ECE 477 Design Review Team 7  Sprin g 2013 COST Robot

1. ECE 477 Design Review Team 7 Spring2013COST Robot Caroline Trippel, Andrew Loveless, Eric Osborne, Bryan Dallas

2. Outline • Project overview • Project-specific success criteria • Block diagram • Component selection rationale • Packaging design • Schematic and theory of operation • PCB layout • Software design / development status • Project completion timeline • Questions / discussion

3. Project Overview • Design and build a compact robot to traverse a maze • Use the robot to generate an ASCII representation of the entire maze • Mark light locations on map as they are discovered • Revisit lights intelligently throughout the maze in a user-defined order

4. Project-Specific Success Criteria • An ability to detect proximity to maze walls and prevent wall collisions. • An ability to find specific locations in the maze based on the placement of colored lights. • An ability to turn and change direction of movement. • An ability to generate an ASCII representation of the explored maze. • An ability to transfer stored ASCII map to a GUI program on a desktop computer via USB.

5. Block Diagram

6. Component Selection Rationale • Microcontroller: Microchip PIC18F4550 • Memory Size: 2048 Bytes RAM • 13 10-bit ADC Channels • 2 PWM • I2C • USB • 44 pins • Fuel Gauge: Linear LTC4150 • Simple setup, small circuit, easy monitoring

7. Component Selection Rationale • Digital Compass: Honeywell HMC6352 • I2C, easy setup, simple communication • Short Range Sensor: Phigets 1103_1 • Range: 0-100 mm (0-3.94 in) • Long Range Sensor: Sharp GP2Y0A02YK0F • Range: 20 – 150 cm (7.87 – 59 in) • Color Light Sensor: Avago HDJD-S822-QR999 • 3 analog input for RGB, easy use

8. Component Selection Rationale • H-Bridge: Texas Instruments L293DNE • Built in diodes for noise suppression • Geared Motor: Solarbotics GM3 • Small, provides enough power to push our robot without stalling • Digital Isolators • Protects microcontroller from high motor voltage • 24MHz Oscillator • Required for USB communication

9. Packaging Design Three tiered octagon-shaped body: • Tier 1 • PCB, peripheral headers • Compass • Tier 2 • 3X short range proximity sensors • 1X RGB color sensor • Tier 3 • 1X Long range IR sensor • 2X DC Motors / Wheels • 1X 7.4V, 2 cell, Lithium-Ion Battery

10. Packaging Design

11. Packaging Design

12. Schematic

13. Microcontroller: PIC18F4550

14. Microcontroller: PIC18F4550

15. USB Connector

16. 7.4V Battery Header / Fuel Gauge

17. 7.4V Battery Header / Fuel Gauge

18. 5V Regulator Circuit

19. 5V Regulator Circuit

20. H-Bridge Driver / Motor Header

21. H-Bridge Driver / Motor Header

22. Digital Isolators

23. Digital Isolators

24. I2C Compass Header

25. Indicator/Status LEDs

26. Pushbuttons

27. A/D Sensor Input Header

28. 24MHz Oscillator Circuit

29. 24MHz Oscillator Circuit

30. Programming/USART Headers

31. PCB Layout

32. PCB Layout: Top Copper

33. PCB Layout: Bottom Copper

34. PCB Layout: 7.4V Power / Ground = Ground = 7.4V

35. PCB Layout: 5V Ground

36. PCB Layout: 5V Power

37. Microcontroller / Headers

38. Motor Driver Subsystem

39. Power Subsystem

40. Oscillator Circuit

41. Pushbuttons

42. Sensor Header

43. Reset / Programming / Compass Header

44. Status/Indicator LEDs

45. Software Design • Completed • USART for printing/debugging • PWM frequency/duty cycle control • Timing modules / interrupts • A/D conversion • Bidirectional USB communication • Started • I2C, compass communication • Modified Tremaux Algorithm for maze traversal

46. Project Completion Timeline

47. Questions / Discussion