CS Team: ECE Team: Reckoning IEEE Region V Robotics Competition Cody Mass, Jared Saul David Ameh, Lance Martin, Nick Schlag CS 499 Senior Project Implementation, Spring

The Robot Now Not pictured: Holographic Emitter, Coffee Dispenser 2 Hokuyo Laser Range Finder Makeshift Robotic Arm Black Line Sensors (Underside) Gumstix (Overo Fire) USB Hub, Batteries LCD Screen (Not pictured: Optical Range Finder)

The Robot Now Not pictured: Holographic Emitter, Coffee Dispenser 3 ECE PSoC (Underside)

Hardware Organization What do you mean ‘You can’t use an extension cord to power it’? 4 Hardware Organization: –Placement is important; there isn’t much room, and one sensor can’t be blocking another 100% of the time –Batteries power both the Gumstix and the PSoC—they are connected to the PSoC via regulators, which in turn is connected to both the Gumstix and the USB Hub –Connected to the Gumstix: Laser Range Finder, USB Hub, PSoC –Connected to the PSoC: Black Line/Light Sensors, Optical Range Finder, servos/motors, LCD screen

Software Organization Another week of coding and perhaps it’ll be doing the Electric Slide! 5 Software Organization: –C/C++ code on Angstrom Linux, using the GCC/G++ compiler –The only software we truly need is what makes the robot go! –Code on the Gumstix (high-level) –Code on the PSoC (low-level)

Feature List And now, our Feature Presentation... 6 Implemented/completed thus far: –Constructed robot and robotic arm from scratch –Wrote/uploaded/compiled code for the competition –Wrote code to successfully take in data from the Hokuyo Laser –Successfully linked PSoC and Gumstix (motor commands work)

Feature List And now, our Feature Presentation... 7 To do/be implemented by April 17 th : –Light sensor and scan algorithm to detect beacon frequencies –Black line sensor to help guide the robot during runs –Obstacle detection and avoidance algorithms –Algorithms to detect if the robot gets lost –Lots of testing!

Laser Demo Quit pointing your laser at me!! 8

Control Logic Elementary, my dear Weinberg. 9

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Reckoning IEEE Region V Robotics Competition 11 Questions??Robot Demo