Michael McGrath IMDL Professors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TA’s: Josh Weaver Tim Martin

 Scope: Develop an autonomous putting robot  Hope to gain software, electrical, and mechanical design experience  Approach: IP camera; Simple Pendulum; sonar

 Mobile Platform  2 DC motors for drive train/steering  2 sonar sensors for obstacle avoidance  Stepper motor for putter actuation  IP camera for color tracking  Separate servos for pan/tilt

2 tier design 2 wheel differential steering, 3 wheels total 12” hockey stick putter Approximately 18” wide, 14”tall and 12”deep

 (x2) DFRobot URM 37 sonar sensors  Serial communication  Lonestar IP camera  BlueSMiRF Gold bluetooth modem

 (2x) Pololu metal gear motors  (2x) HiTec heavy duty servos  Coupled with C brackets for pan/tilt  Phidgets geared bipolar stepper motor  Paired with Pololu stepper motor driver  23 RPM with Phidget motor driver (4x cost)

 Demo Day: Router firewall blocking camera access  Got it connected, now dealing with lag  Bluetooth connection  Doesn’t connect first try  DataInBuffer  Hockey stick damage