1. Pathfinder Mark VII 2000 Edition 3 point o™ by PJ Barnes Travis Collavo Adam Norgaard Midterm Presentation

2. Cast of Characters

3. Cast of Characters Cont.

4. Cast of Characters Pt. 3

5. Block Diagram (see next slide)

6. Robot Car Micro controller RoboBoard – 68HC11 Memory Range finder mount Map of surroundings Path finding algorithm -interpret data from sensors/rangefinders/compass -determine path to take -determine how-far/direction to move -update old map data with new data -account for inaccuracies from range finder -account for imprecise movements -execute contingency plans(back away from wall) -find shortest path (optional) Movement Hardware Wheel turning servos Wheels Wheel Motors I/O Keypad SpeakerSerial Port Stepper Motor Sonar range finder Electronic CompassBumper sensor Human/Computer Interface Output pertinent data Input movement commands Commands Input Outside world Shaft encoder

7. Top View of Robot

8. Side View of Robot

9. Bottom View of Robot

10. Software Details Programming in ICWIN Interpreted at runtime Programming in Assembly Compiled with AS11_IC batch file  Assembly routines are converted to machine language  Assembly routine names are registered in the library (ICB) file for use in C

11. Interactive C Environment

12. Interactive C Cont.

13. Functions in ICWIN

14. Library Files robo.lis robolib.c theme.c main.c analog.icb roboir.lis  roboir.icb  roboir.c

15. Library Files Cont. ints.lis  ints.c  myint.icb servo.lis  servo.c  servo.icb cmotor.c

16. Major Results Obtained Communicating with the RoboBoard via our own cables Cool robot chassis with continual design enhancements Autonomy (programmable hardware, battery power) Movement (motors and wheels) User-friendly interaction (keypad, switches, etc.)

17. Major Modifications to Original Plan Will not be able to rotate in place Will weigh 15 pounds instead of 10 pounds Ultrasonic range finder, not laser Will only use 2 motors for the wheels, not 6 Will only use 1 servo, not 4 Reassignment of responsibilities

18. Major Problems Encountered We had to search out Windows-oriented Interactive C software Interface cables were faulty, and this took a while to figure out (had to create our own interface cables) Details on the RoboBoard’s registers are hard to ascertain (we have to figure out details by analyzing previously written code) We are still waiting on our range finder and electronic compass

19. Timeline: Original vs Current