1. Robotic Navigation Distance Control Platform By: Scott Sendra Advisors: Dr. Donald R. Schertz Dr. Aleksander Malinowski March 9, 2004

2. Overview Objective Objective Functional Description Functional Description System Block Diagrams System Block Diagrams Lab Work Lab Work Equipment/Part List Equipment/Part List Original Schedule of Tasks Original Schedule of Tasks Tasks Completed Tasks Completed Remaining Task to be Completed Remaining Task to be Completed Revised Schedule of Tasks Revised Schedule of Tasks

3. Objective Design and Build a Robotic Platform Design and Build a Robotic Platform Maintain a fixed safety distanceMaintain a fixed safety distance Fixed steeringFixed steering

4. Functional Description Modes of Operation Modes of Operation System I/O System I/O System Diagrams System Diagrams

5. Modes of Operation Fixed Navigation Mode User enters User or Auto Out of Range ModesUser enters User or Auto Out of Range Modes User enters fixed safety distance in feetUser enters fixed safety distance in feet User presses activation buttonUser presses activation button Time Navigation Mode User enters safety time in secondsUser enters safety time in seconds

6. Modes of Operation User Out of Range Mode Followed object is out of rangeFollowed object is out of range Robotic platform stopsRobotic platform stops “Out of Range” displayed on LCD“Out of Range” displayed on LCD User reactivates navigation controlsUser reactivates navigation controls Clears LCD displayClears LCD display Auto Out of Range Mode EMAC reactivates navigation controls when object detectedEMAC reactivates navigation controls when object detected

7. Modes of Operation Stop/Start Mode User is able to start/stop navigation mode manuallyUser is able to start/stop navigation mode manually

8. System Inputs to EMAC User Input  Keypad Sensors Input  SRF04 ultrasonic sensors 1 sensor for distance control1 sensor for distance control EMAC Microcontroller Distance Control Sensor Robotic Platfor m Motor Robotic Platfor m Steering LCD Display Keypad (User Input)

9. System Outputs from EMAC LCD Display LCD Display Current mode of operationCurrent mode of operation User required input informationUser required input information Robotic Platform Motor Robotic Platform Motor Robotic Platform Steering Robotic Platform Steering EMAC Microcontroller Distance Control Sensor Robotic Platfor m Motor Robotic Platfor m Steering LCD Display Keypad (User Input)

10. System Sensor Diagram Robotic Platform (R/C Car) Distance Sensor Moving Object (Similar size to robotic platform)

11. Block Diagram Hardware Subsystem FunctionSubsystem Function I/O of SubsystemI/O of SubsystemSoftware Modes of Operation FlowchartsModes of Operation Flowcharts

12. Sensor Subsystem SRF04 Ultrasonic Pulse Sensor SRF04 Ultrasonic Pulse Sensor Sensor Output Signals Sensor Output Signals Output signal related to distanceOutput signal related to distance PWM at 33 HzPWM at 33 Hz

13. Electric Motor Subsystem Input signal PWM signal from 1.0 ms to 1.7 ms positive pulse width at 33 HzPWM signal from 1.0 ms to 1.7 ms positive pulse width at 33 Hz Output speed Motor’s shaft speed variesMotor’s shaft speed varies Full forward speed with 1.7 ms pulse widthFull forward speed with 1.7 ms pulse width Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width

14. Steering Subsystem Input signal PWM signal from 1.1 ms to 1.9 ms positive pulse width at 50 Hz with 1.5 ms as neutralPWM signal from 1.1 ms to 1.9 ms positive pulse width at 50 Hz with 1.5 ms as neutralOutput Rotational servo horn to translational movement of steering rodRotational servo horn to translational movement of steering rod

15. Hardware Subsystem Block Diagram Robotic Platform Steering Subsystem PWM Signal Translates Steering Rod EMAC Microcontroller Robotic Platform Motor Subsyste m PWM Signal Power to Drive Wheels on R/C Car Distance Control Sensor Subsystem Analog or Digital or PWM Signal Photoelectric or Ultrasonic Pulse

16. Main Software Flowchart Display Prompt: User/Auto Out of Range Mode Keypad: User Enters Out of Range Mode EMAC Initialization LCD Initialization Keypad Initialization Display Prompt: Fixed/Time Navigation Mode Keypad: User Enters Navigation Mode Keypad: User enters fixed distance or safety time

17. Main Software Flowchart Keypad: Activation Button Fixed Distance Control Steering Control Safety Time Control Check if signal from sensor Enter User/Auto Out of Range Mode No Yes Check navigation mode entered Fixed Navigation Mode entered Time Navigation Mode entered

18. User/Auto Flowchart User/Auto Out of Range Mode Display: User/Auto Out of Range Mode User Out of Range Mode Auto Out of Range Mode Stop Electric Motor Auto: Wait until object is detected Wait: User Reactive Navigation Controls Call Fixed/Time Navigation Mode Display: Clear display

19. Start/Stop Flowchart Stop Electric Motor Keypad: User Presses Stop Button Keypad: User Presses Start Button Call Fixed/Time Navigation Mode

20. ESC Lab Work Servo input signals with 1.5 ms at 33 Hz being neutral Servo input signals with 1.5 ms at 33 Hz being neutral Full understand of ESC required signal inputs Full understand of ESC required signal inputs Rooster ESC reprogrammed Rooster ESC reprogrammed Reprogrammed :1.0 ms stop Reprogrammed :1.0 ms stop 1.7 ms full forward Servo, ESC and Ultrasonic signals programmed Servo, ESC and Ultrasonic signals programmed

21. Equipment and Parts List Hitec HS-303 Servo Hitec HS-303 Servo Kyosho Hoppin Mad RTR R/C Car Kyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed controller Team Novak Rooster electronic speed controller HP 8011A Pulse Generator HP 8011A Pulse Generator SRF04 Ultrasonic pulse sensors SRF04 Ultrasonic pulse sensors Onboard 80515 EMAC Microcontroller Onboard 80515 EMAC Microcontroller

22. Original Schedule of Tasks 12/22 – 1/27Determine sensors 1/28 – 2/03 Motor and servo subsystem coding, debugging and testing 2/04 – 2/10 Stop/Start Mode software coding, debugging and testing 2/11 – 2/17 2/18 – 2/24User input software code, debugging and testing 2/25 – 3/02 3/03 – 3/09Sensor characteristic and output signals 3/10 – 3/16Hardware interfacing and installation 3/17 – 3/23 3/24 – 3/30 3/31 – 4/06 4/07 – 4/13 4/14 – 4/20 4/21 – 4/27 4/28 – 5/04Finish project, presentation, project report Fixed navigation mode software code, debugging and testing User/Auto Out of Range mode software code, debugging and testing

23. Revised Schedule of Tasks 3/03 – 3/09 3/10 – 3/16 3/17 – 3/23 3/24 – 3/30Start Mode software coding, debugging and testing 3/31 – 4/06 4/07 – 4/13 4/14 – 4/20 4/21 – 4/27Hardware interfacing and installation 4/28 – 5/04Finish project, presentation, project report Fixed navigation mode software code, debugging and testing User input software code, debugging and testing User/Auto Out of Range mode software code, debugging and testing

24. QUESTIONS ?