Silibotics Computer Engineering Senior Design Project Mike Fivas, Jian Zhou, Jessica Sherrid all information on web site: www.cs.utah.edu/~fivas/silibotics
Original Project Ideas • Infrared Following • Barking Guard Dog • Flame Sensing (using IR) • Plan for Robot Structure with an Initial Build NOTE: These were only preliminary ideas.
Problems Encountered • First Plan Problems • No IR heat sensor available • Right and Left Drive Motors have Uneven Power • Cargo Area too Small
Secondary Project Ideas and Fixes • Flame Sensing using UV detector • Light Seeking • Sonar Avoidance of Obstacles • Adding a Pincher to the Robot • Water Pump with BIG Transistor • Rotation Sensors for more Accurate Travel • Expanding Robot Cargo Bed
Problems Encountered • Second Plan Problems • Yeah! We got a free UV sensor out of a Commercial Fire Sensor • BUT, it runs off of 325v and doesn’t have an available data sheet • Also, didn’t get here until after Thanksgiving • We also pulled an IR sensor out of a TV • This had a narrow bandwidth and wouldn’t find heat
Final Project • Use photo resistors to make a color-finding robot • Spray with water pump • Grab with pinchers • Light Seeking • Sonar Avoidance of Obstacles • Other plans were dropped due to previously mentioned problems
Functional Diagram Right Light Sensors X0 Analog Mux X1 Left Mux X2 0 1 2 3 5 6 X3 Jstamp Sensor Board Rotation Sensors Sel1 Sel0 Right Jstamp GPIO-C 2 3 4 5 Claw Left A4 A2 B5 Transistor N-type 8A 3 Jstamp Motor Board 1 0 2 LED on/off Hand-Made Color Sensor Water Pump Right Left Claw 9.6v Battery Sonar Motors
Software Flowchart Main Button Press Light Seek Sonar Avoid Brighter Left/ Right Find Color Left/ Right/ Front Back Up Adjust Right Adjust Left Circle for Strongest Go Forward Turn Left Go Straight Adjust Direction Turn Right Found Sonar Avoid Grab Red Squirt Green Celebrate!
What we learned • We improved our Java programming skills • We learned to debug a system, finding the faulty hardware/software component • We learned to work in a team in a industry-like setting • We learned better documentation skills
What We Would do Differently • We would investigate the availability of sensors before deciding to use them. • We would try to incorporate more functionality into the hardware.