Transcript Sandwich The TupperBot

Dissecting a Sandwich
Mark Gordon
Engineering 315
December 9, 2002
What is Sandwich?
• Line Following Robot
• From Robot Building for Beginners
– David Cook
• Follows Either a Light Line on a Dark
Surface or Dark One on a Light Surface
Sensors
• Cadmium Sulfide Photo-Resistors
– Variable Resistances Cause Variations in the
Voltage Drop
• White LED
– Reduce Shadow Effects
– Allow for ‘Night Runs’
Feedback
• Voltage Comparator Chip
– Senses which Set is Closer to the Line
– Produces a Ground or Disconnect
• A Pullup Resistor Converts it to Ground or High
– High Causes the (Opposite) Motor to Run
Building
• Circuit
– Breadboard
• LED Circuit
• Headlight Circuit
• Other
– Sensors, Motors, Side LEDs, and Comparator Chip
– PCB
Building
• Body
– Ziplock Sandwich Container
– Lego Wheels
– Gearhead Motors
– Coupler
Debugging
• Side LEDs
– Show Which Motor Sandwich Thinks Should
be Running
• Check Overall Resistance
– Check Individual Resistances
– Find Bad PhotoResistor 
Parameters
• LED Brightness
– Brighter LEDs
• Sharper Reactions
– Will Turn Sooner
• Picks Up Lower Variations in Color
– Dimmer LEDs
• Uses Less Power
• Reactions are not as Abrupt
– More Likely Both Motors will be Running
Demonstration
Credits
• Electronics Aid
– Chuck Holwerda
• Machine Shop Aid
– Dave Ryskamp
• Time Provider
– Professor Ribeiro
• Book Writer
– David Cook
Questions?