Project Overview

1
Project Overview

• Dirt BOT
• Team Members Jeff Chalmers
• Jason Jellin
• Edward Aluede

2
Schedule

• Review of high-level schedule milestones

Phase 1
Phase 2
Phase 3
Phase 4
Sep
Oct
Nov
Dec
Jan
Feb
Mar
Apr
May
FOR MORE INFO...
Go to http//home.att.net/turbo.jeff/robot/timel
ine.xls
3
Schedule (cont.)

• Phase 1
• Rough-sketch idea of project
• Develop engineering specifications
• Understanding of what controls, actuators,
  sensors, etc. will be used
• Acquire and assemble documentation

4
Schedule (cont.)

• Phase 2
• Design hardware and software
• Acquire and assemble documentation

5
Design

• Dirt BOT (Top View)

6
Design (cont.)

• Dirt BOT (Side View)

7
Design (cont.)

• Dirt BOT (Isometric View)

8
Design (cont.)

• Dirt BOT (Isometric View)

9
Hardware

• Basic Stamp and Interface Board

10
Hardware (cont.)

• IR Sensors

SpecificationsIR Receiver and Transmitter
IR Receiver
IR Transmitter
11
Hardware (cont.)

• Devantech SRF04 UltraSonic Ranger

UltraSonic Ranger
Beam Pattern (45 Degrees)
Distance Range 1 inch to 9 feet Limitation
Planar senses in 2-D
12
Hardware (cont.)

• Servo Motor Size/Torque To Be Determined

Servo Motor Schematic
Servo Motor
13
Hardware (cont.)

• DustBuster Vacuum

14
Software

• Flow-Chart

15
Software (cont.)

• Flow-Chart

16
Software (cont.)

• PBasic Program

' Stamp bs2 '---Declarations--- pulse_count va
r byte left_IR_det var bit right_IR_det var bit wD
ist var word left_motor var word right_motor var w
ord pause_motor var word INIT con 0 ECHO con 1 '--
-Initialization--- output 2 'Right IR output
7 'Left IR output 4 'Speaker freqout 4, 2000,
3000 Send Beep low 12 low 13
' Sonar Module ' CONVERSION FACTORS ' 'The
PULSIN command returns the rount-trip 'echo time
in 2us units which is equivalent to 'the one-way
trip time in 1us units. 'distance (echo
time)/(conversion factor) 'use 74 for inches
(73.746us per 1 in) 'use 29 for cm (29.003us per
1 cm) convfac con 74 'use
inches main gosub sr_sonar gosub
forward
forward pulsout 12, left_motor pulsout 13,
right_motor 'pause 20 goto main sr_sonar
pulsout INIT, 5 '10us init pulse pulsin
ECHO,1,wDist 'measure echo time wDist
wDist/convfac 'convert to inches pause
10 'debug dec wDist, cr if (wDist
IR_Check 'If object distance less than or
equal to 1 run IR_Check if (wDist 1 and wDist

500 right_motor 1000 return
17
Software (cont.)

• PBasic Program

next goto main u_turn ' ngosub
backward for pulse_count 0 to 75 pulsout
12, 1000 pulsout 13, 1000 pause
20 next goto main '---Navigation
Subroutine--- backward for pulse_count 0 to
7 pulsout 12, 1000 pulsout 13, 500 pause
20 next return
Slow_Prop left_motor 500 right_motor
1000 pause 50 return IR_Check 'debug
"STOP!!!" freqout 4, 200, 3000 freqout 4,
200, 3000 freqout 7, 1, 38500 left_IR_det
in8 debug dec left_IR_det, cr freqout 2, 1,
38500 right_IR_det in3 debug dec
right_IR_det, cr
if left_IR_det 0 and right_IR_det 0 then
u_turn if left_IR_det 0 then left_turn if
right_IR_det 0 then right_turn return '---Nav
igation Routines--- left_turn 'gosub
backward for pulse_count 0 to 35 pulsout
12, 500 pulsout 13, 500 pause
20 next goto main right_turn 'gosub
backward for pulse_count 0 to 35 pulsout
12, 1000 pulsout 13, 1000 pause 20
18
Progress

• Completed
• Integrated UltraSonic Sensor with IR Sensors
• Formal 3-D Design Initiated
• Issues/Problems
• UltraSonic Sensors see planar only (2-D)
• Potential Limit of I/O Pins (9 of 16 currently
  taken)

19
Whats Next

• Sensors
• Dead Reckoning Positioning Sensors
• Wheel Encoder (Distance)
• Compass/Gyroscope (Theta)
• Testing of UltraSonic and IR Sensors
• Software
• Test and Begin Bug Search
• Optimize and Add Programs
• Design
• Motor Sizing
• Battery Selection
• More 3-D Modeling