MIR - Design Presentation
Presented by Jason Abbett and Devon Berry
Overview
• Hardware design goals– Hardware architecture
• Software design goals– Software lifecycle– Modules
Hardware Architecture
• Frame– 10’’ x 11’’ x 12’’– Laser cut Lexan– Stable– Expandable
Hardware Architecture
• Motors
• Servos
• Manipulator
Hardware Architecture
• Sensors– Sonar– Light– Camera– Mouse– Compass– Touch
Hardware Architecture
• Controller– Inputs– Outputs– Battery Pack
Software Architecture
Evolutionary Prototype Model
Build prototypesystem
Develop abstractspecification
Use prototypesystem
Deliversystem
Systemadequate?
YES
N
Modules
• Localization– Mouse
• Light Sensors– Line following
Modules
• Motors– Microcontroller I/O– Forward/Reverse Movement– Turning on a dime
Modules
• Claw– Closes when triggered– Determined by camera and sonar
• Sonar
• Camera– Uses RGB values
Software Applications
• XPort sdk package– cygwin bash shell– RTOS (real time operating system)
• C++
Conclusion
• Support Hardware Changes
• Support Software Changes
• Modular