Team Gary

1
Team Gary

• Dan Farley
• Tyson Rogstad
• Erik Flum
• Rob Koch
• Gary Zigmann

Rob
2
Background Information

• Pat Teehan developed the MARV platform to be used
  by future Electromechanical students for their
  miniprojects.
• MARV includes a HC12 microcontroller, a Scorpion
  XL motorcontroller and two Denso DC gear motors.
• The frame is constructed of 8020 extruded
  aluminum which allows easy assembly and
  alteration.

Rob
3
Problem Statement

• MARV2 is in an empty room. When MARV2 senses
  its battery is low, it needs to autonomously
  recharge its battery.

Rob
4
Solution Statement

• Use mechanical switch to simulate voltage low
  condition
• Sends MARV into search routine, where it aims to
  detect a light source
• Motors are controlled by voltage drop across the
  sensors mounted on front and rear

Rob
5
System Overview
Docking Station
AC to DC
IR Emitter
Battery Microcontroller Motorcontroller
MARV
IR Receiver
Electrical Probe
Dan
6
MARV Finding Docking Station Battery Voltage Is
Low, IR Receivers Activated, MARV Spins
Dan
7
MARV Finding Docking Station Receiver Detects IR
Emission
Dan
8
MARV Finding Docking Station MARV Spins Until
Both Receivers Are Equal
Dan
9
MARV Finding Docking Station Microcontroller
compares rear sensor to front sensor
Dan
10
MARV Finding Docking Station MARV Reaches Docking
Station, Probes Touch Electrical Connection
Dan
11
Mechanical Design of Docking Station
AC to DC IR Controls
Wood Base
Alignment Brackets For IR Emitters
Electrical Connection
Vertical Supports
Gary
12
Mechanical Design of Probes
Gary
13
Code Flow Chart
Battery Low
Check Buttons
Spin Left
Vlow On
Front Sensors Not Equal
Stop Button Pressed
Compare Front Sensors
Stop
Front Sensors Equal
Compare Front and Rear Sensor
Rear Sensor Greater Than or Equal to Front
Sensor
Front Sensor Greater than Rear Sensor
Drive Straight 350 ms
Go Straight
Gary
14
Sample Code

• JSR Read_ATD1
• LSRD
• LSRD
• LSRD
• LSRD
• STAB Sensor1
• LDAA Sensor2
• LDAB Sensor1
• CBA
• LBEQ TestRear
• (Shifting bits to decrease
• resolution of sensor value)

• Find_Home
• MOV 31, PWMDTY0
• MOV 47, PWMDTY1
• LDD 350
• JSR Delay_Dms
• JMP Check_Buttons
• (Arcing MARV by driving one motor faster than the
  other to compensate for spin routine)

Gary
15

• Charging Circuit
• On Charging Station

Erik
16
Infrared Emitter Circuitry
Erik
17
Sensor Circuit
CdS resistor
To HC12
Erik
18
Light circuit
Standard Wall Receptacle
Erik
19
Personnel Assignments

• TYSON Sensors Emitters
• ERIK Power Supply
• ROB Docking
• DAN Software
• GARY Software

Tyson
20
Work Breakdown Structure
Tyson
21
Budget
Tyson
22
Questions?
Tyson