Kirk Acklin Scott Carpenter Douglas Johnson Mike Li The Rat Pack The motorized, super-cool lab rat Kirk Acklin Scott Carpenter Douglas Johnson Mike Li

Overview Block Diagrams Subsystem Design Test Results/ Demonstration Parts list Programming Schedule Division of Labor

Project/Objectives Essentials Description: The Lab Rat is a micro-controller motorized maze navigating machine. The rat will be able to traverse a maze either using an built-in algorithm or following IR checkpoints within the maze. The Lab Rat will also follow a user. Lab rat will traverse mazes using the following methods “Left hand” algorithm Infrared Tracking Lab rat will store its path within onboard memory Lab rat will follow a user wearing IR Transmitter

Block Diagram - Overall

Block Diagram - BUS

Block Diagram EPROM SRAM

Block Diagram - FPGA

Subsystem – IR Rangefinder Taken from Digikey

Subsystem – IR Rangefinder (cont’d) Taken from Digikey

Subsystem – IR Rangefinder (cont’d) Taken from Digikey

Subsystem – Stepper/Stepper Control Bipolar Stepper STH39C Taken from Shinano Kenshi website

Subsystem – Stepper/Stepper Control (cont’d) Stepper motor control taken from Jason Johnson’s Stepper Motor page ©1998 Timing Diagram and Pinout taken from Shinano Kenshi Introduction to Stepper Motors Page

Subsystem - IR Sensor

Subsystem - IR Sensor (cont’d)

Testing - IR Sensor Great Sensitivity to deviation from line of sight Change from ~4.8 V to ~20mV with direct line of sight Will require accurate alignment of sensors

Parts List Italics not yet purchased or only partially purchased and therefore prices do not include shipping/taxes where applicable

Programming - Hardware FPGA will handle Memory Mapping / Chip Select EEPROM RAM Locomotion

Programming – Software Left Hand Algorithm Perhaps move to state machine IR circuit Lets the processor know a signal is locked Rangefinder Receive analog signal Use A/D Converter to interpret Locomotion Control Write to address

Schedule

Division of Labor IR/Rangefinder circuits Doug Kirk Processor Mike Scott Programming Locomotion Doug Scott RF Link Kirk

Wrap Up Block Diagrams Subsystem Design Test Results/ Demonstration Parts list Programming Schedule Division of Labor

QUESTIONS???