Draw-O-Matic 9000 Shaun Holtzman

Objectives Overview Hardware setup Software setup Completed so far Finalizing for demo/media day Looking Back

Overview Shape drawing robot Detects desired shape with camera out of a set of shapes Detects the size of the paper being drawn on Scales the shape to the size of the paper

Hardware Setup Motors 2 stepper motors 1 solenoid Processor Arduino Due Camera Microsoft LifeCam Integrated Laptop Cam Other 2 motor drivers 2 limit switches 1 Mosfet 1 Transistor Handful of resistors

Software Setup Shape detection using OpenCV through laptop cam Square, triangle, pentagon, diamond, octagon Paper dimensions and location using OpenCV through Microsoft LifeCam Dimensions used along with motor step ratios to scale the image and move to center Information sent from laptop to Arduino through serial communication Paper dimensions Location of paper’s center

Software Setup

Software Setup

Software Setup

Software Setup

Completed So Far Can draw 3 out of the 5 shapes I chose Able to scale the shapes to the size of the paper Improved paper dimension detection Moved from breadboards to perfboards Wire management One fluid program

To-Do Finish drawing other 2 shapes Possibly add more shapes Optimize shape drawing Work on getting pen to the center of the paper regardless of where the paper is set

Looking Back Lessons learned: Skills learned: Overall: Make robot smaller Start earlier than you think you should Skills learned: Controlling motors OpenCV Time management Overall: Really enjoyed this class

Questions?