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GreenJacket

This report highlights the functions and features of the GreenJacket IMDL Golf Putting Practice Robot, including its processor, software development, locomotion, special behaviors, and navigation capabilities. It discusses the robot's ability to collect and adjust to misaligned putts, as well as deposit balls accurately. The report also details the success of the external PWM hardware and ball collection mechanism, and outlines future work for lateral ball tracking and navigation.

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GreenJacket

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  1. GreenJacket IMDL Summer 2002 Final Report Matthew Chernosky August 6, 2002

  2. Overview • Robot Functions • Processor • Software Development • Locomotion • Special Behaviors • Navigation

  3. What does it do? • Golf putting practice robot • Receives putts through opening in side • Collects golf balls • Adjusts to misaligned putts • Deposits balls

  4. What does it do? Balls travel into here

  5. Processor and Board • Atmel ATMega163 • 6 MHz • 3 PWM channels • 8 channel, 10-bit ADC • MegaAVR-Dev Board • ISP Port • Port headers • Power regulation

  6. Software Development • Development in C • AVR-GCC • Atmel AVR Studio 3.54 • Function libraries developed • Motors • Servos • Analog Ports • Bump network

  7. Locomotion • 4 servo driven wheels Channel 1 Channel 2

  8. Locomotion • 2 channels, left and right • Locomotion servos driven by external PWM system

  9. External PWM: Overview • 2 additional channels implemented • Channels used for locomotion • Altera MAX7032 CPLD • Development in VHDL

  10. External PWM: Interface • 3 Settings for each channel • Forward • Reverse • Stopped • A 2-bit wide input bus selects desired setting for each channel • 4 output port pins of uP

  11. External PWM: Design 1 MHz oscillator Atmel Mega163 Chan A select Altera MAX7032 PWM A Out PWM B Out Chan B select CPLD Microcontroller

  12. External PWM: Design Reset 15-bit counter Logic FF PWM A 1 MHz clock FF PWM B Chan A select Chan B select CPLD

  13. Ball Collection • Contact switch – generates interrupt • 2 servos • Mechanism • Rake: traps balls within robot • Lifter: lifts balls into robot

  14. Ball Deposition • 1 servo • Balls collect in ramp • Servo moved to release one ball at a time

  15. Lateral Correction • 2 long range IR distance sensors (Sharp GP2Y0A02YK)

  16. Navigation • 2 forward facing IR sensors (Sharp GP2D120) • 2 bump sensors, forward and rear • Operates between two walls • Turns at right angles using IR and walls

  17. Navigation User starts

  18. Navigation Goes out to wall

  19. Navigation Rotates

  20. Navigation Collects putts

  21. Navigation Rotates

  22. Navigation Returns

  23. Navigation Rotates

  24. Navigation Deposits balls

  25. Conclusion • Successes • External PWM Hardware • Ball Collection Mechanism • Future work • Lateral ball tracking • Navigation

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