1. Draw-O-Matic 9000
Shaun Holtzman

2. Objectives Overview Hardware setup Software setup Completed so far
Finalizing for demo/media day
Looking Back

3. Overview Shape drawing robot
Detects desired shape with camera out of a set of shapes
Detects the size of the paper being drawn on
Scales the shape to the size of the paper

4. Hardware Setup Motors 2 stepper motors 1 solenoid Processor
Arduino Due
Camera
Microsoft LifeCam
Integrated Laptop Cam
Other
2 motor drivers
2 limit switches
1 Mosfet
1 Transistor
Handful of resistors

5. Software Setup Shape detection using OpenCV through laptop cam
Square, triangle, pentagon, diamond, octagon
Paper dimensions and location using OpenCV through Microsoft LifeCam
Dimensions used along with motor step ratios to scale the image and move to center
Information sent from laptop to Arduino through serial communication
Paper dimensions
Location of paper’s center

6. Software Setup

7. Software Setup

8. Software Setup

9. Software Setup

10. Completed So Far Can draw 3 out of the 5 shapes I chose
Able to scale the shapes to the size of the paper
Improved paper dimension detection
Moved from breadboards to perfboards
Wire management
One fluid program

11. To-Do Finish drawing other 2 shapes Possibly add more shapes
Optimize shape drawing
Work on getting pen to the center of the paper regardless of where the paper is set

12. Looking Back Lessons learned: Skills learned: Overall:
Make robot smaller
Start earlier than you think you should
Skills learned:
Controlling motors
OpenCV
Time management
Overall:
Really enjoyed this class

13. Questions?