rammbo the robot butler rammbo the robot butler r obert morson a ngela uribe m elissa jansen m ahdi...

RAMMBO

the Robot

Butler

Robert Morson

Angela Uribe

Melissa Jansen

Mahdi Moghaddamzadeh

Bianca Ragin

Our team (as stated above)

Proje

ct O

verv

iew

Serves snacks/beverages

upon requestFind owner locationObstacle avoidance mechanism

Used in offices and at homes

to save time Served right to your desk,

couch, beds, etc…

Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

LogisticsBianca Ragin

Functional Gantt Chart


Mile

stone 1

Delive

rable

sGeneration of motor driver

signals

Motor modes complete

Forward and Backward to

show control

PCB revision 1 done

Power system functional

Command transmitter

debugging interface

Robot body structure built


Mile

stone 2

Delive

rable

sLooks pretty

Finalized body complete

Paddle sensors active

Optical encoder functioning

Obstacle maneuvering

Functional combination of

blocks

Establish wireless

communication

Comes on command


Desi

gn E

xpo

Deliv

era

ble

s

Receive commandsSends back status updates

Finds caller through remote vs. computerManeuvers easily

through congested room


Division of Labor

BiancaPower SystemsPrimary and auxiliary power designDocumentation and ScheduleCDR compilation.Schedule trackingHardwareFrame designMaterial research

AngieMovementMotor mount designHardwareFrame constructionMaterial TestingPower SystemsPower research

RobertMicrocontrollerLead software designAlgorithm designMovementCommand programmingTest DesignTest area designTest data collection

MahdiWirelessCore circuit designPeripheral designCircuit constructionMicrocontrollerSoftware developmentAlgorithm developmentSoftware developmentSensingUltrasonic

MelissaSensingTactile SwitchesUltrasonicDocumentation and BudgetCDR compilation.Resource trackingTest DesignHardware test designTest data collection


Monetary Budget

Bought Items Part Qty Cost Total+taxXbee 1mW 2 50.00 50.00Atmel Microcontroller 1 0 0Brushless Motor 12 V ROB-08913 2 11.66 12.95Paddle switches 6 9.90 10.70

Motor Driver MC33887 1 39.95 40.00Lithium-ion Battery PSH-12100F2-FR 1 27.95 43.67Castors SBT-1CS-3/8 2 11.99 25.90Xbee Explorer USB WRL-08687 2 24.95 49.90USB Cable A to B CAB-00512 1 3.95 3.95USB Cable A to B CAB-00515 1 3.95 3.95Fasteners 20 1.20 1.20Aluminum Rode tube 4 42.68 42.68Threaded Rod 4 10.47 10.47ATmega 328 Chip 1 5.50 5.50ATmega 328 Chip 1 4.30 4.30Tires Dagu Wild Thumper Wheel 2 29.90 43.85Total 349.02

Items Needed Qty Cost Total + taxOptical Encoders 2 13.90 29.50Ultra Sonic Finders 2 24.95 26.95Other Electrical Parts 200 200Expo Poster 1 50 50Expo Technical Reference Manual 1 50 50Expo Users Manual 1 50 50


Power SystemsBianca Ragin

Pow

er

Up

9V Battery Pack no more

Lead Acid Battery 12VDC 41 Watts per Cell

10.5 Amp. Hr. 8lbs overall Rechargeable Nonspillable


Volt

age

Regula

tor

Through holeLM317Voltage divider sets

output voltageOutput Current = 1.5ANeeded Voltages: 12V, 5V, 6.6V


Pow

er Te

sting

Pin vs. Pout

Motors – 9V

Microcontroller – 9V

Xbees – 3.3V

Motor Driver – 6V

Encoder – 6V

Using Voltage Regulators


Power Circuit


Vin = 12VTo motor To micro-controller

To Xbee

To encoder To motor driver

9V Reg

9VCC

3.3V Reg

3.3VCC

6V Reg

6VCC

Board DesignMelissa Jansen

Level 0

Functional Decomposition


Level 1



Level 2 - Motor



Level 2 – Obstacle

Avoidance



Infrared Sensor

Level 2 –

Find Caller



SensingMelissa Jansen

Wall sensing

Transmitter & receiver next to each other

Very inexpensive

Single pole double throw

Short circuits when pressed

Very inexpensive

Simple to implement

Obstacle

Avoidance

InfraredTactile

Switches


Obsta

cles

Find Caller

GPS Ultrasonic

Transmitter on Remote

Two Receivers on Robot

Price within budget

Need two units

Accurate within cm

Accuracy increases price

Not within budget


Ultra

sonic

Senso

r Te

stin

g

Switches Voltage

Interrupt

Infrared Time delay

Interrupt


Senso

r Testin

g Ultrasonic

Voltage based on signal

strength

Comparison of voltages

from separate receivers

Algorithm for movement

working with motors


Programming and the

MicrocontrollerRobert Morson

Atmega 2560

Direct subsystems control

Moving RAMMBO about

Atmega 328P

Wireless controller

Telling RAMMBO what to

do

Micro

contro

llers


2560 Software


Command Receiver

Main

Send Data Back

WirelessData Transfer

Use Xbee

RS232

One-byte commands

Send back information Wire

less

Data

Transfe

r

Testing commands

0x0: Status

0x1: Rotate Left

0x2: Rotate Right

0x3: Forward

0x4: Stop

User Commands

0x9: Come

0xA: Go away

More for other functions


2560 Software


Command Receiver

Main

Find Direction

Location Detecto

rSend Data Back

Wireless Transmission

Use Ultrasonic Sensing

A-to-D

Signal Strength

Comparison

Loca

tion &

Dire

ction S

ensin

g


2560 Software

Command Receiver

Main

Find Direction

Location Detecto

rSend Data Back

Move Forward

Rotate

Stop

Movement



PWM

Motors

Square Wave

Set period, duty cycleM

ove

ment


2560 Software


Command Receiver

Main

Find Direction

Obstacle

Handler

Collision Detecto

r

Location Detecto

rSend Data Back

Move Forward

Rotate

Stop

Movement

Blink Eyes Talk

User Interaction


Pre-Recorded Audio

MATLAB for PWM

Talkin

gRobert has no idea what he is talking about!


2560 Software

Command Receiver

Main

Find Direction

Obstacle

Handler

Collision Detecto

r

Location Detecto

rSend Data Back

Move Forward

Rotate

Stop

Movement

Blink Eyes Talk

User Interaction



328P Software

Main

Send Command

Attend Response

Set Informative LEDs


Test

ing

LEDs

Various Voltage-Testing

EquipmentLogic Analyzer Verify RS232 transmission

Output numbers from

registers / variables


Motor ControlAngela Uribe

DC Motor

Two DC Motors 12 V Rated

Voltage

Operating Voltage from 4.5V-

12V

Max Current at 48mA

RPM at Max Voltage 415rmps


Moto

rs

Tire

s/C

ast

ors Wild Thumper Wheel

120X60mm

Easily mountable

Shaft diameter 4mm

Carbon Steel Castor Omni-directional

Ball material

One inch ball rotatesTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Optica

l

Enco

ders

Hardware

GP2Y0D810Z0F

Operating range 2.7V-6.2V

Current pulled: 5mA

Digital voltage output

Distance sensor

2cm-10cm


Moto

r Drive

rDual MC33887 Motor

Driver DC Motors Range 5V-28V

Used for Both Motors

Driver Chips 2 Inputs CW/CCW and PWM 2 Enable Pins 2 Disable PWM inputs “Low”


Moto

r Drive

r

Sch

em

atic

MC338877 Motor Diver

ChipTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Moto

r D

rive

r to

M

oto

r Te

stin

g

Hardware Pulse Width Signal Speed of Motor Forward/Reverse Supply Voltage of 4V-

12V

Software Set Speed Set Direction Enable


CommunicationMahdi Moghaddamzadeh

Wir

ele

ss

Com

munic

ati

on

Two Xbees

RX, and TX ports for communication

Powering Xbees through Microcontrollers


Volt

age

Leve

l Shifte

r

3.3 V to 5 V and vise versa

Ground from Xbee

3.3 V from Xbee

3.3 V Data Output

3.3 V Data Input

5 V Data Input

5 V Data Output

5 V from Atmega Ground from

Atmega


Com

munica

tion

Testin

g

1st stage: PC to PC

2st stage: PC to Atmega

3rd stage: Atmega to Atmega


Com

munica

tion

Testin

gSetting up Xbee’s through

X-CTU software

1st stage: PC to PC

Communication through X-

CTU terminals


Com

munica

tion

Testin

gSend data through X-CTU terminal

Receive it through Xbee

connected to the MicroC

Turn on an LED

2st stage: PC to Atmega

PC (X-CTU)Xbee

Atmega2560


Com

munica

tion

Testin

g

Send data through Atmega328

Receive data through

Atmega2560

Testing: two buttons/two LED’s

Then Vice Versa

3rd stage: Atmega to Atmega

(yet to be done)


Risks/Solutions/Contingency PlansMahdi Moghaddamzadeh

Change o

f Pla

ns

NO CANDY SHOOTING

SYSTEM…


It’s REALLY difficult!!!!!!!!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

Risks, D

ela

ys &

Contin

gencie

s

Ultrasonic Sensors Ability to sense the signal

coming from owner

Path Finding

Most efficient algorithm

Controller failure

Interrupts and function calls not

working properly

Motor driver implementation

functional


Conclusion

On schedule

ExpectationsExpo objectives

RAMMBO is awesome.


Questions?Thanks

NOT this Rambo!!!


rammbo the robot butler rammbo the robot butler r obert morson a ngela uribe m elissa jansen m ahdi...

Documents

command team rammbo

logistics bianca ragin

design expo deliverables

robot butler rammbo

motor drivermc33887139

budget cdr compilation

schedule cdr compilation

usb cable