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PSU EE 200 - ps3

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EE 200 Problem Set 3 Cover Sheet Spring 2014Last Name (Print):First Name (Print):ID number (Last 4 digits):Section:Submission deadlines:• Turn in the written solutions for probl ems 9 through 12 by 4:00 pm Tuesday February 4 in the homewo rk slotoutside 121 EE East.Problem Weight Score9 2510 3511 1512 25Total 100Problem 9: (25 points)During the week of January 20 all students except those in section 5 will complete the safety orientation program atthe learning factory. Laboratory sections will be temporarily subdivided into two groups of twelve students. Duri ngthe first laboratory session of the week, one group wi ll attend an orientation meeting at the Learning Factory thatlasts about one hour, while the other group will complete exercises in 302 EE West.1. Complete the following steps prior to Monday evening January 20. If you do not successful pass the onlinequiz, you will not be allowed to attend the orientation meeting held at the Lear ning Factory.• Navigate to the Learning Factory web page at http://www.l f.psu.edu and read the Welcome page.• Select the tab Facilities on the Welcome page, and note the ho urs of operation and the location of theLearning Factory.• On the l eft hand side of the Facilities page, select the Lab Safety tab to navigate to the Safety Policypage at http: //www.lf.psu.edu/Facilities/Safety.html. Carefully study the safety policy before taking theonline safety quiz.• On the left hand side of the Facilities pa ge, select the LF Training tab and read the page to learn aboutthe safety and orientation programs. You will attend the Safety/Power Tools orientation during the weekof January 20.• At the bottom of the Laboratory Factory Safety Training page, www.lf.psu.edu/Facilities/Training.html,follow the link to the SAFETY TRAINING QUIZ.• If you successfully pass the online safety exam, notification will be sent to the Learning Factory and youwill be allowed to attend the Safety/Power Tools orientation during the week of January 20.2. After com pleting the Safety/Power Tools orientation at the Learning Factory, you wi ll receive a certificationcard that provides you access to the Learning Factory. To receive credit for Problem 9, you must include aphotocopy of your certification card with your solutions to Problem Set 3. If you are already certified to usethe Learning Factory f acilities, then you will receive full credit for problem 9 by including a photocopy of yourcertification card with your solutions.Problem 10: (35 points)Robots are not just for industry and Walt Disney World. The vacuum-cleaning robot Roomba and floor-washing robotScooba demonstrate the expanding role of robots in society. This semester you will realize a finite state machine thatautonomously guides a robot through a m aze using a finite state machine realized w ith four different technologies,discrete-logic using NAND gates and D-type flip-flops, a complex programmable l ogic device programmed usinghardware descriptive language, an embedded microcontroller programmed using the C language, and a personalcomputer using the myDAQ and LabVIEW programmi ng environment. This project models the IEEE MicromouseContest, first announced in the May 1997 issue of Spectrum and annually held at multiple l ocati ons around theworld. In this contest the contestant designs and builds an autonomous robotic mouse that negotiates a maze ofstandard dimensions with the objective of completing the maze in the shortest time. The EE 200 project involves amuch simpler version of the micromouse contest.Figure 1 shows the EE 200 mouse which has three sensors, two motorized wheels, and a caster. The sensors provideinformation about the mouse’s environment. They sense an object hitting the right front, left front, or back, of themouse. The sensors generate CMOS logic levels on three output lines, SL, SR, and SB, corresponding to the frontleft, front right, and back sensor respectively. A logic high indicates the sensor has impacted an obstacle. Two CMOScompatible input lines, ML, and MR, control the motors driving the left and right wheels of the mouse respectively.A low-logic level drives the mo tor in reverse while high-level logic drives the motor in forward. By setting the inputssignals as shown in Table 1, the mouse can move in the four directions indicated. By observing the sensor andcontrolling the motors, your finite state machine must maneuver the mouse so that it avoids the obstacles that ithits. In future problem sets where you realize the finite state machine, the mouse will connect to your finite statemachine using a 16 -pin dual in-line package (DIP) illustrated in Figure 1. Yo u must leave room on your protobo ardfor this 16-pin DIP plug.Figure 1: EE 200 mouse.MLMRMouse Direction0 0 backward0 1 rotate left1 0 rotate right1 1 forwardTable 1: Inputs signals MLand MRcontrol movement of the mouse.Pin Function Symbol1 left sensor signal input SL2 right sensor signal input SR3 back sensor signal input SB4,5,6 ground DGND7 left mo tor output ML8 right motor output MRFigure 2: Umbilical cord connector.Observe the following rules to avoid designing a state machine that is very difficult to design and build.1. When activated, the back sensor resets the mouse to a known state, causing it to go forward.2. The state of the system onl y changes on the edges of the clock signal CLK or during a reset.3. The mouse only observes the front left and right sensors on the clock edges, and from this information, deter-mines the next state.4. Your finite state machine is provided with three CMOS level conditioned sensor outputs that provide informa-tion about the mouse’s environment.5. Your finite state machine must provide two CMOS level signals that control the direction of the mouse.6. Your finite state machine must use a clock period between two and five seconds.7. Your circuit must use three LEDs to indicate the state of the motor outputs and the clock signal.8. For each realization of the finite state m achine, there are two testing phases. The first test uses tactile switchesfor the sensors to verify operation of the finite state machine. Second, when your circuit passes the first test,it can then be connected to the mouse.The finite state machine must control the mouse as follows. When the back sensor is hi t, the finite state machineshould reset to the forward state S1. The mouse wil l travel forward until it hits either the left or right sensor. Whenthe mouse hits an object, the mouse will


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