Pathfinder Mark VII 2000 Edition 3 point o™ - PowerPoint PPT Presentation

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Pathfinder Mark VII 2000 Edition 3 point o™. Midterm Presentation. by PJ Barnes Travis Collavo Adam Norgaard. Cast of Characters. Cast of Characters Cont. Cast of Characters Pt. 3. Block Diagram. (see next slide). Input movement commands. Human/Computer Interface. I/O. Speaker.

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Pathfinder Mark VII 2000 Edition 3 point o™

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Pathfinder mark vii 2000 edition 3 point o

Pathfinder Mark VII 2000Edition 3 point o™

Midterm Presentation


PJ Barnes

Travis Collavo

Adam Norgaard

Cast of characters

Cast of Characters

Cast of characters cont

Cast of Characters Cont.

Cast of characters pt 3

Cast of Characters Pt. 3

Block diagram

Block Diagram

  • (see next slide)

Pathfinder mark vii 2000 edition 3 point o

Input movement commands

Human/Computer Interface





Output pertinent data


Robot Car

Movement Hardware

Wheel turning servos


Micro controller

RoboBoard – 68HC11



Map of surroundings

Wheel Motors

Path finding algorithm

-interpret data from sensors/rangefinders/compass

-determine path to take

-determine how-far/direction to move

-update old map data with new data

-account for inaccuracies from range finder

-account for imprecise movements

-execute contingency plans(back away from wall)

-find shortest path (optional)


Range finder mount


Stepper Motor

Sonar range finder

Shaft encoder

Bumper sensor

Electronic Compass

Outside world

Top view of robot

Top View of Robot

Side view of robot

Side View of Robot

Bottom view of robot

Bottom View of Robot

Software details

Software Details

  • Programming in ICWIN

    • Interpreted at runtime

  • Programming in Assembly

    • Compiled with AS11_IC batch file

      • Assembly routines are converted to machine language

      • Assembly routine names are registered in the library (ICB) file for use in C

Interactive c environment

Interactive C Environment

Interactive c cont

Interactive C Cont.

Functions in icwin

Functions in ICWIN

Library files

Library Files

  • robo.lis

    • robolib.c

    • theme.c

    • main.c

    • analog.icb

    • roboir.lis

      • roboir.icb

      • roboir.c

Library files cont

Library Files Cont.

  • ints.lis

    • ints.c

    • myint.icb

  • servo.lis

    • servo.c

    • servo.icb

  • cmotor.c

Major results obtained

Major Results Obtained

  • Communicating with the RoboBoard via our own cables

  • Cool robot chassis with continual design enhancements

  • Autonomy (programmable hardware, battery power)

  • Movement (motors and wheels)

  • User-friendly interaction (keypad, switches, etc.)

Major modifications to original plan

Major Modifications to Original Plan

  • Will not be able to rotate in place

  • Will weigh 15 pounds instead of 10 pounds

  • Ultrasonic range finder, not laser

  • Will only use 2 motors for the wheels, not 6

  • Will only use 1 servo, not 4

  • Reassignment of responsibilities

Major problems encountered

Major Problems Encountered

  • We had to search out Windows-oriented Interactive C software

  • Interface cables were faulty, and this took a while to figure out (had to create our own interface cables)

  • Details on the RoboBoard’s registers are hard to ascertain (we have to figure out details by analyzing previously written code)

  • We are still waiting on our range finder and electronic compass

Timeline original vs current

Timeline:Original vs Current

Timeline original vs current1

Timeline:Original vs Current

Timeline original vs current2

Timeline:Original vs Current

Timeline original vs current3

Timeline:Original vs Current

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