Project 704Ψ Design team: Sarah Steward Chad Harrington Kyle Levesque

Problem statement Modify a miniature vehicle that will… Be able to travel through any hallway Collect paper & magazines from bins Drive to a set location and unload material Automobile will not need human aid, after a initial button is pressed.

Solutions Teaching the automobile the correct path – By recording a directed path in memory of an HC12 micro controller and then playing back the path, when the playback button is activated. Drop bins – Sliding material out of the bins, and into a dump bucket on top of the automobile. Simple dump truck style unloading - Using a motorized lifting system to slid material into the unloading area.

System Overview Car environment

Transfer system

Detailed System Overview Micro processor (HC12) Dump bin motor Remote Drive motor Turn motor

Mechanical design concept 1 Wedge Dump Bin Truck

Mechanical design concept 2 Bin design Wedge slot Direction of Wedge flow Magazine inserted here

Working Drawings

Mechanical design concept 3 Wedge pusher Dump Box

Working Drawings

Stand Assembly

Working Drawings

Electrical Concepts

Electrical Layout

Software Design Concepts

Record /* * Function record * This function will record the input from the joystick to memory * */ void record(void) { int i; i=0; asm_main(); // call the assembly function for(;;) { DELAY_100ms(); path [i]= (PTAD & 0x0F); if (i == 500) { path[i]=0x00; // stores all zeros to memory break; //breaks out after 50 seconds of looping } i++; } // waits until the switch button is neutral DUMPROUTINE();

Play Back /* * Function playback * This function will playback the information recorded in memory * */ void playback(void) { int i; i=0; // call the assembly function // allows us to write to the whole port T DDRAD = 0x0F; RDRAD = 0x0F; for(;;) { if (path[i] == 0x00) break;//checks to see if byte is all zeros if so exits out PTAD = path[i]; // stores memory location in port T i++; DELAY_100ms() ; // waits 100ms } DUMPROUTINE(); DDRAD = 0; //add to wait until switch is recentered return; }

Dump Bucket o o ; o ; Subroutine DUMPROUTINE: o ; o DUMPROUTINE: o BSET PTT,P1_DUMPMOTORBIT ;changes direction of motor o BCLR PTT, E1_DUMPMOTORBIT ;turn dump motor on o LDX #50000 ;delay for 5 second o JSR DELAY_X100 o BSET PTT,E1_DUMPMOTORBIT ;turn off dump motor o LDX #50000 ;delay for 5 second o JSR DELAY_X100US o o BCLR PTT,P1_DUMPMOTORBIT ;changes direction of motor o BCLR PTT, E1_DUMPMOTORBIT ;turn on dump motor o LDX #50000 ;delay for 5 second o JSR DELAY_X100US o o BSET PTT,E1_DUMPMOTORBIT ;turn off dump motor o o RTS

Schedule Current status

Status Report as of October 19, 2005 CompleteIncomplete Electrical Schematic Wiring Trouble Shooting Mechanical Drawing compete BuildingAttach dump body Fabricate wedge Software Written Downloaded Troubleshoot

Proposed Budget

Project 704Ψ At this time we will be willing to entertain any brief Questions.

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Acknowledgements  Andre St. Denis  John Kidder  Roger Howes