McMaster SumoBot Club

Team Presentation : Group EH!

Braden Corbold Colin Gillespie Jack GilliesBoHan Zhang

November 12th, 2015

Overview

• Structural Design

• Powertrain Components

• Electronic Systems

• Software Algorithm

Structural Design• 1/4” & 3/16” Polycarbonate Sheets

• Steel L-Brackets & Stove Bolts

• Stainless Steel Cookie Sheet

• Battery mass centered over wheels

Drive Train • 14V Roomba Motors – 300 mA draw @ 18V

• L-Bracket Mounts

• Belt connection ~2:1 Ratio

• Ryobi 18V 3Ah Ni-Cd Tool Battery

• PWM Power Control via L298

Electronic Systems• L298N Dual H-Bridge: 50V 2A/channel

continuous max

• Separate control power 9V battery

• Power Rail circuit board with shutoff

switches for both voltages

Electronic Systems• 4 x QRD Reflective Sensors

• 6 x Infra-Red Distance Sensors

• Dual Microcontroller Configuration:

• Sensor Handler Arduino Uno

• Primary Logic and Control Arduino Uno

Software Algorithm

• Finite State Machine executed as Switch Case• Seek opponent by default • Comparison of left & right front sensor data • Execute Ram when proximity is below certain

threshold • Constantly poll QRD sensors

Question Period