1. Mechatronics Hydrophobe Josh Pritts – Vice President /EE Team Leader

2. Robotic Submarine Competition

3. What is the Hydrophobe?

4. Experience & Recognition

5. Hydrophobe Concept

6. Systems Layout

7. XBPi - defined

8. Raspberry Pi

9. GPIOs (Other Duties) 44 ( 7 8 9 10 11 14 15 17 18 21 22 23 24 25

10. DARCS No DARCS We will not be implementing the dissimilar redundant system at this time, because the Hydrophobe is a tool to test each XBPi, one at a time.

11. Systems Layout

12. Cameras SOLD OUT!!!

13. Systems Layout

14. Inertial Measurement Unit IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN-10121 $64.95 Description: This is a simple breakout for the ADXL345 accelerometer and the ITG-3200 gyro. Full 6 degrees of freedom. Communicates over I2C and one INT output pin from each sensor is broken out.

15. Systems Layout

16. Range Finder (SONAR) Parallax PING))) Ultrasonic Distance Sensor $29.99 Description: SONAR Output is a variable-width pulse that corresponds to the distance to the target. Provides precise, non-contact distance measurements within a 2 cm to 3 m range. Burst indicator LED shows measurement in progress. 20 mA power consumption.

17. Systems Layout

18. Vote vs. Action For the purposes of this and future discussions: Vote – the action a XBPi wants to perform Action – an act that is actually performed

19. SystemDesignationAbbreviationComputer Language DARCS #1CranBerry PiCBPiJava DARCS #2RaspBerry PiRBPiPython DARCS #3StrawBerry PiSBPiC/C++ XBPi Interface Necessary Functions: - Read choice from XBPi on 5 pins - Transmit choice via serial port daisy chain - Writes XBPi choice to BBPi

20. XBPi Interface Necessary Functions: - Choice input requires 5 pins - Limited to 8 GPIO on XBPi

21. Key Controls #Instruction TypeFunctionCommandDescription 0IdleIDLENoneTake no action 1MovementFWDFullMove forward 2StopStop moving forward 3REVFullMove reverse 4StopStop moving reverse 5UPFullMove up 6StopStop moving up 7DWNFullMove down 8StopStop moving down 9LTFullMove left 10StopStop moving left 11RTFullMove right 12StopStop moving right 13CWFullMove clockwise 14StopStop moving clockwise 15CCWFullMove counter clockwise 16StopStop moving counter clockwise 17NUFullMove nose up 18StopStop moving nose up 19NDFullMove nose down 20StopStop moving nose down 21ManipulationCLWOpenOpen robotic claw 22CloseClose robotic claw 23TOR1FireFires torpedo 1 24TOR2FireFires torpedo 2 25DROPReleaseReleases a weight

22. Key Controls #iCode:iFunInstruction TypeFunctionCommandDescription 00x00IdleIDLENoneTake no action 10x11MovementFWDFullMove forward 20x01StopStop moving forward 30x12REVFullMove reverse 40x02StopStop moving reverse 50x13UPFullMove up 60x03StopStop moving up 70x14DWNFullMove down 80x04StopStop moving down 90x15LTFullMove left 100x05StopStop moving left 110x16RTFullMove right 120x06StopStop moving right 130x17CWFullMove clockwise 140x07StopStop moving clockwise 150x18CCWFullMove counter clockwise 160x08StopStop moving counter clockwise 170x19NUFullMove nose up 180x09StopStop moving nose up 190x1ANDFullMove nose down 200x0AStopStop moving nose down 210x1BManipulationCLWOpenOpen robotic claw 220x0BCloseClose robotic claw 230x1CTOR1FireFires torpedo 1 240x1DTOR2FireFires torpedo 2 250x1EDROPReleaseReleases a weight

23. Action/Choice Codes XBPiBin.Code for 000CBPi 101RBPi 202SBPi 303Action iCodeBin.Code for 00Stop 11Start iFunBinCode for 00000Idle 10001Forward 20010Reverse 30011Up 40100Down 50101Left 60110Right 70111CW 81000CCW 91001Nose up A1010Nose down B1011Claw C1100Torpedo 1 D1101Torpedo 2 E1110Drop F1111-----

24. Systems Layout

25. BBPi SystemDesignationAbbreviationComputer Language "Black Box"BlackBerry PiBBPiJSON Necessary Functions: - Data recorder will log the votes and actions taken for troubleshooting malfunctions after operation. - We need to know what went wrong in the water to be able to fix it.

26. Systems Layout

27. BBPi Interface Necessary Functions: -Read choice from XBPi 5 pins -Read action on 5 pins …but, wait? There are only 8 GPIO pins.

28. BBPi Interface 5 Multiplexers – take each bit of input signal to allow selection of different inputs AB – XBPi code that BBPi will use to make the appropriate selection SelectABBBPi Reads 000CBPi Choice 101RBPi Choice 210SBPi Choice 311Action Taken

29. Systems Layout

30. Action Selection Process Microcontroller Daisy Chain Used for communication between Arduinos or other devices. Arduino boards have a serial port (also known as a UART or USART) It communicates on digital pins 0 (RX) and 1 (TX) as well as with the computer via USB. Thus, if you use these functions, you cannot also use pins 0 and 1 for digital input or output.

31. Systems Layout

32. Robotic Claw Operation Necessary Functions: - Open claw - Closes claw - Write action code to BBPi

33. Systems Layout

34. Dropping Mechanism Operation Necessary Functions: - Releases weight - Write action code to BBPi

35. Systems Layout

36. Torpedo Launcher Operation Necessary Functions: - Launch torpedo 1 - Launch torpedo 2 - Write action code to BBPi

37. Systems Layout

38. Maneuvering Indication Display Necessary Functions: - Illuminate appropriate thruster lights - Write action code to BBPi

39. MID Necessary Functions: - 11 different lighting options

40. Systems Layout

41. MID Interface Necessary Functions: -Input will come from Action Selection controller on serial port via TX and RX pins -Output will be the lights on the MID #iCode:iFunInstruction TypeFunctionCommandDescription 00x00IdleIDLENoneTake no action 10x11MovementFWDFullMove forward 20x01StopStop moving forward 30x12REVFullMove reverse 40x02StopStop moving reverse 50x13UPFullMove up 60x03StopStop moving up 70x14DWNFullMove down 80x04StopStop moving down 90x15LTFullMove left 100x05StopStop moving left 110x16RTFullMove right 120x06StopStop moving right 130x17CWFullMove clockwise 140x07StopStop moving clockwise 150x18CCWFullMove counter clockwise 160x08StopStop moving counter clockwise 170x19NUFullMove nose up 180x09StopStop moving nose up 190x1ANDFullMove nose down 200x0AStopStop moving nose down

42. Systems Layout

43. Power Distribution Quick and Dirty Approach: -Use existing power supplies implement design -Would be a wire mess -Cords probably not long enough -Backpack would overheat BAD IDEA

44. Power Requirements

45. Power Distribution Gateway Laptop Power Supply: - 18.5V - 4.9 A 90 Watt HP Laptop Power Supply: - 18.5V - 3.5 A 65 Watt Better Approach: -Use a voltage divider, a voltage regulator, and a big capacitor to maintain 5 volt bus -We will need to devise a similar set up with the battery to be used on the submarine GOOD IDEA

46. Let’s bring the Hydrophobe to life