1. GreenJacket IMDL Summer 2002 Final Report Matthew Chernosky August 6, 2002

2. Overview Robot Functions Processor Software Development Locomotion Special Behaviors Navigation

3. What does it do? Golf putting practice robot Receives putts through opening in side Collects golf balls Adjusts to misaligned putts Deposits balls

4. What does it do? Balls travel into here

5. Processor and Board Atmel ATMega163 –6 MHz –3 PWM channels –8 channel, 10-bit ADC MegaAVR-Dev Board –ISP Port –Port headers –Power regulation

6. Software Development Development in C AVR-GCC Atmel AVR Studio 3.54 Function libraries developed –Motors –Servos –Analog Ports –Bump network

7. Locomotion 4 servo driven wheels Channel 1 Channel 2

8. Locomotion 2 channels, left and right Locomotion servos driven by external PWM system

9. External PWM: Overview 2 additional channels implemented Channels used for locomotion Altera MAX7032 CPLD Development in VHDL

10. External PWM: Interface 3 Settings for each channel –Forward –Reverse –Stopped A 2-bit wide input bus selects desired setting for each channel 4 output port pins of uP

11. External PWM: Design Altera MAX7032 Atmel Mega163 1 MHz oscillator Microcontroller CPLD PWM A Out PWM B Out Chan A select Chan B select

12. External PWM: Design 15-bit counter CPLD PWM A PWM B FF Logic Chan A select Chan B select 1 MHz clock Reset

13. Ball Collection Contact switch – generates interrupt 2 servos Mechanism –Rake: traps balls within robot –Lifter: lifts balls into robot

14. Ball Deposition 1 servo Balls collect in ramp Servo moved to release one ball at a time

15. Lateral Correction 2 long range IR distance sensors (Sharp GP2Y0A02YK)

16. Navigation 2 forward facing IR sensors (Sharp GP2D120) 2 bump sensors, forward and rear Operates between two walls Turns at right angles using IR and walls

17. Navigation User starts

18. Navigation Goes out to wall

19. Navigation Rotates

20. Navigation Collects putts

21. Navigation Rotates

22. Navigation Returns

23. Navigation Rotates

24. Navigation Deposits balls

25. Conclusion Successes –External PWM Hardware –Ball Collection Mechanism Future work –Lateral ball tracking –Navigation