RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

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Model of photodiode 5

Saturation36 inches – 4.9 Volts4 inches – 4.89 Volts Max Distance 180 inches – 0.6 Volts132 Inches Volts LinearityLinearNon-Linear Ambient Light 100% Saturation29% Saturation Price$8.85$0.59 Photodiode comparison 6

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8 First iteration of the detection array surface mount board

9 First library package Everlight photodiode First library symbol Everlight photodiode

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Baffle Photodiodes 13

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Microcontroller ADC Multiplexer (CD4051) Atmega328P Atmega328P breakout board [3] 26

Pressure sensor Package Gauge vs absolute MPAK package [4] Unibody package [4] 27

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Task 2: Multiplexer and Pressure 8 to 1 multiplexer (CD4051) Pressure sensor (MPX53GP) Differential output Gauge vs absolute Design and Experiment Call graph for the depth function 29

Task 2: Multiplexer and Pressure Results Multiplexer ADC test output 30

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Task 3: Compass and Accelerometer Pololu library C++ conversion Code cleanup I2C Design and Experiment Call graph for the read acceleration register function 32

Task 3: Compass and Accelerometer Heading test outputVelocity test output 33

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RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

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Collision detection and tilt compensation 37

Initialization I2C test 38

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