emram mini-sumo project innovations. emaram innovations team members: nick enriquez project manager,...
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EMRAMEMRAM
Mini-Sumo Project
INNOVATIONSINNOVATIONS
EMARAM INNOVATIONSEMARAM INNOVATIONSTeam Members:Team Members:
Nick EnriquezNick EnriquezProject Manager, MCU Programmer, PCB DesignProject Manager, MCU Programmer, PCB Design
Isai MichelIsai MichelWebmaster, Body & Mechanics, Programming Webmaster, Body & Mechanics, Programming
supportsupport
Christian MarquezChristian MarquezParts Requisition, Sensors, Programming SupportParts Requisition, Sensors, Programming Support
Christopher ReyesChristopher ReyesPresentation Editor, Motors, Power Supply SupportPresentation Editor, Motors, Power Supply Support
Catherine AcainCatherine AcainReports Editor, Power Supply, PCB supportReports Editor, Power Supply, PCB support
““The Juggernaut”The Juggernaut”
PROJECT OVERVIEWPROJECT OVERVIEW
Mini-Sumo CompetitionMini-Sumo Competition Design SpecificationsDesign Specifications
• 500g maximum weight500g maximum weight• 10cm x 10cm maximum width 10cm x 10cm maximum width
and lengthand length• No destructive techniquesNo destructive techniques
Our Design ApproachOur Design Approach• Robust FrameRobust Frame• High TorqueHigh Torque• Bi-DirectionalBi-Directional• Simple but effective software Simple but effective software
implementationimplementation
Body & Body & MechanicsMechanics
ChassisChassis
Track systemTrack system SprocketSprocket IdlerIdler TracksTracks
RotationRotation
MotorsMotors
FUTABA S3305 MOTORS
D ouble-click to add an object
FUTABA S3305 MOTORSFUTABA S3305 MOTORS
SERVO MODIFICATIONSERVO MODIFICATION
Pulse Width & RPM TestingPulse Width & RPM Testing
SensorsSensors
Photo SensorsPhoto Sensors
QRD1113 Reflective Object Sensors (Fairchild Semiconductors)QRD1113 Reflective Object Sensors (Fairchild Semiconductors) 4.36 V swing (4.59 V to 228 mV) from black to white surfaces4.36 V swing (4.59 V to 228 mV) from black to white surfaces 1 V – Threshold1 V – Threshold About 5mm above the groundAbout 5mm above the ground
Distance SensorsDistance Sensors
• Sharp IR Proximity Sensors (GP2Y0A21YK)• 400 mV – Threshold• Detects at 70 cm
Power SupplyPower Supply
Lithium Ion Polymer BatteryLithium Ion Polymer Battery 3.7 V each3.7 V each 7.4 V Total Provided7.4 V Total Provided Light-Weight: 19.84gLight-Weight: 19.84g Easy to Charge and Easy to Charge and
RechargeRecharge
Voltage Regulation SchematicVoltage Regulation Schematic
System RequirementsSystem Requirements
Voltage RequirementsVoltage Requirements 5V and 6V5V and 6V Current Draw: Current Draw: 650mAH – 850mAH650mAH – 850mAH Power: Power: 4.81WH-6.29WH4.81WH-6.29WH Battery Rating: Battery Rating: 800mAH 800mAH Expected Battery Life:Expected Battery Life:
(5.624WH / 6.29WH)*(60 min) = 53 min(5.624WH / 6.29WH)*(60 min) = 53 min
Actual Power Supply Output:Actual Power Supply Output:
Voltage OutputsVoltage Outputs 5.0 and 6.4V5.0 and 6.4V Current Draw: Current Draw: 760mAH760mAH Actual Power Supplied:Actual Power Supplied: 5.624WH5.624WH Average Battery Life:Average Battery Life: 45 minutes45 minutes
Microcontroller Microcontroller
SYSTEM INTEGRATIONSYSTEM INTEGRATION
5V REG
FRONT IR SENSOR
FRONT PROXIMITY
SENSOR
7.4
Ba
ttery
POWER SUPPLYADC
REAR IR SENSOR
REAR PROXIMITY
SENSOR
6V REG
PWG
MICROCONTROLLER
LEFT MOTOR
RIGHT MOTOR
MUX
Freescale MC9S12C32Freescale MC9S12C32 HardwareHardware::
• Module UtilizationModule Utilization• Programming via BDM PortProgramming via BDM Port• Removal of componentsRemoval of components
SoftwareSoftware::• Delay functionDelay function
5-Second Start Delay5-Second Start Delay Line Sense FunctionLine Sense Function
• Sensor ResponseSensor Response• MotorsMotors
Utilizing PWM vs. Bit bangingUtilizing PWM vs. Bit banging Controlled by adjusting Duty Controlled by adjusting Duty
CycleCycle• StrategyStrategy
YES
Are we at the
boundary?
Is enemy in range?
MODE:Pull-Away
MODE:Attack
NO
5-second delay
MODE:Turn and Seek
Program Start
YESNO
Algorithm FlowchartAlgorithm Flowchart
Project Project Scheduling & Scheduling &
BudgetBudget
GANTT CHARTGANTT CHART
QTY QTY PARTPART PRICEPRICE DISTRIBUTORDISTRIBUTOR
22 Servo High TorqueServo High Torque 69.9869.98 TOWER HOBBIESTOWER HOBBIES
Standard w/ MetalStandard w/ Metal towerhobbies.comtowerhobbies.com
GearsGears
22 Infrared ProximityInfrared Proximity 29.1629.16 Spark FunSpark Fun
SensorsSensors sparkfun.comsparkfun.com
22 Timing BeltTiming Belt 11.3211.32 sdp-si.comsdp-si.com
44 Timing PulleysTiming Pulleys 46.4846.48 sdp-si.comsdp-si.com
22 Lithium ion batteriesLithium ion batteries 20.0020.00 Tower HobbiesTower Hobbies
22 IR Proximity SensorsIR Proximity Sensors 29.1629.16 sparkfun.comsparkfun.com
22 3-pin JST connectors3-pin JST connectors 4.644.64 sgBOTICsgBOTIC
sgbotic.comsgbotic.com
22 Li-Polymer BatteryLi-Polymer Battery 15.9015.90 Electronics GoldmineElectronics Goldmine
MiscellaneousMiscellaneous N/A N/A J. KennedyJ. Kennedy
TOTALTOTAL 226.64226.64
COST SUMMARYCOST SUMMARY
LIVE DEMONSTRATIONLIVE DEMONSTRATION
WEBSITEWEBSITEPlease visit us at:
http://emram.sdsu.edu
Demo DayDemo DayFriday, May 4th 2007
In front of the Engineering Building
•BBQ @ 12:00pm
•Project Judging @ 1:30pm
•Live Demonstration @ 2:00pm
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