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Team # Insert_Comment_Here

Team # Insert_Comment_Here. Presented by: Randal Allison, Jacob Elliott, Sam Bretz , and Sam Rose. Who wanted a robot as a kid?. Surveyed 30 students on campus 28 people said yes 2 people (liars) said no. PLP Bot Doesn’t Like Liars. Who are we?. What are we doing?.

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Team # Insert_Comment_Here

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  1. Team #Insert_Comment_Here Presented by: Randal Allison, Jacob Elliott, Sam Bretz, and Sam Rose

  2. Who wanted a robot as a kid? • Surveyed 30 students on campus • 28 people said yes • 2 people (liars) said no PLP Bot Doesn’t Like Liars

  3. Who are we?

  4. What are we doing? • As part of our Computer Based Systems class (ENSC 3213), we are entering a robot in the Mercury Robot Challenge. • Our Robot • Prebuilt “PLP Bot” • 4 motors (1 per wheel), 2 motor controllers • Mounted Web-based camera system • FPGA Board and XBEE units pre-installed • 4 stylish 2” rims wrapped in Yokohama all-terrain tires

  5. Mercury Robot Challenge • Open to university and high school teams. • Teams must consist of at most four team members (ENSC 3213 exempt). • The robot must be guided by the actions of an Operator at a remote location. • One team member will be designated the “Operator” and is the only one that is allowed to guide the robot. • The Operator may only receive information provided by the robot. (Source: http://mercury.okstate.edu/)

  6. Mercury Robot Challenge cont. • Touching the robot during the run will result in a time penalty or possible disqualification of the current run. •  Each team will have a 15 minute window in which to attempt to traverse the obstacle course. • The robot must follow a predefined path from “Start” to “Finish” in minimum time while attempting to avoid striking obstacles. • The team may make as many attempt as the 15 minute window will allow. (Source: http://mercury.okstate.edu/)

  7. Mercury Robot Challenge cont. • Must cross a bridge

  8. Mercury Robot Challenge • Must navigate a 30⁰ incline LIKE A BOSS

  9. Track Design Source: http://mercury.okstate.edu/2012%20track.jpg

  10. Flowchart

  11. User View

  12. Communications Protocol • Programs will be written in Java • Header and Checksum • Header, Left Motor Value, Right Motor Value, Checksum • Checksum = Header value + RM Value + LM Value • Sockets • Least amount of overhead • Reduce latency • Lag • Compensated for by Operator • Will be tested extensively during peak and off-peak hours

  13. Flowchart

  14. Robot Firmware

  15. Motor Control Values

  16. Flowchart

  17. Design Decisions • Input Method • Keyboard vs. Joystick vs. Game Controller • Keyboard won (Source: http://www.terminally-incoherent.com/blog/wp-content/uploads/2007/09/wasd_vs_arrows.jpg) • Turn style • Mirror/Lens Attachment • Loss of Signal Beacon Attachment

  18. Relating to class • Reading and writing over UART • Stack usage • How to write in PLP • Interrupts • Memory mapped I/O • Increase communication skills • How to program the PLP Bot • I can’t do that, Dave.

  19. QUESTIONS?

  20. THANK YOU

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