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Team # Insert_Comment_Here

Join a team of aspiring roboticists as we create the PLP.Bot for the Mercury Robot Challenge! In our Computer Based Systems class (ENSC 3213), we surveyed 30 students, and a resounding 28 wished they had a robot as a kid. Now, we aim to navigate our robot through an obstacle course with precision. The challenge involves remote operation, obstacle avoidance, and strategic path navigation. Check out our design decisions, including motor control and communication protocols, as we strive to bring our robotic dream to life!

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Team # Insert_Comment_Here

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  1. Team #Insert_Comment_Here Presented by: Randal Allison, Jacob Elliott, Sam Bretz, and Sam Rose

  2. Who wanted a robot as a kid? • Surveyed 30 students on campus • 28 people said yes • 2 people (liars) said no PLP Bot Doesn’t Like Liars

  3. Who are we?

  4. What are we doing? • As part of our Computer Based Systems class (ENSC 3213), we are entering a robot in the Mercury Robot Challenge. • Our Robot • Prebuilt “PLP Bot” • 4 motors (1 per wheel), 2 motor controllers • Mounted Web-based camera system • FPGA Board and XBEE units pre-installed • 4 stylish 2” rims wrapped in Yokohama all-terrain tires

  5. Mercury Robot Challenge • Open to university and high school teams. • Teams must consist of at most four team members (ENSC 3213 exempt). • The robot must be guided by the actions of an Operator at a remote location. • One team member will be designated the “Operator” and is the only one that is allowed to guide the robot. • The Operator may only receive information provided by the robot. (Source: http://mercury.okstate.edu/)

  6. Mercury Robot Challenge cont. • Touching the robot during the run will result in a time penalty or possible disqualification of the current run. •  Each team will have a 15 minute window in which to attempt to traverse the obstacle course. • The robot must follow a predefined path from “Start” to “Finish” in minimum time while attempting to avoid striking obstacles. • The team may make as many attempt as the 15 minute window will allow. (Source: http://mercury.okstate.edu/)

  7. Mercury Robot Challenge cont. • Must cross a bridge

  8. Mercury Robot Challenge • Must navigate a 30⁰ incline LIKE A BOSS

  9. Track Design Source: http://mercury.okstate.edu/2012%20track.jpg

  10. Flowchart

  11. User View

  12. Communications Protocol • Programs will be written in Java • Header and Checksum • Header, Left Motor Value, Right Motor Value, Checksum • Checksum = Header value + RM Value + LM Value • Sockets • Least amount of overhead • Reduce latency • Lag • Compensated for by Operator • Will be tested extensively during peak and off-peak hours

  13. Flowchart

  14. Robot Firmware

  15. Motor Control Values

  16. Flowchart

  17. Design Decisions • Input Method • Keyboard vs. Joystick vs. Game Controller • Keyboard won (Source: http://www.terminally-incoherent.com/blog/wp-content/uploads/2007/09/wasd_vs_arrows.jpg) • Turn style • Mirror/Lens Attachment • Loss of Signal Beacon Attachment

  18. Relating to class • Reading and writing over UART • Stack usage • How to write in PLP • Interrupts • Memory mapped I/O • Increase communication skills • How to program the PLP Bot • I can’t do that, Dave.

  19. QUESTIONS?

  20. THANK YOU

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