Niket Sheth

Chris Karman

Erik Scherbenske

Peter van der Hoop

BoneCrusher AutomationFloor Art Super Transcriber (F.A.S.T)

Build a robot to reproduce shapes, text or follow user input paths.

Robot will use markers to create drawings on the floor.

Scalable drawings depending on floor size.

Tethered Control using: JoystickKeyboardPre-Encoded InstructionsTouchpad

Wireless control should eventually replace tethered line

Milestone 1 Moving robot that can be controlled with

directional inputs via USB inputMilestone 2

Robot can reproduce shapes and text given a user input.

Expo++Robot is wireless, can use multiple marker

colors, has collision and boundary detection sensors, and can follow touch pad input drawings.

Input CPU

(MSP430)

Motor Drivers(L297, L298A)

Sensors

Marker

Robot moves with two Sure Step stepper motors that take inputs from DRV8412 motor drivers

The DRV8412 is a high performance integrated dual full bridge motor driverTakes 4 out-of-phase inputs to drive the motors

We have switched from the DRV8412 to the L298N and L297L297 generates 4 outputs from a single clock

input to drive the motors (connected to L298N)

Operating Supply Voltage up to 50V3A max current output Operating frequency up to 500kHzIntegrated self-protection circuits (under

voltage, over temperature, overload, short circuit)

No external schottky diodes requiredTakes four off-phase step functions as input

Much simpler two phase bipolar stepper motor driver than the DRV8412

Takes only one step input46V, 4A maxOver temperature protectionHigh noise immunity

MSP430

NEMA-171.8 degrees per full stepHalf-Step CapabilityHolding current up to 1.7 AInput

4 out-of-phase step functions1.6 ohms

Use a stepper motor to rotate markers into place (PWM).

MSP430 provides the path to drawMultiple color control through the motor

PWM.

Controls rotation of marker wheelSpring controlled pressure on markersColor change capabilitiesUses the same motor drivers and stepper

motors as the wheels

Rotate Pen Down/Up Motor

MSP430f12323 PWMsMultiple digital I/OUART ControlDAC8 MHz

5V Rail

Reset Button Motor 1 PWMMotor 2 PWMMotor 3 PWMMotor 1 Enable

Motor 2 Enable

Motor 3 Enable

Motor 1 Direction

Motor 2 Direction

Motor 3 Direction

PC ConnectionPC Connection

Motor Reset

Collision Detection

Collision Detection

Collision Detection

Collision Detection

Motor Control3 PWMs (Square Waves) – 3 Motors

Speed – Period of wavesDistance – Duration of signal

Marker ControlControlled by Marker Wheel attached with

Stepper MotorSignal will enable the wheel to rotate until

marker in DOWN position.

Opto-isolatorsSeparate the MSP430 from L298N and L297 in

case of mishaps.May need to add transistors for current

boosts.MSP430 might not be able to apply enough

current to the opto-isolatorsControl of the Direction and Speed will be

determined by code on MSP430

Collision DetectionBumpers that detect collision and send data to CPUInfrared that detect objects in path before collision

Boundary DetectionDetect predefined physical boundary

Infrared (black line surrounding “canvas”)Using MAX3100, MAX3120 infrared drivers.

Software boundaryMax distance allowed for travel from initial starting point

Turn OFF or correct motion when the sensors detects a problem.

3 to 5.5V operating voltage.1 CM to 1 M detection range.High accuracy (built-in narrow band pass

filter).Compatible with MAX3100 (IR to UART Data

Link).Schmitt Trigger input/output operation.

Power Control BoardProvide 50V for the stepper motor, 7V for the

logic circuitry (motor driver), and 2V for the MSP430 CPU chip.

Isolation circuit using opto-isolators MAX232IN for providing current to motor.

Power monitoring and reporting controlled by MSP430.

Conservation of power by shutting down components not being used by controlling the signal to the enable pin in the motor driver.

Rechargeable battery.

Task Peter Erik Niket Chris

MechanicalChassis/Mounts X

Electrical

Input Controls X

Motor Controls X X

CPU/Power Management

X X X X

Marker/Sensors X X

Software

CPU X X

UI Software X X

Integration X X X X

Manufacturing X X

Testing X X X X

Documentation X X X X

Item Quantity Price ($) Purchased?Mechanical Chassis/Mounts Material 1 X 1 m 75 Castor Wheels 2 4 yesDifferential Wheels 2 10 Stepper Motors (Sure step) 3 40 yesOther Mechanical Parts (Screws, Springs, Servos) - 50 Electrical LEDs 10 10 Battery/Circuitry/Controller - 150 partiallyBattery Charger 1 25 Infrared Sensors (LED, Photo Diodes, MAX3100, MAX3120) 8 180 Bump Sensors 10 5 Microcontrollers (MSP430F1232IPW)/USB interface - 50 partiallyMotor Drivers (TB6560AHQ, DRV8412, L297, L298, L6210) - 50 yesPCB Printing - 130 Other Electronic Parts (Wires, Connectors,etc) - 80 partially Miscellaneous Markers 5 Presentation/Documentation(Printing, Poster, Binding) 65 Total 929

Signal/Power Noise Opto-Isolators, separate regulators purchased

Motor Accuracy Loose Contacts between wheel and ground – Slowly

build up the speed to avoid loose contact. Inaccurate stepping by motor – High current keeps steps

accuratePower management surges and spikes

Opto-IsolatorsLose communication with robot

Range - Software controlled Power OFF Loose wiring – Effective Build Up

Uncertainty in learning curveUncertainty in parts availability and deliveryUnfamiliar technology