensorsLine Sensor Sensitivity TestSensitivity Test ResultsUltra Sonic Range FinderDistance Detection TestSonar Sensor Accuracy TestSlide 21Component LocationsOverall ProgressRoute TraversalMeeting Design ConstraintsGoals For Design IIQUESTIONS ?IEEE SouthEastConIEEE SouthEastCon 20062006Team 1Team 1Locomotion and NavigationLocomotion and NavigationTeam MembersTeam MembersRahul BhaktaVictor AlfaroSakinah ReidBrandon NicholsSouthEastCon 2006SouthEastCon 2006Hardware CompetitionHardware CompetitionFedEx ChallengeFedEx ChallengeDeliver twelve FedEx packages toDeliver twelve FedEx packages to three airplanes three airplanes prior to each plane’s departureprior to each plane’s departure•The twelve packages will be randomly stacked in a The twelve packages will be randomly stacked in a package chutepackage chute•Four packages need to be delivered to their Four packages need to be delivered to their corresponding airplanecorresponding airplane•The first plane departs in 3 minutes, the second in 4 The first plane departs in 3 minutes, the second in 4 minutes, and the last in 5 minutesminutes, and the last in 5 minutesDesign ConstraintsDesign ConstraintsNavigationNavigation• Efficiently navigate the playing fieldEfficiently navigate the playing fieldSensorsSensorsMust be within 20mm to 33mm of each PlaneMust be within 20mm to 33mm of each PlaneMust be within 4.5 inches of Package Chute with +/- Must be within 4.5 inches of Package Chute with +/- 5mm tolerance5mm toleranceSpeedSpeed•Obtain an average of 1.1 inches per secondObtain an average of 1.1 inches per secondDriving motorsDriving motorsReliabilityReliability•Complete the task successfully multiple timesComplete the task successfully multiple timesTasksTasksStepperStepperMotorsMotorsSonar Sonar SensorsSensorsLineLineSensorsSensorsNavigationNavigationCodeCodeRahulRahulBhaktaBhaktaXXXXVictorVictorAlfaroAlfaroXXXXSakinahSakinahReidReidXXXXBrandonBrandonNicholsNicholsXXXXPIC18LF4620UCN5804 UCN5804MOTOR1MOTOR2Sonar 1 Sonar 2Line SensorArrayComponentsComponentsStepper Motor TestsStepper Motor TestsDistance TestDistance TestAngle Turning TestAngle Turning TestWeight-Speed TestWeight-Speed TestStepper Motor Distance TestStepper Motor Distance TestNecessary to test accuracy of Necessary to test accuracy of stepping distancesstepping distancesProgrammed robot to travel Programmed robot to travel incremented distancesincremented distancesMeasured distance traveled and Measured distance traveled and compared to distance programmedcompared to distance programmedDistance Travel Test ResultsDistance Travel Test ResultsDistance Distance Entered Entered (inches)(inches)Distance Distance Traveled Traveled (inches)(inches)Percent Percent AccuracyAccuracy332.92.996.796.7999.09.0100.0100.0181817.817.899.399.3242423.223.296.896.8484846.046.095.895.8Stepper Motor Angle TestStepper Motor Angle TestNecessary to test accuracy of turning Necessary to test accuracy of turning anglesanglesProgrammed robot to turn angles Programmed robot to turn angles with a maximum of 180 degreeswith a maximum of 180 degreesAngle Test ResultsAngle Test ResultsAngle EnteredAngle Entered(Degrees)(Degrees)Angle TurnedAngle Turned(Degrees)(Degrees)Percent Percent AccuracyAccuracy30 30 323293.393.34545434395.695.6606060601001009090909010010018018017717798.398.3Stepper Motor Weight TestStepper Motor Weight TestInverse torque-speed relationshipInverse torque-speed relationshipNecessary to determine at which Necessary to determine at which speeds robot can runspeeds robot can runProgrammed robot to move given Programmed robot to move given distance with varying weight and distance with varying weight and speedspeedWeight Test ResultsWeight Test ResultsWeight (lbs)Weight (lbs)Speed Speed (period-ms)(period-ms)Pass/FailPass/Fail3388PassPass5588FailFail551010PassPass881010FailFail881212PassPass11111212PassPassSensorsSensorsLine SensorsLine Sensors•Allow robot to distinguish between light Allow robot to distinguish between light and dark regions on the playing fieldand dark regions on the playing fieldSonar SensorsSonar Sensors•Allow robot to sense objects with sound Allow robot to sense objects with sound pulsespulsesLine SensorsLine SensorsAngle CorrectionLine FollowingLine Sensor Sensitivity TestLine Sensor Sensitivity TestNecessary to determine an effective Necessary to determine an effective pull-up resistance for line sensorpull-up resistance for line sensorReplaced 330 ohm pull-up resistor Replaced 330 ohm pull-up resistor with a 1 kOhm potentiometerwith a 1 kOhm potentiometerSwept output from 0 Ohm to 500 Swept output from 0 Ohm to 500 Ohms and monitored voltage outputOhms and monitored voltage outputSensitivity Test ResultsSensitivity Test ResultsUltra Sonic Range FinderUltra Sonic Range FinderDetects distance between robot and Detects distance between robot and objects on game boardobjects on game board•Package ChutePackage Chute•AirplanesAirplanesModel - SRF08Model - SRF08•Communication via I2C BusCommunication via I2C Bus•Up to 16 I2C AddressesUp to 16 I2C Addresses•Returns Ranging Results in Either:Returns Ranging Results in Either:InchesInchesCentimetersCentimetersMicrosecondsMicrosecondsObtained from product data sheetDistance Detection TestDistance Detection TestMounted sonar sensors and observed Mounted sonar sensors and observed readings at fixed distancesreadings at fixed distancesSonar Sensor Accuracy TestSonar Sensor Accuracy TestActual (cm)Actual (cm)Measured (cm)Measured (cm)Accuracy (%)Accuracy (%)0000100.00100.00444.44.499.9099.90888.68.699.9399.931212131399.9299.9216161616100.00100.002020212199.9599.952424252599.9699.96282830.330.399.9299.92Distance Detection TestDistance Detection TestComponent LocationsComponent LocationsBOTTOM VIEWOverall ProgressOverall ProgressRoute TraversalRoute TraversalMeeting Design ConstraintsMeeting Design ConstraintsGoal: Obtain a speed of 1.1 inches per Goal: Obtain a speed of 1.1 inches per secondsecond•Current Speed: 3.78 inches/secCurrent Speed: 3.78 inches/secGoal: Approach each plane within 20mm to Goal: Approach each plane
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