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Robotic Navigation Distance Robotic Navigation Distance Control PlatformControl Platform
By:By:
Scott SendraScott Sendra
Advisors:Advisors:
Dr. Donald R. SchertzDr. Donald R. Schertz
Dr. Aleksander MalinowskiDr. Aleksander Malinowski
March 9, 2004March 9, 2004
OverviewOverview
ObjectiveObjective Functional DescriptionFunctional Description System Block DiagramsSystem Block Diagrams Lab WorkLab Work Equipment/Part ListEquipment/Part List Original Schedule of TasksOriginal Schedule of Tasks Tasks CompletedTasks Completed Remaining Task to be CompletedRemaining Task to be Completed Revised Schedule of TasksRevised Schedule of Tasks
ObjectiveObjective
Design and Build a Robotic PlatformDesign and Build a Robotic Platform• Maintain a fixed safety distanceMaintain a fixed safety distance
• Fixed steeringFixed steering
Functional DescriptionFunctional Description
Modes of OperationModes of Operation System I/OSystem I/O System DiagramsSystem Diagrams
Modes of OperationModes of Operation
Fixed Navigation ModeFixed Navigation Mode • User enters User or Auto Out of Range ModesUser enters User or Auto Out of Range Modes
• User enters fixed safety distance in feetUser enters fixed safety distance in feet
• User presses activation buttonUser presses activation button
Time Navigation ModeTime Navigation Mode • User enters safety time in secondsUser enters safety time in seconds
Modes of OperationModes of Operation
User Out of Range ModeUser Out of Range Mode• Followed object is out of rangeFollowed object is out of range• Robotic platform stopsRobotic platform stops• ““Out of Range” displayed on LCDOut of Range” displayed on LCD• User reactivates navigation controlsUser reactivates navigation controls• Clears LCD displayClears LCD display
Auto Out of Range ModeAuto Out of Range Mode • EMAC reactivates navigation controls when object EMAC reactivates navigation controls when object
detecteddetected
Modes of OperationModes of Operation
Stop/Start ModeStop/Start Mode• User is able to start/stop navigation mode manuallyUser is able to start/stop navigation mode manually
System Inputs to EMACSystem Inputs to EMAC
User InputUser Input KeypadKeypad
Sensors InputSensors Input SRF04 ultrasonic SRF04 ultrasonic
sensorssensors• 1 sensor for distance 1 sensor for distance
controlcontrol
EMAC Microcontroller
Distance Control Sensor
Robotic Platform
Motor
Robotic Platfor
mSteering
LCD Display
Keypad(User Input)
System Outputs from EMACSystem Outputs from EMAC
LCD DisplayLCD Display• Current mode of Current mode of
operationoperation
• User required input User required input informationinformation
Robotic Platform Robotic Platform MotorMotor
Robotic Platform Robotic Platform SteeringSteering
EMAC Microcontroller
Distance Control Sensor
Robotic Platform
Motor
Robotic Platfor
mSteering
LCD Display
Keypad(User Input)
System Sensor DiagramSystem Sensor Diagram
Robotic Platform(R/C Car)
DistanceSensor
Moving Object(Similar size to robotic platform)
Block DiagramBlock Diagram
HardwareHardware• Subsystem FunctionSubsystem Function• I/O of SubsystemI/O of Subsystem
SoftwareSoftware• Modes of Operation FlowchartsModes of Operation Flowcharts
Sensor SubsystemSensor Subsystem
SRF04 Ultrasonic SRF04 Ultrasonic Pulse SensorPulse Sensor
Sensor Output SignalsSensor Output Signals• Output signal related to Output signal related to
distancedistance
• PWM at 33 HzPWM at 33 Hz
Electric Motor SubsystemElectric Motor Subsystem
Input signalInput signal• PWM signal from 1.0 ms to 1.7 ms positive PWM signal from 1.0 ms to 1.7 ms positive
pulse width at 33 Hzpulse width at 33 Hz
Output speedOutput speed• Motor’s shaft speed variesMotor’s shaft speed varies• Full forward speed with 1.7 ms pulse widthFull forward speed with 1.7 ms pulse width• Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width
Steering SubsystemSteering Subsystem
Input signalInput signal• PWM signal from 1.1 PWM signal from 1.1
ms to 1.9 ms positive ms to 1.9 ms positive pulse width at 50 Hz pulse width at 50 Hz with 1.5 ms as neutralwith 1.5 ms as neutral
OutputOutput• Rotational servo horn Rotational servo horn
to translational to translational movement of steering movement of steering rodrod
Hardware Subsystem Block Hardware Subsystem Block DiagramDiagram
Robotic PlatformSteering
Subsystem
PWM SignalTranslates Steering Rod
EMAC Microcontroller
Robotic Platform Motor
Subsystem
PWM Signal
Power to Drive Wheels on R/C Car
Distance Control Sensor
Subsystem
Analog or Digital or PWM Signal
Photoelectric or Ultrasonic Pulse
Main Software FlowchartMain Software Flowchart
Display Prompt:User/Auto Out of Range Mode
Keypad:User Enters Out of Range Mode
EMAC Initialization
LCD Initialization
Keypad Initialization
Display Prompt:Fixed/Time Navigation Mode
Keypad:User Enters Navigation Mode
Keypad:User enters fixed distance or
safety time
Main Software FlowchartMain Software Flowchart
Keypad:Activation Button
Fixed Distance Control
Steering Control
Safety Time Control
Check if signal from
sensor
Enter User/Auto Out of Range ModeNo
Yes
Check navigation
mode entered
Fixed Navigation Mode entered
Time Navigation Mode entered
User/Auto FlowchartUser/Auto Flowchart
User/Auto Out of Range Mode
Display: User/Auto Out of Range Mode
User Out of Range Mode Auto Out of Range Mode
Stop Electric Motor
Auto:
Wait until object is detectedWait:
User Reactive Navigation Controls
Call Fixed/Time Navigation Mode
Display:Clear display
Start/Stop FlowchartStart/Stop Flowchart
Stop Electric Motor
Keypad:User Presses Stop Button
Keypad:User Presses Start Button
Call Fixed/Time Navigation Mode
ESC Lab WorkESC Lab Work
Servo input signals with 1.5 ms at 33 Hz being Servo input signals with 1.5 ms at 33 Hz being neutralneutral
Full understand of ESC required signal inputsFull understand of ESC required signal inputs Rooster ESC reprogrammedRooster ESC reprogrammed Reprogrammed :Reprogrammed : 1.0 ms stop1.0 ms stop
1.7 ms full forward1.7 ms full forward Servo, ESC and Ultrasonic signals programmedServo, ESC and Ultrasonic signals programmed
Equipment and Parts ListEquipment and Parts List
Hitec HS-303 ServoHitec HS-303 Servo Kyosho Hoppin Mad RTR R/C CarKyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed Team Novak Rooster electronic speed
controllercontroller HP 8011A Pulse GeneratorHP 8011A Pulse Generator SRF04 Ultrasonic pulse sensorsSRF04 Ultrasonic pulse sensors Onboard 80515 EMAC MicrocontrollerOnboard 80515 EMAC Microcontroller
Original Schedule of TasksOriginal Schedule of Tasks
12/22 – 1/2712/22 – 1/27 Determine sensorsDetermine sensors1/28 – 2/031/28 – 2/03 Motor and servo subsystem coding, debugging and testingMotor and servo subsystem coding, debugging and testing2/04 – 2/102/04 – 2/10 Stop Stop/Start Mode software coding, debugging and testing/Start Mode software coding, debugging and testing2/11 – 2/172/11 – 2/172/18 – 2/242/18 – 2/24 User input software code, debugging and testingUser input software code, debugging and testing2/25 – 3/022/25 – 3/023/03 – 3/093/03 – 3/09 Sensor characteristic and output signalsSensor characteristic and output signals3/10 – 3/163/10 – 3/16 Hardware interfacing and installationHardware interfacing and installation3/17 – 3/233/17 – 3/233/24 – 3/303/24 – 3/303/31 – 4/063/31 – 4/064/07 – 4/134/07 – 4/134/14 – 4/204/14 – 4/204/21 – 4/274/21 – 4/274/28 – 5/044/28 – 5/04 Finish project, presentation, project reportFinish project, presentation, project report
Fixed navigation mode software code, debugging and testingFixed navigation mode software code, debugging and testing
User/Auto Out of Range mode software code, debugging and testingUser/Auto Out of Range mode software code, debugging and testing
Revised Schedule of Tasks Revised Schedule of Tasks
3/03 – 3/093/03 – 3/09
3/10 – 3/163/10 – 3/16
3/17 – 3/233/17 – 3/23
3/24 – 3/303/24 – 3/30 Start Mode software coding, debugging and testing Start Mode software coding, debugging and testing
3/31 – 4/063/31 – 4/06
4/07 – 4/134/07 – 4/13
4/14 – 4/204/14 – 4/20
4/21 – 4/274/21 – 4/27 Hardware interfacing and installationHardware interfacing and installation
4/28 – 5/044/28 – 5/04 Finish project, presentation, project reportFinish project, presentation, project report
Fixed navigation mode software code, debugging and testingFixed navigation mode software code, debugging and testing
User input software code, debugging and testingUser input software code, debugging and testing
User/Auto Out of Range mode software code, debugging and testingUser/Auto Out of Range mode software code, debugging and testing
QUESTIONSQUESTIONS
??