1. ECE 477 DESIGN REVIEW TEAM 7  SPRING 2013 COST ROBOT CAROLINE TRIPPEL, ANDREW LOVELESS, ERIC OSBORNE, BRYAN DALLAS

2. Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout Software design / development status Project completion timeline Questions / discussion

3. Project Overview Design and build a compact robot to traverse a maze Use the robot to generate an ASCII representation of the entire maze Mark light locations on map as they are discovered Revisit lights intelligently throughout the maze in a user-defined order

4. Project-Specific Success Criteria An ability to detect proximity to maze walls and prevent wall collisions. An ability to find specific locations in the maze based on the placement of colored lights. An ability to turn and change direction of movement. An ability to generate an ASCII representation of the explored maze. An ability to transfer stored ASCII map to a GUI program on a desktop computer via USB.

5. Block Diagram

6. Component Selection Rationale Microcontroller: Microchip PIC18F4550 Memory Size: 2048 Bytes RAM 13 10-bit ADC Channels 2 PWM I2C USB 44 pins Fuel Gauge: Linear LTC4150 Simple setup, small circuit, easy monitoring

7. Component Selection Rationale Digital Compass: Honeywell HMC6352 I2C, easy setup, simple communication Short Range Sensor: Phigets 1103_1 Range: 0-100 mm (0-3.94 in) Long Range Sensor: Sharp GP2Y0A02YK0F Range: 20 – 150 cm (7.87 – 59 in) Color Light Sensor: Avago HDJD-S822-QR999 3 analog input for RGB, easy use

8. Component Selection Rationale H-Bridge: Texas Instruments L293DNE Built in diodes for noise suppression Geared Motor: Solarbotics GM3 Small, provides enough power to push our robot without stalling Digital Isolators Protects microcontroller from high motor voltage 24MHz Oscillator Required for USB communication

9. Packaging Design Three tiered octagon-shaped body: Tier 1 PCB, peripheral headers Compass Tier 2 3X short range proximity sensors 1X RGB color sensor Tier 3 1X Long range IR sensor 2X DC Motors / Wheels 1X 7.4V, 2 cell, Lithium-Ion Battery

10. Packaging Design

12. Schematic

13. Microcontroller: PIC18F4550

15. USB Connector

16. 7.4V Battery Header / Fuel Gauge

18. 5V Regulator Circuit

20. H-Bridge Driver / Motor Header

22. Digital Isolators

24. I2C Compass Header

25. Indicator/Status LEDs

26. Pushbuttons

27. A/D Sensor Input Header

28. 24MHz Oscillator Circuit

30. Programming/USART Headers

31. PCB Layout

32. PCB Layout: Top Copper

33. PCB Layout: Bottom Copper

34. PCB Layout: 7.4V Power / Ground = Ground = 7.4V

35. PCB Layout: 5V Ground

36. PCB Layout: 5V Power

37. Microcontroller / Headers

38. Motor Driver Subsystem

39. Power Subsystem

40. Oscillator Circuit

41. Pushbuttons

42. Sensor Header

43. Reset / Programming / Compass Header

44. Status/Indicator LEDs

45. Software Design Completed USART for printing/debugging PWM frequency/duty cycle control Timing modules / interrupts A/D conversion Bidirectional USB communication Started I2C, compass communication Modified Tremaux Algorithm for maze traversal

46. Project Completion Timeline TaskWeek 8 9 10 11 12 13 14 15 16 Base routines tested with peripheral hardware XX Robot base / motor construction XX Power prototyping / motion control XXXX PCB population / testingXXX Robot constructionXXXXX Robot maze codeXXX USB/Maze display program code XX Final packaging / constructionXX

47. QUESTIONS / DISCUSSION