Team #Insert_Comment_HerePresented by: Randal Allison, Jacob Elliott, Sam Bretz, and Sam Rose

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

Who are we?Name Group Role

Randal Allison Team Leader / Wiki Specialist

Jacob Elliott Team Leader

Sam Bretz Lead Engineer (Robot)

Sam Rose Lead Engineer (Control)

Dane Johnson Resident Java Specialist

Andrew Cole

Dwight Howe

Ahmed Shagal

Billy Kyer

Stephen Polczynski Team Naysayer

Justin Freeman

Linh Sherman

Dejanae Berry

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

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/)

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/)

Mercury Robot Challenge cont.• Must cross a bridge

Mercury Robot Challenge• Must navigate a 30⁰ incline

LIKEABOSS

Track Design

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

Flowchart

User View

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

Flowchart

Robot Firmware

Motor Control Values

Data Action

1-63 Left motors reverse (1 is fastest)

64 Left motors stop

65-127 Left motors forward (127 is fastest)

128-191 Right motors reverse (128 is fastest)

192 Right motors stop

193-255 Right motors forward (255 is fastest)

0 All stop

Flowchart

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

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.

QUESTIONS?

THANK YOU