Transcript Wall Climber Project

Wall Climber Project
Kevin Kauffman
Eric Hall
Objectives
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Remotely control the climber, with
visual feedback
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Remote driving
Camera functionality
Feedback communication
Variable Motor Speed
Previous Work
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Most of the individual devices were
inherited
Working, connected servomotors
A large tangle of wiring
Approach
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One component at a time
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Controlled Motion
Camera functionality and overlay
Remote control
Central Motor functionality
Variable Motor speed
Camera feedback
Receiver
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Receives on 7 channels
Gets VCC and ground from the inputs
Outputs Signal on third pin
PWM signal from 1 to 2 ms
Motor Drivers
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Each pair of wheels has a component
Takes PWM signal from receiver and
controls motor
Vregs step down voltage
Central Motor
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Pixie 20 takes PWM signal and outputs
to motor
Motor driven directly of 22v rails
Wanted to drive off dial, but signal did
not correspond correctly
Must cut power line to receiver to avoid
short circuit
Imaging
Camera
Overlay
Transmitter
Battery
Monitor
Receiver
Screen
Battery Monitor
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Inputs power rails and outputs to the
overlay
Circuitry can be rearranged to also
monitor current and motor RPM
Can be configured to be activated by a
switch on the controller
Overlay
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Eagle Tree OSD
Inputs video source and telemetry data
Outputs to video transmitter
Main Costs
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Futaba 7C R/C System $280.00
Eagle Tree Video OSD $80.99
Eagle Tree Elogger $69.99
LM 500mW Transmitter $49.50
2.4 GHz Receiver ~$50.00
Total >$530.48
Timeline
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10/18: introduced to robot, not working,
most parts disconnected
11/1: climber can drive around and video
overlay works
11/22: video link working, pixie received
11/28: Pixie working when not attached to
dial
12/4: system integrated
Work Assessment
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Car motion can be controlled remotely
1 camera image is sent back with some
interference
Central Motor can be controlled
remotely
Potential Future Work
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Fix interference of image (new
transmitter/receiver pair)
Move VRAM control to a dial instead of
switch
Image switching