Wall Climber Project Kevin Kauffman Eric Hall

Objectives Remotely control the climber, with visual feedback Remote driving Camera functionality Feedback communication Variable Motor Speed

Previous Work Most of the individual devices were inherited Working, connected servomotors A large tangle of wiring

Approach One component at a time Controlled Motion Camera functionality and overlay Remote control Central Motor functionality Variable Motor speed Camera feedback

Receiver Receives on 7 channels Gets VCC and ground from the inputs Outputs Signal on third pin PWM signal from 1 to 2 ms

Motor Drivers Each pair of wheels has a component Takes PWM signal from receiver and controls motor Vregs step down voltage

Central Motor Pixie 20 takes PWM signal and outputs to motor Motor driven directly of 22v rails Wanted to drive off dial, but signal did not correspond correctly Must cut power line to receiver to avoid short circuit

Imaging Camera Battery Monitor Overlay Transmitter Receiver Screen

Battery Monitor Inputs power rails and outputs to the overlay Circuitry can be rearranged to also monitor current and motor RPM Can be configured to be activated by a switch on the controller

Overlay Eagle Tree OSD Inputs video source and telemetry data Outputs to video transmitter

Main Costs Futaba 7C R/C System $ Eagle Tree Video OSD $80.99 Eagle Tree Elogger $69.99 LM 500mW Transmitter $ GHz Receiver ~$50.00 Total >$530.48

Timeline 10/18: introduced to robot, not working, most parts disconnected 11/1: climber can drive around and video overlay works 11/22: video link working, pixie received 11/28: Pixie working when not attached to dial 12/4: system integrated

Work Assessment Car motion can be controlled remotely 1 camera image is sent back with some interference Central Motor can be controlled remotely

Potential Future Work Fix interference of image (new transmitter/receiver pair) Move VRAM control to a dial instead of switch Image switching