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Team Gary

Team Gary. Dan Farley Tyson Rogstad Erik Flum Rob Koch Gary Zigmann. Rob. Background Information. Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects.

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Team Gary

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  1. Team Gary Dan Farley Tyson Rogstad Erik Flum Rob Koch Gary Zigmann Rob

  2. Background Information • Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects. • MARV includes a HC12 microcontroller, a Scorpion XL motorcontroller and two Denso DC gear motors. • The frame is constructed of 8020 extruded aluminum which allows easy assembly and alteration. Rob

  3. Problem Statement MARV2 is in an empty room. When MARV2 senses its battery is low, it needs to autonomously recharge its battery. Rob

  4. Solution Statement • Use mechanical switch to simulate voltage low condition • Sends MARV into search routine, where it aims to detect a light source • Motors are controlled by voltage drop across the sensors mounted on front and rear Rob

  5. System Overview DockingStation AC to DC IR Emitter Battery Microcontroller Motorcontroller MARV IR Receiver Electrical Probe Dan

  6. MARV Finding Docking Station Battery Voltage Is Low, IR Receivers Activated, MARV Spins Dan

  7. MARV Finding Docking Station Receiver Detects IR Emission Dan

  8. MARV Finding Docking Station MARV Spins Until Both Receivers Are Equal Dan

  9. MARV Finding Docking Station Microcontroller compares rear sensor to front sensor Dan

  10. MARV Finding Docking Station MARV Reaches Docking Station, Probes Touch Electrical Connection Dan

  11. Mechanical Design of Docking Station AC to DC IR Controls Wood Base Alignment Brackets For IR Emitters Electrical Connection Vertical Supports Gary

  12. Mechanical Design of Probes Gary

  13. Code Flow Chart Battery Low Check Buttons Vlow On Spin Left Front Sensors Not Equal Stop Button Pressed Compare Front Sensors Stop Front Sensors Equal Compare Front and Rear Sensor Rear Sensor Greater Than or Equal to Front Sensor Front Sensor Greater than Rear Sensor Drive Straight 350 ms Go Straight Gary

  14. JSR Read_ATD1 LSRD LSRD LSRD LSRD STAB Sensor1 LDAA Sensor2 LDAB Sensor1 CBA LBEQ TestRear (Shifting bits to decrease resolution of sensor value) Find_Home: MOV #31, PWMDTY0 MOV #47, PWMDTY1 LDD #350 JSR Delay_Dms JMP Check_Buttons (Arcing MARV by driving one motor faster than the other to compensate for spin routine) Sample Code Gary

  15. Charging Circuit On Charging Station Erik

  16. Infrared Emitter Circuitry Erik

  17. Sensor Circuit CdS resistor To HC12 Erik

  18. Light circuit Standard Wall Receptacle Erik

  19. Personnel Assignments TYSON Sensors & Emitters ERIK Power Supply ROB Docking DAN Software GARY Software Tyson

  20. Work Breakdown Structure Tyson

  21. Budget Tyson

  22. Questions? Tyson

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