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Mappie

Mappie. By: Michael Pusatera. Summary of Talk. Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions. Introduction. Autonomous Navigating Agent Use of non-mechanical navigation techniques Optical Mice. Hardware . Motorola 68HC11 EVBU

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Mappie

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  1. Mappie By: Michael Pusatera

  2. Summary of Talk • Introduction • Controlling Hardware • Sensors • Actuation • Platform • Behaviors • Conclusions

  3. Introduction • Autonomous Navigating Agent • Use of non-mechanical navigation techniques • Optical Mice

  4. Hardware • Motorola 68HC11 EVBU • 68HC11 microcontroller • Serial Communication Interface • Breadboard for expansion • Mekatronix ME11 • Memory expansion • Digital Outputs • Altera UP1 • Flex 10k FPGA • JTAG programming Interface • PS2 Communications Interface

  5. Sensors • Bump Sensor • Pushbutton switches • Infrared Sensor • Sharp IR sensors • Distance Navigation Sensor • Optical Mice

  6. R1 R2 R3 R4 R? Vcc Vcc Vcc Vcc Bump Switch Design S1 S2 S3 S4 Analog(0) Sensor Report: Bump Sensor

  7. Vcc IR Sensor IR Sensor IR Sensor Infrared Sensor Design Analog(1) Analog(2) Analog(3) Sensor Report: IR Sensors

  8. Sensor Report: Optical Mice • How Optical Mice Work:

  9. Sensor Report: Optical Mice • How Optical Mice Work: • Serial interface • Data, Clk • State Machine • Inhibit USB • Send two commands • Read Data Stream

  10. Sensor Report: Optical Mice • Data Stream

  11. 8 A15 A14 A13 A12 R/W Eclk PortC on HC11 Vcc Mouse Mouse Optical Mouse Design Clk Data Mouse Clk Data Mouse FPGA Enable Reset 8 bit out Reset HC11 Sensor Report: Optical Mice

  12. Sensor Report: Optical Mice • Programming HC11 • Memory mapped: 0x7000 • Output order • MCCR: condition code register for mouse 1 • X[15..8]: upper eight bits of x data for mouse 1 • X[7..0]: lower eight bits of x data for mouse 1 • Y[15..8]: upper eight bits of y data for mouse 1 • Y[7..0]: lower eight bits of y data for mouse 1 • MCCR2: condition code register for mouse 2 • X2[15..8]: upper eight bits of x data for mouse 2 • X2[7..0]: lower eight bits of x data for mouse 2 • Y2[15..8]: upper eight bits of y data for mouse 2 • Y2[7..0]: lower eight bits of y data for mouse 2

  13. Actuation • 2 servos

  14. Platform • Based on TJPro • Larger due to EVBU board size and Distance sensor

  15. Behaviors • Go Straight for 10 feet • Go Straight for 10 feet =>Turn 180°=>Return • Navigate a 4 foot by 4 foot square

  16. Conclusions • Optical mice seem to work as a navigation agent • Placement of mice on robot is critical to accurate data • Mechanically stable platform will have success using mice to navigate • Future work: • Generate position in a 2D map based on mice data • Use 2D mapping for any navigation or mapping applicaitons

  17. References • [1] http://www.altera.com/ • [2] http://www.howstuffworks.com/mouse3.htm • [3] Ty Black, Sensor Report, IMDL • [4] Ty Black, Final Report, IMDL • Acknowledgement: Ty Black

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