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Mappie. By: Michael Pusatera. Summary of Talk. Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions. Introduction. Autonomous Navigating Agent Use of non-mechanical navigation techniques Optical Mice. Hardware . Motorola 68HC11 EVBU

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Presentation Transcript
mappie

Mappie

By: Michael Pusatera

summary of talk
Summary of Talk
  • Introduction
  • Controlling Hardware
  • Sensors
  • Actuation
  • Platform
  • Behaviors
  • Conclusions
introduction
Introduction
  • Autonomous Navigating Agent
  • Use of non-mechanical navigation techniques
    • Optical Mice
hardware
Hardware
  • Motorola 68HC11 EVBU
    • 68HC11 microcontroller
    • Serial Communication Interface
    • Breadboard for expansion
  • Mekatronix ME11
    • Memory expansion
    • Digital Outputs
  • Altera UP1
    • Flex 10k FPGA
    • JTAG programming Interface
    • PS2 Communications Interface
sensors
Sensors
  • Bump Sensor
    • Pushbutton switches
  • Infrared Sensor
    • Sharp IR sensors
  • Distance Navigation Sensor
    • Optical Mice
sensor report bump sensor

R1

R2

R3

R4

R?

Vcc

Vcc

Vcc

Vcc

Bump Switch Design

S1

S2

S3

S4

Analog(0)

Sensor Report: Bump Sensor
sensor report ir sensors

Vcc

IR Sensor

IR Sensor

IR Sensor

Infrared Sensor Design

Analog(1)

Analog(2)

Analog(3)

Sensor Report: IR Sensors
sensor report optical mice
Sensor Report: Optical Mice
  • How Optical Mice Work:
sensor report optical mice1
Sensor Report: Optical Mice
  • How Optical Mice Work:
    • Serial interface
      • Data, Clk
  • State Machine
    • Inhibit USB
    • Send two commands
    • Read Data Stream
sensor report optical mice3

8

A15

A14

A13

A12

R/W

Eclk

PortC

on HC11

Vcc

Mouse

Mouse

Optical Mouse Design

Clk Data

Mouse

Clk Data

Mouse

FPGA

Enable Reset 8 bit out

Reset HC11

Sensor Report: Optical Mice
sensor report optical mice4
Sensor Report: Optical Mice
  • Programming HC11
    • Memory mapped: 0x7000
  • Output order
    • MCCR: condition code register for mouse 1
    • X[15..8]: upper eight bits of x data for mouse 1
    • X[7..0]: lower eight bits of x data for mouse 1
    • Y[15..8]: upper eight bits of y data for mouse 1
    • Y[7..0]: lower eight bits of y data for mouse 1
    • MCCR2: condition code register for mouse 2
    • X2[15..8]: upper eight bits of x data for mouse 2
    • X2[7..0]: lower eight bits of x data for mouse 2
    • Y2[15..8]: upper eight bits of y data for mouse 2
    • Y2[7..0]: lower eight bits of y data for mouse 2
actuation
Actuation
  • 2 servos
platform
Platform
  • Based on TJPro
  • Larger due to EVBU board size and Distance sensor
behaviors
Behaviors
  • Go Straight for 10 feet
  • Go Straight for 10 feet =>Turn 180°=>Return
  • Navigate a 4 foot by 4 foot square
conclusions
Conclusions
  • Optical mice seem to work as a navigation agent
  • Placement of mice on robot is critical to accurate data
  • Mechanically stable platform will have success using mice to navigate
  • Future work:
    • Generate position in a 2D map based on mice data
    • Use 2D mapping for any navigation or mapping applicaitons
references
References
  • [1] http://www.altera.com/
  • [2] http://www.howstuffworks.com/mouse3.htm
  • [3] Ty Black, Sensor Report, IMDL
  • [4] Ty Black, Final Report, IMDL
  • Acknowledgement: Ty Black
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