GreenJacket IMDL Summer 2002 Final Report Matthew Chernosky August 6, 2002

Overview Robot Functions Processor Software Development Locomotion Special Behaviors Navigation

What does it do? Golf putting practice robot Receives putts through opening in side Collects golf balls Adjusts to misaligned putts Deposits balls

What does it do? Balls travel into here

Processor and Board Atmel ATMega163 –6 MHz –3 PWM channels –8 channel, 10-bit ADC MegaAVR-Dev Board –ISP Port –Port headers –Power regulation

Software Development Development in C AVR-GCC Atmel AVR Studio 3.54 Function libraries developed –Motors –Servos –Analog Ports –Bump network

Locomotion 4 servo driven wheels Channel 1 Channel 2

Locomotion 2 channels, left and right Locomotion servos driven by external PWM system

External PWM: Overview 2 additional channels implemented Channels used for locomotion Altera MAX7032 CPLD Development in VHDL

External PWM: Interface 3 Settings for each channel –Forward –Reverse –Stopped A 2-bit wide input bus selects desired setting for each channel 4 output port pins of uP

External PWM: Design Altera MAX7032 Atmel Mega163 1 MHz oscillator Microcontroller CPLD PWM A Out PWM B Out Chan A select Chan B select

External PWM: Design 15-bit counter CPLD PWM A PWM B FF Logic Chan A select Chan B select 1 MHz clock Reset

Ball Collection Contact switch – generates interrupt 2 servos Mechanism –Rake: traps balls within robot –Lifter: lifts balls into robot

Ball Deposition 1 servo Balls collect in ramp Servo moved to release one ball at a time

Lateral Correction 2 long range IR distance sensors (Sharp GP2Y0A02YK)

Navigation 2 forward facing IR sensors (Sharp GP2D120) 2 bump sensors, forward and rear Operates between two walls Turns at right angles using IR and walls

Navigation User starts

Navigation Goes out to wall

Navigation Rotates

Navigation Collects putts

Navigation Rotates

Navigation Returns

Navigation Rotates

Navigation Deposits balls

Conclusion Successes –External PWM Hardware –Ball Collection Mechanism Future work –Lateral ball tracking –Navigation