1. Mappie By: Michael Pusatera

2. Summary of Talk Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions

3. Introduction Autonomous Navigating Agent Use of non-mechanical navigation techniques Optical Mice

4. Hardware Motorola 68HC11 EVBU 68HC11 microcontroller Serial Communication Interface Breadboard for expansion Mekatronix ME11 Memory expansion Digital Outputs Altera UP1 Flex 10k FPGA JTAG programming Interface PS2 Communications Interface

5. Sensors Bump Sensor Pushbutton switches Infrared Sensor Sharp IR sensors Distance Navigation Sensor Optical Mice

6. Sensor Report: Bump Sensor Bump Switch Design Vcc R1 R2 R3R4 Analog(0) R? S1S2S3S4

7. Sensor Report: IR Sensors Infrared Sensor Design Analog(2) Analog(3) Analog(1) IR Sensor Vcc

8. Sensor Report: Optical Mice How Optical Mice Work:

9. Sensor Report: Optical Mice How Optical Mice Work: Serial interface Data, Clk State Machine Inhibit USB Send two commands Read Data Stream

10. Sensor Report: Optical Mice Data Stream

11. Sensor Report: Optical Mice Optical Mouse Design Mouse Vcc FPGA Enable Reset 8 bit out Clk Data Mouse Clk Data Mouse PortC on HC11 8 A15 A14 A13 A12 R/W Eclk Reset HC11

12. Sensor Report: Optical Mice Programming HC11 Memory mapped: 0x7000 Output order MCCR: condition code register for mouse 1 X[15..8]: upper eight bits of x data for mouse 1 X[7..0]: lower eight bits of x data for mouse 1 Y[15..8]: upper eight bits of y data for mouse 1 Y[7..0]: lower eight bits of y data for mouse 1 MCCR2: condition code register for mouse 2 X2[15..8]: upper eight bits of x data for mouse 2 X2[7..0]: lower eight bits of x data for mouse 2 Y2[15..8]: upper eight bits of y data for mouse 2 Y2[7..0]: lower eight bits of y data for mouse 2

13. Actuation 2 servos

14. Platform Based on TJPro Larger due to EVBU board size and Distance sensor

15. Behaviors Go Straight for 10 feet Go Straight for 10 feet =>Turn 180°=>Return Navigate a 4 foot by 4 foot square

16. Conclusions Optical mice seem to work as a navigation agent Placement of mice on robot is critical to accurate data Mechanically stable platform will have success using mice to navigate Future work: Generate position in a 2D map based on mice data Use 2D mapping for any navigation or mapping applicaitons

17. References [1] http://www.altera.com/http://www.altera.com/ [2] http://www.howstuffworks.com/mouse3.htm http://www.howstuffworks.com/mouse3.htm [3] Ty Black, Sensor Report, IMDL [4] Ty Black, Final Report, IMDL Acknowledgement: Ty Black