1. Prelminary Design Fredy Chen Huy Tong

2. Introduction Objective –Justify the design of robot

3. Overview Chassis Movement Capture Device MCU Behavior Power Budget

5. Chassis Material: PVC –Lightweight Size: 9in. X 8in. X 6in. (l x w x h) –Meet 1 foot cube requirement 3 Decks –Lower Deck –Middle Deck –Upper Deck

6. Lower Deck 2” above ground Bottom –Wheels, motors, furniture slider Top –Wheels, pc board, IR detection

7. Middle and Upper Deck Middle Deck –2” from lower deck –Top Battery pack, Futaba –Bottom Empty Upper Deck –2” from middle deck –Top Black –Bottom Empty

8. Movement Motors Motor Control

9. Motors DC Motors –Mabuchi RE-260 motors –Common hobby motor –Rated at 3V Tamiya 72005 6-speed gearbox –Gear ratio chosen 75.6:1 –56mm diameter wheels –Clutch gear Tamiya 72005

10. Motor Calculations Minimum speed =.133 ft / s Speed calculated single motor (no weight) –56 mm x pi x 132 rpm = 1.27 ft / s Calculation with estimated weight (1.6lb) –1.16 ft/s (matlab)

11. Motor Control Parallax Motor Mind C Serial mode –One data in and one data out –2 10 bit PWM, 1024 resolution forward and reverse Two built in H-bridges with max of 1.5A each.

12. Capture Device Ball containment area Gate

13. Ball Containment Area Funnel shaped Compensate for vision system error Square –Size: 3” x 3” Triangle –Width: 2.5” –Length: 1.5”

14. Gate System IR Detection –Ball detection –Signals servo to raise or lower gate Futaba Servo Motor –Control gate movement Gate –Size: 1.5” x 3.5” –Railings from lower to middle deck

15. MCU Using two MCU’s BS2 –RF BasicAtom –AI

16. BS2 24 pin Receive RF Distance and angle calculations –1.4 to 2.3 instructions per ms –Total distance angle calculations estimated to 25 instructions –Approximately 18ms

17. Basic Atom 40 pin Estimated at least 6 pins needed Built in 5V regulator 14K of Program Space 368 Bytes of User / System RAM 256 Bytes of User EEPROM Hardware PWM “Interrupts” In circuit debugger

18. Atom Calculations 66ms to implement AI Calculations vary –4 to 8 instructions per ms –Worst case calculations to 110 instructions –Approximately 28ms –Leaves about 20ms, (66-18-28)ms, to spare

19. Behavior

20. Power Estimated usage needed around 1000mAh 9.6V 2000mAh NiMH –8 oz.

21. Budget PartQuantityCost Basic Atom179.99 Basic Stamp149.99 Motor Mind C155.00 Tamiya 72005227.98 Futaba Servo111.99 PCB1120.00 PVC board415.80 Wheels26.49 Battery229.99 Total$397.23

22. Questions?