1. EMRAM Mini-Sumo Project INNOVATIONS

2. EMARAM INNOVATIONS Team Members: Nick Enriquez Project Manager, MCU Programmer, PCB Design Isai Michel Webmaster, Body & Mechanics, Programming support Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes Presentation Editor, Motors, Power Supply Support Catherine Acain Reports Editor, Power Supply, PCB support

3. “The Juggernaut”

4. PROJECT OVERVIEW Mini-Sumo Competition Mini-Sumo Competition Design Specifications Design Specifications 500g maximum weight500g maximum weight 10cm x 10cm maximum width and length10cm x 10cm maximum width and length No destructive techniquesNo destructive techniques Our Design Approach Our Design Approach Robust FrameRobust Frame High TorqueHigh Torque Bi-DirectionalBi-Directional Simple but effective software implementationSimple but effective software implementation

5. Body & Mechanics

6. Chassis

7. Track system Sprocket Sprocket Idler Idler Tracks Tracks

8. Rotation

9. Motors

10. FUTABA S3305 MOTORS

12. SERVO MODIFICATION

13. Pulse Width & RPM Testing

14. Sensors

16. Photo Sensors QRD1113 Reflective Object Sensors (Fairchild Semiconductors) QRD1113 Reflective Object Sensors (Fairchild Semiconductors) 4.36 V swing (4.59 V to 228 mV) from black to white surfaces 4.36 V swing (4.59 V to 228 mV) from black to white surfaces 1 V – Threshold 1 V – Threshold About 5mm above the ground About 5mm above the ground

17. Distance Sensors Sharp IR Proximity Sensors (GP2Y0A21YK) 400 mV – Threshold Detects at 70 cm

18. Power Supply

19. Lithium Ion Polymer Battery 3.7 V each 3.7 V each 7.4 V Total Provided 7.4 V Total Provided Light-Weight: 19.84g Light-Weight: 19.84g Easy to Charge and Recharge Easy to Charge and Recharge

20. Voltage Regulation Schematic

21. System Requirements Voltage Requirements5V and 6V Voltage Requirements5V and 6V Current Draw: 650mAH – 850mAH Current Draw: 650mAH – 850mAH Power: 4.81WH-6.29WH Power: 4.81WH-6.29WH Battery Rating: 800mAH Battery Rating: 800mAH Expected Battery Life: Expected Battery Life: (5.624WH / 6.29WH)*(60 min) = 53 min (5.624WH / 6.29WH)*(60 min) = 53 min Actual Power Supply Output: Voltage Outputs5.0 and 6.4V Voltage Outputs5.0 and 6.4V Current Draw: 760mAH Current Draw: 760mAH Actual Power Supplied:5.624WH Actual Power Supplied:5.624WH Average Battery Life:45 minutes Average Battery Life:45 minutes

22. Microcontroller

23. SYSTEM INTEGRATION 5V REG FRONT IR SENSOR FRONT PROXIMITY SENSOR 7.4 Battery POWER SUPPLY ADC REAR IR SENSOR REAR PROXIMITY SENSOR 6V REG PWG MICROCONTROLLER LEFT MOTOR RIGHT MOTOR MUX

24. Freescale MC9S12C32 Hardware: Hardware: Module UtilizationModule Utilization Programming via BDM PortProgramming via BDM Port Removal of componentsRemoval of components Software: Software: Delay functionDelay function 5-Second Start Delay 5-Second Start Delay Line Sense Function Line Sense Function Sensor ResponseSensor Response MotorsMotors Utilizing PWM vs. Bit banging Utilizing PWM vs. Bit banging Controlled by adjusting Duty Cycle Controlled by adjusting Duty Cycle StrategyStrategy

25. YES Are we at the boundary ? Is enemy in range? MODE: Pull-Away MODE: Attack NO 5-second delay MODE: Turn and Seek Program Start YESNO Algorithm Flowchart

26. Project Scheduling & Budget

27. GANTT CHART

28. QTYPARTPRICEDISTRIBUTOR 2 Servo High Torque 69.98 TOWER HOBBIES Standard w/ Metal towerhobbies.com Gears 2 Infrared Proximity 29.16 Spark Fun Sensors sparkfun.com 2 Timing Belt 11.32sdp-si.com 4 Timing Pulleys 46.48sdp-si.com 2 Lithium ion batteries 20.00 Tower Hobbies 2 IR Proximity Sensors 29.16sparkfun.com 2 3-pin JST connectors 4.64sgBOTIC sgbotic.com 2 Li-Polymer Battery 15.90 Electronics Goldmine MiscellaneousN/A J. Kennedy TOTAL226.64 COST SUMMARY

29. LIVE DEMONSTRATION

30. WEBSITE Please visit us at: http://emram.sdsu.edu Demo Day Friday, May 4 th 2007 In front of the Engineering Building BBQ @ 12:00pm Project Judging @ 1:30pm Live Demonstration @ 2:00pm