1. Windell Harold Jones Mechanical Engineering March, 7 2008

2.  The FIRST Organization  Project Overview  The Competition  Waipahu’s Team  Ghost Rider’s Subsystems  Controls Modification  Gyro Control Loop  Programming  Near Future Plans

3.  Non-profit organization that aims to intrigue young adults to pursue a technology related career through a friendly robotic competition.  Excite young adults about technology.

4.  Mentor the Waipahu High School robotics team by connecting their ideas with reality  Teach the team how to code the Robot Controller  Help with interfacing gyro sensor to robot controller  Modify the operator interface controls  Give them valuable hands-on experience

5.  Two main divisions:  Six-week build season (Jan 5-Feb 19)  Competition season (Feb 28-April 19)  Hawaii regional: March 27-29!!!

6. Length: 15s hybrid + 120s teleoperated Points: -4 points for each line crossed -8 points for hurdling 40” ball over overpass -8 points for knocking down ball during hybrid.

7. Six members: 2 Juniors 3 Sophomores 1 Freshmen All rookies All part of the Engineers Club Little to no hands-on experience

8.  Simplest of the three subsystems  Mostly composed of Aluminum 6061 Angle and cross braces  Including acrylic ¼” thick protective cover  30mm Bosch Extrusion

9.  Robot Controller (PIC18F8520)  PWM motor controllers  12 VDC power source  Spike Relays (Pneumatics)  Resettable Circuit Breakers

10.  2-Globe motors  2-8” wheelchair wheels  Conveyer belt material for extra traction  10 fps translation  90 deg/s rotation (limited by gyro)

11.  Code written in C  Using the Microchip’s MPLAB IDE using the C18 library set  Two files to modify  user_rountines.c (26ms)  user_routines.c  Problem: Confusing as to where to edit code.

12.  Problem: X-axis and Y- axis combination not intuitive.  Leads to a high practice requirement  Solution:  Steering wheel  Joystick throttle

13.  Differential drive leads to high maneuverability  Hard to control as reaction times are slow  Using a gyro to maintain desired rotations solved problem  Proportional feedback control used

16.  Designing and building a robot in six weeks is difficult.  Especially when it is required that the students be involved.  Dramatic tool skill increase observed  Future Plans: Add Hybrid mode code at the competition.

17.  Come see us compete along with many local high school teams!  March 27-29, Stan Sheriff Center