1. September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee

2. September 16, 2003Mark Jarrett, Jeremy Paradee, and Jeff Wilson 2 Problem Statement: To engineer an automated system that plots text on various sizes of poster board Input is ASCII file (.txt) 100 bytes max Must complete in 8 weeks

3. September 23, 2003Mark Jarrett, Jeremy Paradee, and Jeff Wilson 3 Solution: Movable Vehicle Computer sends signal to Go-Go Gantry Go-Go Gantry drives in X direction Gantry with pen moves in Y direction Combination of X-Y motion plots text Vehicle plots text

4. September 23, 2003Lee Strobridge, Jeremy Paradee, Mark Jarrett, and Jeff Wilson 4 System Overview: Controller Motor Solenoid Marker 12 V

5. September 24, 2003Strobridge, Bodis, Jarrett, Wilson5 Mechanical Overview: Stepper Motor Solenoid Stepper Motor Gantry Stepper Motor Marker

6. October 09, 2003Lee Strobridge6 3-D Model:

7. September 23, 2003Dave Carlson7 Mechanical Detail: Gantry

8. September 23, 2003Dave Carlson, Allison Bodis, Mark Jarrett 8 Mechanical Detail: Marker Fixture

9. September 23, 2003Mark Jarrett and Jeff Wilson9 Solenoid: Test 12 V Solenoid: F = 19 Newtons

10. September 24, 2003Wilson, Bodis, Strobridge, Paradee, Jarrett, Carlson 10 Casters: Design Decision

11. September 23, 2003Mark Jarrett and Jeff Wilson11 Ball Vs. Wheel Casters: Test

12. September 24, 2003Strobridge, Wilson, Jarrett, Bodis12 Cup n’ Ball Casters: Test

13. September 23, 2003Allison Bodis13 Friction: Test Trial (Tile Floor) Friction Force (uF) Normal Force (Fn) 11.537 21.137 31.537 41.537 51.337 Average1.437 (uF) = u (Fn) u =.0376 * All measurements made in Newtons

14. September 23, 2003Mark Jarrett, Jeff Wilson, and Jeremy Paradee 14 Electrical Overview: 12VDC 120V AC ComputerHC11 Stepper Motors Motor Controller Solenoid Power Signal

15. October 08, 2003Dave Carlson, Jeff Wilson15 68HC11 Microcontroller:

16. September 23, 2003Paradee, Strobridge, Carlson, Jarrett, Wilson, Bodis 16 Computer System Overview: C Code Assembly Code ASCII File In PC: Computer: Micro- Controller HC-11 “Yard Sale” Go Go Gantry: Serial Cable Memory yardsaleyardsale Letters Printing

17. October 09, 2003Jeff Wilson17 Layer Diagram: Download Letter Decision Data Entry Motor 1Motor 2Motor 3Solenoid

18. September 23, 2003Jeff Wilson and Mark Jarrett18 Program Flow Chart: Start End Home Letter? Letter Subroutine Yes No

19. September 23, 2003Jeff Wilson19 Pseudo Code ‘Y’: Solenoid #1 Set = Down Motor #2 Set = Forward Time Delay Motor #2 Set = Stop Motor #1 Set = Forward Time Delay Motor #1 Set = Stop Motor #2 Set = Reverse Time Delay Motor #2 Set = Stop Motor #2 Set = Forward Time Delay Time Delay Motor #2 Set = Stop Motor #1 Set = Reverse Time Delay Motor #1 Set = Stop Solenoid #1 Set = Up -Home Pen Subroutine- -Test for more letters to print- -Move to next letter location if needed-

20. October 08, 2003Dave Carlson20 User Interface Code: // // entertext.c - a terminal program to enter text and send it to the // Go Go Gantry. A list of options is given to the user, who can enter // text of up to 100 standard ascii letters. #include int main( void ) { char text[100], choice = 'a'; int numberOfChars = 0, i = 0; // Title screen and prompt for letters printf("****************************************************************\n"); printf("* *\n"); printf("* --- Go Go Gantry: Text Terminal --- *\n"); printf("* *\n"); printf("* Enter up to 100 letters to be printed by the Go Go Gantry *\n"); printf("* Press RETURN to continue *\n"); ……..

21. October 08, 2003Dave Carlson21 User Interface:

22. October 09, 2003Lee Strobridge22 Design Vs. Prototype:

23. September 24, 2003Carlson, Jarrett, Wilson, Bodis, Strobrige, Paradee 23 Rover II Platform: Prototype Pre-Assembled, available Large front prototyping area HC 11, Stepper motors, wheels, controllers, serial communication and interrupt drivers More pins give options for sensors

24. September 23, 2003Mark Jarrett24 Schedule:

25. Thank You, Any Questions? Go-Go Gantry Webpage: I:\WEB\DOCS\ELM\Projects\2003-2004\MiniProject\GoGoGantry\index.html