1. Ouimet Golf Playing Robot - Shashank G. Sawant

2. Topics covered: Block and Circuit Diagram Sensors : – CMUCAM – OPT101 The mechanical Hardware Behaviour

3. Block Diagram CMUCAM Atmega Microcontroller Board Continuous Servo Motor Servo Motors for CMUCAM Servo Motor for club MAX232A Continuous Servo Motor OPT101 sensors

4. Atmega164p Board Atmega164p MAX232A Servo Headers ADC Headers LM 7805 LCD Port

5. OPT101

7. CMUCAM

8. CMUCAM Block Diagrams

9. CMUCAM Serial Communication

10. CMUCAM Serial Communication (TTL)

11. The Mechanical Hardware The CMUCAM is mounted on a platform connected to 1 servo. Thus it has a single degree of freedom. For its locomotion, Ouimet relies on 2 continuous servo motors setup in a differential configuration. Ouimet’s Golf Club is connected to its chassis by means of a micro-servo motor.

12. The Mechanical Hardware Continuous servos Golf Club Idle Wheel Micro-servo

13. Algorithm Search for a white ball by executing random turns and straight line motion, with the camera pointed downwards. Once a white ball is detected align it in the center of the frame. Raise the camera to 0 o elevation and rotate till the flag(marking the hole) is located while measuring the angle of rotation.

14. Algorithm Once the flag has been and the relative angle between the ball’s location and the hole has been measured calculate the next steps of motion. ɸ d d1d1

15. Algorithm Align with the ball and the hole in a straight line and then putt the ball into the hole. Ouimet

16. Algorithm If the ball is visible repeat the process. Otherwise the objective has been accomplished! Ouimet

17. Behavior Flowchart Start Search for a white ball by moving randomly Ball detected ? Center the ball in the image Rotate and locate the flag Calculate the position of alignment, move to the same and putt the ball into the hole Is the ball Visible? End YES NO YES

18. Thank You