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

Background Information Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects. MARV is controlled by a HC12 microcontroller, a Scorpion XL motorcontroller and two drive motors. The frame is constructed of 8020 extruded aluminum which allows easily assembly and alteration.

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

Solution Statement Using a mechanical switch to simulate a battery low condition, our software sends MARV2 into a search routine where it aims to detect an infrared emitter. The direction of both motors will be determined by the output voltage of two infrared sensors mounted on one side of the unit.

Docking Station IR Emitter AC to DC Battery Microcontroller Motorcontroller IR Receiver MARV System Overview Electrical Probe

MARV Finding Docking Station Battery Voltage Is Low, IR Receivers Activated, MARV Spins

MARV Finding Docking Station Receiver Detects IR Emission

MARV Finding Docking Station MARV Spins Until Both Receivers Are Equal

MARV Finding Docking Station Microcontroller compares rear sensor to front sensor

MARV Finding Docking Station MARV Reaches Docking Station, Probes Touch Electrical Connection

Mechanical Design of Docking Station A/C to DC IR Controls Vertical Supports Alignment Brackets For IR Emitters Electrical Connection Wood Base

Mechanical Design of Probes

Code Flow Chart Battery Low Check Buttons Spin Left Compare Front Sensors Compare Front and Rear Sensor Go Straight Stop Drive Straight 350 ms Stop Button Pressed V low On Rear Sensor Greater Than or Equal to Front Sensor Front Sensors Not Equal Front Sensors Equal Front Sensor Greater than Rear Sensor

Emitter Circuitry

Oscillator Waveform

Charging Circuit

Personnel Assignments TYSON Sensors & Emitters ERIK Power Supply ROB Sensors DAN Software GARY Software

Solution Statement Use mechanical switch to simulate voltage low condition Sends MARV into search routine, where it aims to detect a light source Motors controlled by output voltages of sensors mounted on front and rear

Work Breakdown Structure

Questions?

Budget