Transcript Slide 1
EMRAM INNOVATIONS Mini-Sumo Project EMARAM INNOVATIONS Team Members: Nick Enriquez Project Manager, MCU Programmer, PCB Design Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes Presentation Editor, Motors, Power Supply Support Catherine Acain Reports Editor, Power Supply, PCB support Isai Michel Webmaster, Body & Mechanics, Programming support “The Juggernaut” PROJECT OVERVIEW • Mini-Sumo Competition • Design Specifications – 500g maximum weight – 10cm x 10cm maximum width and length – No destructive techniques • Our Design Approach – Robust Frame – High Torque – Simple but effective software implementation Body & Mechanics Track system • Sprocket • Idler • Tracks Finished goals • Chassis • Track traction system – Sprocket – Idler – Track – Coverings • Bumper • PCB and component mounting Vehicle demonstration Motors SERVO MODIFICATION Pulse Width & RPM Testing Sensors Photo Sensor • QRD1113 Reflective Object Sensors (Fairchild Semiconductors) • 4.36 V swing (4.59 V to 228 mV) from black to white surfaces • 1 V - Threshold Distance Sensors • 400 mV - Threshold Distance Sensors Power Supply Lithium Ion Polymer Battery • • • • 3.7 V each 7.6 V Total Provided Light-Weight: 0.7oz. Easy to Charge/ Recharge Voltage Regulation Schematic Battery & Power Supply Specs • • • • • Current Draw: Power: Battery Rating: Actual Charge Rating: Avg. life (fully charged): 650mA – 750mA 4.94W-5.7W 800mAH 780mAH 45 minutes Microcontroller & PCB Layout PRINTED CIRCUIT BOARD SYSTEM INTEGRATION Algorithm Flowchart MODE: Pull-Away Program Start 5-second delay YES Are we at the boundary ? MODE: Turn and Seek NO NO Is enemy in range? YES MODE: Attack Freescale MC9S12C32 • Hardware: – Module Utilization – Programming via BDM Port – Removal of components • Software: – Delay function • 5-Second Start Delay • Line Sense Function – Phototransistors • Priority • ADC Threshold Value = 0x32 – IR Proximity Sensors • ADC Threshold Value = 0x15 – Motors • Utilizing PWM vs. Bit banging • Controlled by adjusting Duty Cycle Functional demonstration Project Scheduling & Budget GANTT CHART ‘BEFORE’ and ‘AFTER’ Questions?