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Pathfinder Mark VII 2000 Edition 3 point o™

Pathfinder Mark VII 2000 Edition 3 point o™. Midterm Presentation. by PJ Barnes Travis Collavo Adam Norgaard. Cast of Characters. Cast of Characters Cont. Cast of Characters Pt. 3. Block Diagram. (see next slide). Input movement commands. Human/Computer Interface. I/O. Speaker.

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Pathfinder Mark VII 2000 Edition 3 point o™

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  1. Pathfinder Mark VII 2000Edition 3 point o™ Midterm Presentation by PJ Barnes Travis Collavo Adam Norgaard

  2. Cast of Characters

  3. Cast of Characters Cont.

  4. Cast of Characters Pt. 3

  5. Block Diagram • (see next slide)

  6. Input movement commands Human/Computer Interface I/O Speaker Serial Port Output pertinent data Keypad Robot Car Movement Hardware Wheel turning servos Commands Micro controller RoboBoard – 68HC11 Memory Wheels Map of surroundings Wheel Motors 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) Commands Range finder mount Input Stepper Motor Sonar range finder Shaft encoder Bumper sensor Electronic Compass Outside world

  7. Top View of Robot

  8. Side View of Robot

  9. Bottom View of Robot

  10. 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

  11. Interactive C Environment

  12. Interactive C Cont.

  13. Functions in ICWIN

  14. Library Files • robo.lis • robolib.c • theme.c • main.c • analog.icb • roboir.lis • roboir.icb • roboir.c

  15. Library Files Cont. • ints.lis • ints.c • myint.icb • servo.lis • servo.c • servo.icb • cmotor.c

  16. Major Results Obtained • Communicating with the RoboBoard via our own cables • Cool robot chassis with continual design enhancements • Autonomy (programmable hardware, battery power) • Movement (motors and wheels) • User-friendly interaction (keypad, switches, etc.)

  17. Major Modifications to Original Plan • Will not be able to rotate in place • Will weigh 15 pounds instead of 10 pounds • Ultrasonic range finder, not laser • Will only use 2 motors for the wheels, not 6 • Will only use 1 servo, not 4 • Reassignment of responsibilities

  18. Major Problems Encountered • We had to search out Windows-oriented Interactive C software • Interface 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

  19. Timeline:Original vs Current

  20. Timeline:Original vs Current

  21. Timeline:Original vs Current

  22. Timeline:Original vs Current

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