Robotic Navigation Distance Robotic Navigation Distance Control PlatformControl Platform

By:By:

Scott SendraScott Sendra

Advisors:Advisors:

Dr. Donald R. SchertzDr. Donald R. Schertz

Dr. Aleksander MalinowskiDr. Aleksander Malinowski

March 9, 2004March 9, 2004

OverviewOverview

ObjectiveObjective Functional DescriptionFunctional Description System Block DiagramsSystem Block Diagrams Lab WorkLab Work Equipment/Part ListEquipment/Part List Original Schedule of TasksOriginal Schedule of Tasks Tasks CompletedTasks Completed Remaining Task to be CompletedRemaining Task to be Completed Revised Schedule of TasksRevised Schedule of Tasks

ObjectiveObjective

Design and Build a Robotic PlatformDesign and Build a Robotic Platform• Maintain a fixed safety distanceMaintain a fixed safety distance

• Fixed steeringFixed steering

Functional DescriptionFunctional Description

Modes of OperationModes of Operation System I/OSystem I/O System DiagramsSystem Diagrams

Modes of OperationModes of Operation

Fixed Navigation ModeFixed Navigation Mode • User enters User or Auto Out of Range ModesUser enters User or Auto Out of Range Modes

• User enters fixed safety distance in feetUser enters fixed safety distance in feet

• User presses activation buttonUser presses activation button

Time Navigation ModeTime Navigation Mode • User enters safety time in secondsUser enters safety time in seconds

Modes of OperationModes of Operation

User Out of Range ModeUser Out of Range Mode• Followed object is out of rangeFollowed object is out of range• Robotic platform stopsRobotic platform stops• ““Out of Range” displayed on LCDOut of Range” displayed on LCD• User reactivates navigation controlsUser reactivates navigation controls• Clears LCD displayClears LCD display

Auto Out of Range ModeAuto Out of Range Mode • EMAC reactivates navigation controls when object EMAC reactivates navigation controls when object

detecteddetected

Modes of OperationModes of Operation

Stop/Start ModeStop/Start Mode• User is able to start/stop navigation mode manuallyUser is able to start/stop navigation mode manually

System Inputs to EMACSystem Inputs to EMAC

User InputUser Input KeypadKeypad

Sensors InputSensors Input SRF04 ultrasonic SRF04 ultrasonic

sensorssensors• 1 sensor for distance 1 sensor for distance

controlcontrol

EMAC Microcontroller

Distance Control Sensor

Robotic Platform

Motor

Robotic Platfor

mSteering

LCD Display

Keypad(User Input)

System Outputs from EMACSystem Outputs from EMAC

LCD DisplayLCD Display• Current mode of Current mode of

operationoperation

• User required input User required input informationinformation

Robotic Platform Robotic Platform MotorMotor

Robotic Platform Robotic Platform SteeringSteering

EMAC Microcontroller

Distance Control Sensor

Robotic Platform

Motor

Robotic Platfor

mSteering

LCD Display

Keypad(User Input)

System Sensor DiagramSystem Sensor Diagram

Robotic Platform(R/C Car)

DistanceSensor

Moving Object(Similar size to robotic platform)

Block DiagramBlock Diagram

HardwareHardware• Subsystem FunctionSubsystem Function• I/O of SubsystemI/O of Subsystem

SoftwareSoftware• Modes of Operation FlowchartsModes of Operation Flowcharts

Sensor SubsystemSensor Subsystem

SRF04 Ultrasonic SRF04 Ultrasonic Pulse SensorPulse Sensor

Sensor Output SignalsSensor Output Signals• Output signal related to Output signal related to

distancedistance

• PWM at 33 HzPWM at 33 Hz

Electric Motor SubsystemElectric Motor Subsystem

Input signalInput signal• PWM signal from 1.0 ms to 1.7 ms positive PWM signal from 1.0 ms to 1.7 ms positive

pulse width at 33 Hzpulse width at 33 Hz

Output speedOutput speed• Motor’s shaft speed variesMotor’s shaft speed varies• Full forward speed with 1.7 ms pulse widthFull forward speed with 1.7 ms pulse width• Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width

Steering SubsystemSteering Subsystem

Input signalInput signal• PWM signal from 1.1 PWM signal from 1.1

ms to 1.9 ms positive ms to 1.9 ms positive pulse width at 50 Hz pulse width at 50 Hz with 1.5 ms as neutralwith 1.5 ms as neutral

OutputOutput• Rotational servo horn Rotational servo horn

to translational to translational movement of steering movement of steering rodrod

Hardware Subsystem Block Hardware Subsystem Block DiagramDiagram

Robotic PlatformSteering

Subsystem

PWM SignalTranslates Steering Rod

EMAC Microcontroller

Robotic Platform Motor

Subsystem

PWM Signal

Power to Drive Wheels on R/C Car

Distance Control Sensor

Subsystem

Analog or Digital or PWM Signal

Photoelectric or Ultrasonic Pulse

Main Software FlowchartMain Software Flowchart

Display Prompt:User/Auto Out of Range Mode

Keypad:User Enters Out of Range Mode

EMAC Initialization

LCD Initialization

Keypad Initialization

Display Prompt:Fixed/Time Navigation Mode

Keypad:User Enters Navigation Mode

Keypad:User enters fixed distance or

safety time

Main Software FlowchartMain Software Flowchart

Keypad:Activation Button

Fixed Distance Control

Steering Control

Safety Time Control

Check if signal from

sensor

Enter User/Auto Out of Range ModeNo

Yes

Check navigation

mode entered

Fixed Navigation Mode entered

Time Navigation Mode entered

User/Auto FlowchartUser/Auto Flowchart

User/Auto Out of Range Mode

Display: User/Auto Out of Range Mode

User Out of Range Mode Auto Out of Range Mode

Stop Electric Motor

Auto:

Wait until object is detectedWait:

User Reactive Navigation Controls

Call Fixed/Time Navigation Mode

Display:Clear display

Start/Stop FlowchartStart/Stop Flowchart

Stop Electric Motor

Keypad:User Presses Stop Button

Keypad:User Presses Start Button

Call Fixed/Time Navigation Mode

ESC Lab WorkESC Lab Work

Servo input signals with 1.5 ms at 33 Hz being Servo input signals with 1.5 ms at 33 Hz being neutralneutral

Full understand of ESC required signal inputsFull understand of ESC required signal inputs Rooster ESC reprogrammedRooster ESC reprogrammed Reprogrammed :Reprogrammed : 1.0 ms stop1.0 ms stop

1.7 ms full forward1.7 ms full forward Servo, ESC and Ultrasonic signals programmedServo, ESC and Ultrasonic signals programmed

Equipment and Parts ListEquipment and Parts List

Hitec HS-303 ServoHitec HS-303 Servo Kyosho Hoppin Mad RTR R/C CarKyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed Team Novak Rooster electronic speed

controllercontroller HP 8011A Pulse GeneratorHP 8011A Pulse Generator SRF04 Ultrasonic pulse sensorsSRF04 Ultrasonic pulse sensors Onboard 80515 EMAC MicrocontrollerOnboard 80515 EMAC Microcontroller

Original Schedule of TasksOriginal Schedule of Tasks

12/22 – 1/2712/22 – 1/27 Determine sensorsDetermine sensors1/28 – 2/031/28 – 2/03 Motor and servo subsystem coding, debugging and testingMotor and servo subsystem coding, debugging and testing2/04 – 2/102/04 – 2/10 Stop Stop/Start Mode software coding, debugging and testing/Start Mode software coding, debugging and testing2/11 – 2/172/11 – 2/172/18 – 2/242/18 – 2/24 User input software code, debugging and testingUser input software code, debugging and testing2/25 – 3/022/25 – 3/023/03 – 3/093/03 – 3/09 Sensor characteristic and output signalsSensor characteristic and output signals3/10 – 3/163/10 – 3/16 Hardware interfacing and installationHardware interfacing and installation3/17 – 3/233/17 – 3/233/24 – 3/303/24 – 3/303/31 – 4/063/31 – 4/064/07 – 4/134/07 – 4/134/14 – 4/204/14 – 4/204/21 – 4/274/21 – 4/274/28 – 5/044/28 – 5/04 Finish project, presentation, project reportFinish project, presentation, project report

Fixed navigation mode software code, debugging and testingFixed navigation mode software code, debugging and testing

User/Auto Out of Range mode software code, debugging and testingUser/Auto Out of Range mode software code, debugging and testing

Revised Schedule of Tasks Revised Schedule of Tasks

3/03 – 3/093/03 – 3/09

3/10 – 3/163/10 – 3/16

3/17 – 3/233/17 – 3/23

3/24 – 3/303/24 – 3/30 Start Mode software coding, debugging and testing Start Mode software coding, debugging and testing

3/31 – 4/063/31 – 4/06

4/07 – 4/134/07 – 4/13

4/14 – 4/204/14 – 4/20

4/21 – 4/274/21 – 4/27 Hardware interfacing and installationHardware interfacing and installation

4/28 – 5/044/28 – 5/04 Finish project, presentation, project reportFinish project, presentation, project report

Fixed navigation mode software code, debugging and testingFixed navigation mode software code, debugging and testing

User input software code, debugging and testingUser input software code, debugging and testing

User/Auto Out of Range mode software code, debugging and testingUser/Auto Out of Range mode software code, debugging and testing

QUESTIONSQUESTIONS

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