1. Self Sustaining Solar Power Robot Critical Design Review Mason Drew Mark Nolan Wesley Varghese

2. Design Objectives Self-sustaining – operate without any assistance from the outside world. Self-sustaining – operate without any assistance from the outside world. Monitor energy – monitor the battery’s energy level at all times. It should know when it needs to seek more energy and it should also know when the battery is done charging. Monitor energy – monitor the battery’s energy level at all times. It should know when it needs to seek more energy and it should also know when the battery is done charging. Mobile – be able to navigate on a flat surface without obstacles. Mobile – be able to navigate on a flat surface without obstacles. Light-seeking – be able to locate the strongest light source in the area and navigate toward it. Light-seeking – be able to locate the strongest light source in the area and navigate toward it. Solar-Rechargeable – Once in a strong light source, the robot should enter a charging mode where it consumes very little power and stores the energy into rechargeable batteries. Solar-Rechargeable – Once in a strong light source, the robot should enter a charging mode where it consumes very little power and stores the energy into rechargeable batteries.

3. Body Photo Resistor Placement Battery Placement 22 mm 34.5 mm 29.1 mm 6V 500mAh NiMh

4. Solar Charge Circuitry

5. Battery Monitoring Circuitry

6. State Diagram – Pseudocode operate: do interesting behavior do interesting behavior … bc = get battery charge bc = get battery charge if bc < min_allotted if bc < min_allotted goto seek_light goto seek_light goto operate goto operate

7. Pseudocode seek_light: if top_light_sensor >= enough_light if top_light_sensor >= enough_light goto charge goto charge for the number_of_sensors for the number_of_sensors set control pins set control pins read input read input end for end for decide direction decide direction orient toward brightest light orient toward brightest light move toward light few inches move toward light few inches goto seek_light goto seek_light charge: pause 1 minute get battery charge if battery charge >= max_threshold goto operate goto charge

8. Updated Gantt Chart

9. Obstacles And Goals Obstacles Obstacles Obtain all parts needed for completion Obtain all parts needed for completion Unexpected behavior from servos Unexpected behavior from servos Goals Goals Program behavior Program behavior Testing to calibrate/understand behavior of components Testing to calibrate/understand behavior of components Decide mounting methods Decide mounting methods Implement theory by building robot Implement theory by building robot Testing Robot Testing Robot

10. The End