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FIRST Robotics: The Ghost Rider

Agenda. The FIRST OrganizationProject OverviewThe CompetitionWaipahu's TeamGhost Rider's SubsystemsControls ModificationGyro Control LoopProgrammingNear Future Plans. The FIRST Organization. Non-profit organization that aims to intrigue young adults to pursue a technology related career through a friendly robotic competition.Excite young adults about technology..

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FIRST Robotics: The Ghost Rider

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    1. FIRST Robotics: The Ghost Rider Windell Harold Jones Mechanical Engineering March, 7 2008

    2. Agenda The FIRST Organization Project Overview The Competition Waipahu’s Team Ghost Rider’s Subsystems Controls Modification Gyro Control Loop Programming Near Future Plans

    3. The FIRST Organization Non-profit organization that aims to intrigue young adults to pursue a technology related career through a friendly robotic competition. Excite young adults about technology.

    4. Project Overview Mentor the Waipahu High School robotics team by connecting their ideas with reality Teach the team how to code the Robot Controller Help with interfacing gyro sensor to robot controller Modify the operator interface controls Give them valuable hands-on experience

    5. The FIRST Competition Two main divisions: Six-week build season (Jan 5-Feb 19) Competition season (Feb 28-April 19) Hawaii regional: March 27-29!!!

    6. The Game

    7. Waipahu’s Team

    8. Structural Simplest of the three subsystems Mostly composed of Aluminum 6061 Angle and cross braces Including acrylic ¼” thick protective cover 30mm Bosch Extrusion

    9. Electronics (Robot Side) Robot Controller (PIC18F8520) PWM motor controllers 12 VDC power source Spike Relays (Pneumatics) Resettable Circuit Breakers

    10. Propulsion 2-Globe motors 2-8” wheelchair wheels Conveyer belt material for extra traction 10 fps translation 90 deg/s rotation (limited by gyro)

    11. Programming Code written in C Using the Microchip’s MPLAB IDE using the C18 library set Two files to modify user_rountines.c (26ms) user_routines.c Problem: Confusing as to where to edit code.

    12. Controls Modifications Problem: X-axis and Y-axis combination not intuitive. Leads to a high practice requirement Solution: Steering wheel Joystick throttle

    13. Gyro Control Loop Differential drive leads to high maneuverability Hard to control as reaction times are slow Using a gyro to maintain desired rotations solved problem Proportional feedback control used

    14. Teleoperation

    15. Hybrid Code

    16. Conclusion Designing and building a robot in six weeks is difficult. Especially when it is required that the students be involved. Dramatic tool skill increase observed Future Plans: Add Hybrid mode code at the competition.

    17. Thank you! Come see us compete along with many local high school teams! March 27-29, Stan Sheriff Center

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