1. Kirk Acklin Scott Carpenter Douglas Johnson Mike Li
The Rat Pack
The motorized, super-cool lab rat
Kirk Acklin
Scott Carpenter
Douglas Johnson
Mike Li

2. Overview Block Diagrams Subsystem Design Test Results/ Demonstration
Parts list
Programming
Schedule
Division of Labor

3. Project/Objectives Essentials
Description:
The Lab Rat is a micro-controller motorized maze navigating machine. The rat will be able to traverse a maze either using an built-in algorithm or following IR checkpoints within the maze. The Lab Rat will also follow a user.
Lab rat will traverse mazes using the following methods
“Left hand” algorithm
Infrared Tracking
Lab rat will store its path within onboard memory
Lab rat will follow a user wearing IR Transmitter

4. Block Diagram - Overall

5. Block Diagram - BUS

6. Block Diagram
EPROM
SRAM

7. Block Diagram - FPGA

8. Subsystem – IR Rangefinder
Taken from Digikey

9. Subsystem – IR Rangefinder (cont’d)
Taken from Digikey

10. Subsystem – IR Rangefinder (cont’d)
Taken from Digikey

11. Subsystem – Stepper/Stepper Control
Bipolar Stepper STH39C
Taken from Shinano Kenshi website

12. Subsystem – Stepper/Stepper Control (cont’d)
Stepper motor control taken from Jason Johnson’s Stepper Motor page ©1998
Timing Diagram and Pinout taken from Shinano Kenshi Introduction to Stepper
Motors Page

13. Subsystem - IR Sensor

14. Subsystem - IR Sensor (cont’d)

15. Testing - IR Sensor Great Sensitivity to deviation from line of sight
Change from ~4.8 V to ~20mV with direct line of sight
Will require accurate alignment of sensors

16. Parts List
Italics not yet purchased or only partially purchased and therefore prices do not include shipping/taxes where applicable

17. Programming - Hardware
FPGA will handle
Memory Mapping / Chip Select
EEPROM
RAM
Locomotion

18. Programming – Software
Left Hand Algorithm
Perhaps move to state machine
IR circuit
Lets the processor know a signal is locked
Rangefinder
Receive analog signal
Use A/D Converter to interpret
Locomotion Control
Write to address

19. Schedule

20. Division of Labor IR/Rangefinder circuits Doug Kirk Processor Mike
Scott
Programming
Locomotion
Doug
Scott
RF Link
Kirk

21. Wrap Up Block Diagrams Subsystem Design Test Results/ Demonstration
Parts list
Programming
Schedule
Division of Labor

22. QUESTIONS???