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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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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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