Team: Wall-E

Image from: http://www.pixar.com/featurefilms/walle/images/walle-front.jpg

An ENSC 3213 Production

Team

Mem

bers

Name: Team Role

Tim Van Ostran Team Leader

Kory Teague Lead Engineer

Kelle McCan Wiki Specialist

Carly Butters Team Liaison

Park Lamerton Bot Team Lead

Dylan Kuehni Bot Team

Jason Semien Bot Team

Ethan Abele Bot Team

Ryan Syrus Bot Team

Nik Marinov Control Team Lead

Dustin Maki Control Team

Mike Krueger Control Team

Steven Belcher Control Team

Outline

Mercury Robot Competition

Wall-E Bot

Control Implementation

Bot Implementation

Questions?

Image from: http://mercury.okstate.edu/2011.html

Image from: http://code.google.com/p/plpbot/wiki/Portal?tm=6

Mercury Robot Competition

The Challenge

• Operating robots remotely have many useful applications. This challenge will explore possible means of accomplishing this task. The challenge is to design, build, and operate a complete system capable of navigating an obstacle course with the operator and the robot separated by a great distance.

Objectives

• Control the robot manually from a remote location.

• Navigate a course in minimum time while avoiding obstacles

Information found: http://mercury.okstate.edu/flyer-2011.pdf

2012 Competition Rules

Open to university and high school teams. Category will be determined by the most senior member of the team (excluding the mentor or instructor).

Teams will consist of at most four team members plus an optional mentor or instructor.

The robot must be guided by the actions of an Operator at a remote location.

One team member will be designated the “Operator” and is the only one that is allowed to guide the robot.

The Operator may only receive information provided by the robot.

2012 Competition Rules Cont.

The remaining team members may be located at the robot site and will be the only ones that may touch the robot during or between runs.

Touching the robot during the run will result in a time penalty or possible disqualification of the current run.

Striking and/or knocking over obstacles will carry time penalties. The actual penalty points will be declared prior to the start of the event.

The robot must follow a predefined path from “Start” to “Finish” in minimum time while attempting to avoid striking obstacles.

Each team will have a 15 minute window in which to attempt to traverse the obstacle course.

2012 Competition Rules Cont.

When the final run is started, it must be completed before the 15 minute window expires to count as an “official time”.

The team may make as many attempt as the 15 minute window will allow.

The best score will be considered the “official time”.

The team whose robot completes the course in the minimum time will be the winner.

In the event of a tie, the team with the least penalty points will be deemed the winner.

Th

e M

aze

Image from: http://mercury.okstate.edu/2012%20track.jpg

Wall-E Bot

Image from: http://fc06.deviantart.net/fs37/i/2008/248/6/b/Wall_E_and_EVE_Icons_by_Flarup.jpg

Wall-E’s Configuration

Image from: http://customxbox360controllers.org/wp-content/uploads/xbox360_controller-1.jpg

Image from: http://mercury.okstate.edu/2011.html

Send controls to

Bot.

Send controls to satellite.

Control Implementation

Image from: http://customxbox360controllers.org/wp-content/uploads/xbox360_controller-1.jpg

Image from: http://images.wikia.com/disneyvillains/images/b/b2/AUTO.jpg

1. Analog Controller sends control signals for the WALL-E bot to a computer through a USB port.

2. Control Laptop reads controller input, normalizes it, translates it to WALL-E understandable signals.

3. Control Laptop sends control packets from controller, as long as it receives WALL-E “heartbeat”, through a virtual COM port.

4. Wireless Control Node sends/receives virtual COM port messages between the Control FPGA and Control Laptop.

5. Control FPGA relays messages between WALL-E and the Wireless Control Node.

Bot Implementation

Image from: http://mercury.okstate.edu/2011.html

Image from: http://28.media.tumblr.com/tumblr_la76bvIGTP1qdce8vo1_400.png

State1:

• Receive 3 bits of data from the controller team.

• Once received, continue to State 2.

State2:

• Check to see if data is valid.

• If not, shut down.

• If valid continue to State 3.

State3:

• Sort data by order they were received and give feedback to controller.

• Return to State 1.

Questions?

Image from: http://www.wall-e-wallpaper.com/p7ssm_img_1/fullsize/Wall-e-wallpaper20_fs.jpg