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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

Pathfinder Mark VII 2000Edition 3 point o™

Midterm Presentation

by

PJ Barnes

Travis Collavo

Adam Norgaard





Block diagram
Block Diagram

  • (see next slide)


Input movement commands

Human/Computer Interface

I/O

Speaker

Serial

Port

Output pertinent data

Keypad

Robot Car

Movement Hardware

Wheel turning servos

Commands

Micro controller

RoboBoard – 68HC11

Memory

Wheels

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)

Commands

Range finder mount

Input

Stepper Motor

Sonar range finder

Shaft encoder

Bumper sensor

Electronic Compass

Outside world





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





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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