C.A.R.V. C ompletely A utonomous R olling V ehicle

Design Single wheel Belt driven, in a way Self balancing Use battery as balance weight All components internal Obstacle avoidance

Block Diagram

Required Components Raspberry Pi 2 Quad core, 1 GB Ram, 40 GPIO Pins, Hardware PWM Inertial Measurement Unit Sparkfun Razor 9 degrees of freedom Communicates via serial USB Infrared sensors Sharp GP2Y0A21YK Brushless motor Rimfire watt, 120 burst watts Minimum 8 A ESC ESC Hobbywing EZRun 18 A

Required Components Servo motor Futaba S oz-in of torque Battery Turnigy 5000 mAh, 2S LiPo Timing Belt and Pulley ½ inch wide, trapezoidal neoprene timing belt Frame/Wheel Wood frame, standoffs mount components 16 inch outer diameter 12 inch inner diameter Polypropylene rim

Special system of robot is balancing method Using Razor IMU to communicate current position Use servo to tilt battery, and thus wheel C++ PID controller to handle motor commands Hardware PWM from Pi using WiringPi library Balancing

Rough CAD Outer frame design

Build robot Seems daunting, but is fully planned out, with spare parts in case of error Test balancing Finish writing PID controller Tune controller Test overall code/work out bugs This week End of next week End of next week and onwards What’s Left Task EstimatedCompletion