1. 10/18/2006ELM 4071 Miniproject Team Gary Dan Farley Tyson Rogstad Erik Flum Rob Koch Gary Zigmann Rob

2. 10/18/2006ELM 4071 Miniproject Background Information Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects. MARV includes a HC12 microcontroller, a Scorpion XL motorcontroller and two Denso DC gear motors. The frame is constructed of 8020 extruded aluminum which allows easy assembly and alteration. Rob

3. 10/18/2006ELM 4071 Miniproject Problem Statement MARV2 is in an empty room. When MARV2 senses its battery is low, it needs to autonomously recharge its battery. Rob

4. 10/18/2006ELM 4071 Miniproject Solution Statement Use mechanical switch to simulate voltage low condition Sends MARV into search routine, where it aims to detect a light source Motors are controlled by voltage drop across the sensors mounted on front and rear Rob

5. 10/18/2006ELM 4071 Miniproject Docking Station IR Emitter AC to DC Battery Microcontroller Motorcontroller IR Receiver MARV System Overview Electrical Probe Dan

6. 10/18/2006ELM 4071 Miniproject MARV Finding Docking Station Battery Voltage Is Low, IR Receivers Activated, MARV Spins Dan

7. 10/18/2006ELM 4071 Miniproject MARV Finding Docking Station Receiver Detects IR Emission Dan

8. 10/18/2006ELM 4071 Miniproject MARV Finding Docking Station MARV Spins Until Both Receivers Are Equal Dan

9. 10/18/2006ELM 4071 Miniproject MARV Finding Docking Station Microcontroller compares rear sensor to front sensor Dan

10. 10/18/2006ELM 4071 Miniproject MARV Finding Docking Station MARV Reaches Docking Station, Probes Touch Electrical Connection Dan

11. 10/18/2006ELM 4071 Miniproject Mechanical Design of Docking Station AC to DC IR Controls Vertical Supports Alignment Brackets For IR Emitters Electrical Connection Wood Base Gary

12. 10/18/2006ELM 4071 Miniproject Mechanical Design of Probes Gary

13. 10/18/2006ELM 4071 Miniproject Code Flow Chart Battery Low Check Buttons Spin Left Compare Front Sensors Compare Front and Rear Sensor Go Straight Stop Drive Straight 350 ms Stop Button Pressed V low On Rear Sensor Greater Than or Equal to Front Sensor Front Sensors Not Equal Front Sensors Equal Front Sensor Greater than Rear Sensor Gary

14. 10/18/2006ELM 4071 Miniproject Sample Code JSR Read_ATD1 LSRD STAB Sensor1 LDAA Sensor2 LDAB Sensor1 CBA LBEQ TestRear (Shifting bits to decrease resolution of sensor value) Find_Home: MOV #31, PWMDTY0 MOV #47, PWMDTY1 LDD #350 JSR Delay_Dms JMP Check_Buttons (Arcing MARV by driving one motor faster than the other to compensate for spin routine) Gary

15. 10/18/2006ELM 4071 Miniproject Charging Circuit On Charging Station Erik

16. 10/18/2006ELM 4071 Miniproject Infrared Emitter Circuitry Erik

17. 10/18/2006ELM 4071 Miniproject Sensor Circuit To HC12 CdS resistor Erik

18. 10/18/2006ELM 4071 Miniproject Light circuit Standard Wall Receptacle Erik

19. 10/18/2006ELM 4071 Miniproject Personnel Assignments TYSON Sensors & Emitters ERIK Power Supply ROB Docking DAN Software GARY Software Tyson

20. 10/18/2006ELM 4071 Miniproject Work Breakdown Structure Tyson

21. 10/18/2006ELM 4071 Miniproject Budget Tyson

22. 10/18/2006ELM 4071 Miniproject Questions? Tyson