Pathfinder Mark VII 2000Edition 3 point o™

byPJ BarnesTravis CollavoAdam Norgaard

Midterm Presentation

Cast of Characters

Cast of Characters Cont.

Cast of Characters Pt. 3

Block Diagram

(see next slide)

Robot Car

Micro controllerRoboBoard – 68HC11

Memory

Range finder mount

Map of surroundings

Path finding algorithm-interpret data from sensors/rangefinders/compass -determine path to take-determine how-far/direction to move -update old map data with new data-account for inaccuracies from range finder-account for imprecise movements-execute contingency plans(back away from wall)-find shortest path (optional)

Movement Hardware

Wheel turning servos

Wheels

Wheel Motors

I/O

Keypad

Speaker SerialPort

Stepper Motor

Sonar range finder

Electronic CompassBumper sensor

Human/Computer Interface

Output pertinent data

Input movement commands

Commands

Commands

Input

Outside world

Shaft encoder

Top View of Robot

Side View of Robot

Bottom View of Robot

Software Details

Programming in ICWIN Interpreted at runtime

Programming in Assembly Compiled with AS11_IC batch file

Assembly routines are converted to machine language

Assembly routine names are registered in the library (ICB) file for use in C

Interactive C Environment

Interactive C Cont.

Functions in ICWIN

Library Files

robo.lis

robolib.c theme.c main.c analog.icb

roboir.lis roboir.icb roboir.c

Library Files Cont.

ints.lis ints.c myint.icb

servo.lis servo.c servo.icb

cmotor.c

Major Results Obtained

Communicating with the RoboBoard via our own cablesCool robot chassis with continual design enhancementsAutonomy (programmable hardware, battery power)Movement (motors and wheels)User-friendly interaction (keypad, switches, etc.)

Major Modifications to Original Plan

Will not be able to rotate in placeWill weigh 15 pounds instead of 10 poundsUltrasonic range finder, not laserWill only use 2 motors for the wheels, not 6Will only use 1 servo, not 4Reassignment of responsibilities

Major Problems Encountered

We had to search out Windows-oriented Interactive C softwareInterface cables were faulty, and this took a while to figure out (had to create our own interface cables)Details on the RoboBoard’s registers are hard to ascertain (we have to figure out details by analyzing previously written code)We are still waiting on our range finder and electronic compass

Timeline:Original vs Current

TaskOriginal Updated Lag

Get most of equipment 5 5 0Order range finder 5 5 0Order electronic compass 5 5 0Build main chassis for robot 5 5 0Order ICWin 5 5 0Receive ICWin 5 6 1Learn how to interact with the board 5-6 6 0-1Learn how to use Integrated C 5-6 6 0-1Use board to control motors for wheels 6 6 0Attach wheels to chassis 6 6 0Build steering mechanism 6 6 0Build Gearbox 6 7 1

Week (Planned)

Timeline:Original vs Current

TaskOriginal Updated Lag

Incorporate Differential on Rear Axle 6 7 1Attach motors 5 7 2Get car to move forward and backward 6 7 1Interface bumper sensor with board 10 7 ahead 3Implement keypad 6-7 7 0-1Learn how to use stepper motors 9 7 ahead 2Create assembly language programs - 7-8 -Create interrupts - 8 -Attach battery 5 8 3Receive shaft encoder - 9 -Get car to turn 7 9 2Get assembly to call C functions 10 10 0

Week (Planned)

Timeline:Original vs Current

TaskOriginal Updated Lag

Set up a navigation command set 6 10 4Learn how to use shaft encoder - 10 -Receive range finder 7 10 3Test range finder's attributes 7-8 10-11 3Attach range finder to stepper motor 7 10 3Attach range finder to chassis 8-9 10 1-2Program servos and range finder 9 10 1Attach bumper sensor 10 10 0Program car to handle problems 10 10 0Develop algorithms for pathfinding 5-7 10-11 3-4Test algorithms by simulation 6-9 11 2-5

Week (Planned)

Timeline:Original vs Current

TaskOriginal Updated Lag

Attach shaft encoder - 11 -Program shaft encoder - 11 2Perform 360° sweep of surroundings 9 11 2Report/Verify sweep of surroundings 9 11 0Receive electronic compass 11 11 0Test electronic compass 11 11 0Attach electronic compass 11 11 0Program car to move on a path 11 11 2Program bumper sensor 10 12 0Program pathfinding algorithms 12 12 0Incorportate new programming ideas 13-14 13-14 0

Week (Planned)