Mappie By: Michael Pusatera

Summary of Talk Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions

Introduction Autonomous Navigating Agent Use of non-mechanical navigation techniques Optical Mice

Hardware Motorola 68HC11 EVBU 68HC11 microcontroller Serial Communication Interface Breadboard for expansion Mekatronix ME11 Memory expansion Digital Outputs Altera UP1 Flex 10k FPGA JTAG programming Interface PS2 Communications Interface

Sensors Bump Sensor Pushbutton switches Infrared Sensor Sharp IR sensors Distance Navigation Sensor Optical Mice

Sensor Report: Bump Sensor Bump Switch Design Vcc R1 R2 R3R4 Analog(0) R? S1S2S3S4

Sensor Report: IR Sensors Infrared Sensor Design Analog(2) Analog(3) Analog(1) IR Sensor Vcc

Sensor Report: Optical Mice How Optical Mice Work:

Sensor Report: Optical Mice How Optical Mice Work: Serial interface Data, Clk State Machine Inhibit USB Send two commands Read Data Stream

Sensor Report: Optical Mice Data Stream

Sensor Report: Optical Mice Optical Mouse Design Mouse Vcc FPGA Enable Reset 8 bit out Clk Data Mouse Clk Data Mouse PortC on HC11 8 A15 A14 A13 A12 R/W Eclk Reset HC11

Sensor Report: Optical Mice Programming HC11 Memory mapped: 0x7000 Output order MCCR: condition code register for mouse 1 X[15..8]: upper eight bits of x data for mouse 1 X[7..0]: lower eight bits of x data for mouse 1 Y[15..8]: upper eight bits of y data for mouse 1 Y[7..0]: lower eight bits of y data for mouse 1 MCCR2: condition code register for mouse 2 X2[15..8]: upper eight bits of x data for mouse 2 X2[7..0]: lower eight bits of x data for mouse 2 Y2[15..8]: upper eight bits of y data for mouse 2 Y2[7..0]: lower eight bits of y data for mouse 2

Actuation 2 servos

Platform Based on TJPro Larger due to EVBU board size and Distance sensor

Behaviors Go Straight for 10 feet Go Straight for 10 feet =>Turn 180°=>Return Navigate a 4 foot by 4 foot square

Conclusions Optical mice seem to work as a navigation agent Placement of mice on robot is critical to accurate data Mechanically stable platform will have success using mice to navigate Future work: Generate position in a 2D map based on mice data Use 2D mapping for any navigation or mapping applicaitons

References [1] [2] [3] Ty Black, Sensor Report, IMDL [4] Ty Black, Final Report, IMDL Acknowledgement: Ty Black