Microcontroller Robot Microcontroller Robot DesignDesign

Spring 2003Spring 2003

AdvisorAdvisor : Prof. Hayler : Prof. Hayler

Engineering Team:Engineering Team:Mark VoMark Vo

Jing Hua ZhongJing Hua ZhongAbbas ZiadiAbbas Ziadi

Have you seen the Terminator?Have you seen the Terminator?

Well, this is the beginning…Well, this is the beginning…

IntroductionIntroduction

The need for The need for intelligenceintelligence

Trends in Trends in

roboticsrobotics

Features of the RobotFeatures of the Robot

RoamingRoamingWill roam around until it detects an object.Will roam around until it detects an object.

ObservingObservingWill observe the object to determine if it is a Will observe the object to determine if it is a moving object or not.moving object or not.

AvoidingAvoidingWill avoid objects and walls to prevent crashing.Will avoid objects and walls to prevent crashing.

Features of the RobotFeatures of the Robot

FollowingFollowing

Will follow moving objects.Will follow moving objects.

StoppingStopping

Will stop at a specified range to the object.Will stop at a specified range to the object.

RetreatingRetreating

Will turn around an run if it senses that the object is Will turn around an run if it senses that the object is too too close.close.

Servo MotorsServo Motors

Original unmodified servo motor only rotate Original unmodified servo motor only rotate 60 degree non-continuous rotation.60 degree non-continuous rotation.

Modification allows for 360 degree continuous Modification allows for 360 degree continuous rotation.rotation.

Removing the “stop” on the drive gear and Removing the “stop” on the drive gear and disengaging of the drive gear from the disengaging of the drive gear from the feedback potentiometer.feedback potentiometer.

Block DiagramBlock Diagram

68HC11IR Sensors 1

IR Sensors 2

Motor 1

Motor 2

Block Diagram DetailedBlock Diagram Detailed

SchematicSchematicH-Bridge circuit for head movement.

H Bridge Motor ControllerH Bridge Motor Controller

SchematicSchematicMain Power circuit

Program/Flow ChartProgram/Flow Chart

Programming/ConceptsProgramming/Concepts

Assembly Language ProgrammingAssembly Language Programming

Assembly and CAssembly and C

Global VariablesGlobal Variables

Access of variablesAccess of variables

Modular subroutinesModular subroutines

Subroutines can be used by other subroutinesSubroutines can be used by other subroutines

Programming/ConceptsProgramming/Concepts Free Running CountersFree Running Counters

Use of InterruptsUse of InterruptsMotor controlMotor controlPWM generationPWM generation

Output CompareOutput CompareOutput WaveformOutput Waveform

Analog to DigitalAnalog to DigitalConvert sensor signal to digital signalConvert sensor signal to digital signal

Partial CodePartial Code

TURNA3TURNA3 JSRJSR BACKUPBACKUPJSRJSR FORWARD3FORWARD3JSRJSR BACKWARD2BACKWARD2LDDLDD #$EFFF#$EFFFSTDSTD dtimedtimeJSRJSR DELAYDELAYLDAALDAA #$00#$00STAASTAA distance1distance1STAASTAA distance2distance2RTSRTS

Specification of the RobotSpecification of the Robot Maximum Velocity of Robot is 0.15 m/s.Maximum Velocity of Robot is 0.15 m/s.

Robot consumes about 2650 mA/hr.Robot consumes about 2650 mA/hr.

Last approximately 40 minutes on a fully charged battery.Last approximately 40 minutes on a fully charged battery.

Maximum infrared range is 150 cm.Maximum infrared range is 150 cm.

Incorrect Infrared readings occur at distances less than 15 cm.Incorrect Infrared readings occur at distances less than 15 cm.

Total mass of 4 kg.Total mass of 4 kg.

Application of the RobotApplication of the Robot ExplorationExploration

Space ProbeSpace ProbeHazardous AreaHazardous Area

EntertainmentEntertainmentRobotic PetRobotic PetToyToy

MilitaryMilitarySpy DroneSpy DroneDeath MachineDeath Machine

Development/TroubleshootingDevelopment/Troubleshooting Researching various components.Researching various components.

Listing features that the robot should have.Listing features that the robot should have.

Designing the robot.Designing the robot.

Obtaining all the components for the robot.Obtaining all the components for the robot.

Testing each components.Testing each components.

Development/TroubleshootDevelopment/Troubleshoot Integrating all the Integrating all the

componentscomponents

ProgrammingProgramming

DebuggingDebugging

Add featuresAdd features

Problems EncounteredProblems Encountered Power SupplyPower Supply

Unstable Power.Unstable Power.

Components such as IR sensors and motors would not function Components such as IR sensors and motors would not function correctly.correctly.

Battery voltage was too high.Battery voltage was too high.

Burning out some components.Burning out some components.

Program LanguageProgram LanguageDifficult to implement complex features such as tracking.Difficult to implement complex features such as tracking.

Time consuming in debugging.Time consuming in debugging.

Problems EncounterProblems Encounter Infrared SensorsInfrared Sensors

Limited Range of 1.5 m.Limited Range of 1.5 m.

Incorrect readings will occur when object is less than Incorrect readings will occur when object is less than 15 15 cm from the IR detector.cm from the IR detector.

68HC1168HC11

Could not use some of its feature due to limited Could not use some of its feature due to limited documentation of the board such as booting.documentation of the board such as booting.

Limitations of RobotLimitations of Robot

The robot is unable to see any farther than 1.5 The robot is unable to see any farther than 1.5 meter due to the IR sensors.meter due to the IR sensors.

It could run into thin upright object such as a It could run into thin upright object such as a leg of a chair due to the placement of the IR leg of a chair due to the placement of the IR Sensors.Sensors.

Reaction to moving object is slow due to the Reaction to moving object is slow due to the speed of the motors.speed of the motors.

BudgetBudget

68HC11 Microcontroller(1)68HC11 Microcontroller(1) $120.00$120.00Servo Motors(2)Servo Motors(2) $30.00$30.00Infrared Sensors(2)Infrared Sensors(2) $25.00$25.00Capacitors, Resistors, etc..Capacitors, Resistors, etc.. $2.00$2.00Decks(2)Decks(2) $15.00$15.00Batteries(2)Batteries(2) $50.00$50.00Screws, nuts, bolts, etc…Screws, nuts, bolts, etc… $5.00$5.00Misc.Misc. $10.00$10.00TotalTotal $257.00$257.00

TimelineTimeline01/13/03-01/29/0301/13/03-01/29/03 Researching various components for the IR robot.Researching various components for the IR robot.01/20/03-02/09/0301/20/03-02/09/03 Discussion of the features that robot will have. Discussion of the features that robot will have.

Designing the Robot.Designing the Robot.02/10/0302/10/03 Ordering the basic components for the robot.Ordering the basic components for the robot.02/23/0302/23/03 Receiving the majority of the components of the Receiving the majority of the components of the

robot.robot.02/25/03-03/17/0302/25/03-03/17/03 Testing of the various components of the robots.Testing of the various components of the robots.03/19/03-03/28/0303/19/03-03/28/03 Re-discussion of the features of the robot and Re-discussion of the features of the robot and

redesigning the robot based on the tests of the redesigning the robot based on the tests of the components.components.

04/10/03-04/15/0304/10/03-04/15/03 Integration of the majority of the components into Integration of the majority of the components into the basic designs of the robot.the basic designs of the robot.

04/17/03-05/14/0304/17/03-05/14/03 Programming. Troubleshooting. Basic features of Programming. Troubleshooting. Basic features of the robot are incorporated. Buggy.the robot are incorporated. Buggy.

05/17/03-05/29/0305/17/03-05/29/03 Majority of the programming done. Refining the Majority of the programming done. Refining the design of the robot. Adding and fixing some design of the robot. Adding and fixing some

features features of the robot.of the robot.05/30/0305/30/03 DemonstrationDemonstration

ConclusionConclusion

Accomplished the majority of the goals we Accomplished the majority of the goals we have set for ourselves.have set for ourselves.

We have encountered numerous problems We have encountered numerous problems along the way.along the way.

The robot can be used as a basis for other The robot can be used as a basis for other projects.projects.

Thank YouThank You

If you are interested, our hardware If you are interested, our hardware demonstration will begin in 5 minutes demonstration will begin in 5 minutes

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