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Project 19: Paintbot Controller

Project 19: Paintbot Controller. David Schmitz Allan Rudwick Robert Tao. Ultimate Goal. Robotic Circuitry, Human Control, Artificial Intelligence, Computer Vision, Mechanical Design. Senior Design Goal. Create a Versatile Robotics Controller Human / Computer Control

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Project 19: Paintbot Controller

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  1. Project 19: Paintbot Controller David Schmitz Allan Rudwick Robert Tao Robert Tao, Allan Rudwick, and David Schmitz

  2. Ultimate Goal Robotic Circuitry, Human Control, Artificial Intelligence, Computer Vision, Mechanical Design Robert Tao, Allan Rudwick, and David Schmitz

  3. Senior Design Goal • Create a Versatile Robotics Controller • Human / Computer Control • Multiple Motor Outputs • MODULARITY Emphasized • Deadline • EOH (March 11, 2005) demo Robert Tao, Allan Rudwick, and David Schmitz

  4. Controller Components • Reverse Engineering of PS2 Wireless Controller – David Schmitz • Stepper Motor Driver – Allan Rudwick • DC Motor Speed Controller – Robert Tao Robert Tao, Allan Rudwick, and David Schmitz

  5. Basic Procedure • Research / Design. • Simulate. • PSPICE • Working Circuit on Bread Board. • Printed Circuit Board. • Parts Shop • Project Box. • ECE Store Robert Tao, Allan Rudwick, and David Schmitz

  6. DC Speed Controller • Original Idea • H-bridge with Current Limiting • Original Circuit Design by Paul Hills • Reworked and Reengineered Under his Guidance • http://homepages.which.net/~paul.hills/ Robert Tao, Allan Rudwick, and David Schmitz

  7. Original Circuit (Unaltered) Robert Tao, Allan Rudwick, and David Schmitz

  8. DC Speed Controller Logic Robert Tao, Allan Rudwick, and David Schmitz

  9. Debugging • Function Generator • Oscilloscope • Current Limiting Power Supply • Forward / Backward? • Speed Increase / Decrease? • No Burning MOSFETs? Robert Tao, Allan Rudwick, and David Schmitz

  10. DC Speed Controller Final Cut • Downfall • MOSFETs Burning • Delays between TTL and Gates of MOS’s • Concessions • Current Limiting Gone • Better MOSFETs • Heat Sinking • Frequency Robert Tao, Allan Rudwick, and David Schmitz

  11. Playstation 2 Wireless Control • Original Idea • Reverse-Engineer PS2 Controller Protocol • PS2 Protocol Provided by Robert Tao, Allan Rudwick, and David Schmitz

  12. Playstation Control Robert Tao, Allan Rudwick, and David Schmitz

  13. PIC Code Robert Tao, Allan Rudwick, and David Schmitz

  14. PIC Code 2 – The Sequel Robert Tao, Allan Rudwick, and David Schmitz

  15. Debugging • Generate Debug Register • Set Trip Points in Code • Testing Controller Data Capture • View Signals on DLA • Correct Errors Robert Tao, Allan Rudwick, and David Schmitz

  16. Stepper Motor Controller Robert Tao, Allan Rudwick, and David Schmitz

  17. Stepper Motor Robotics • Lazy Susan • Does Not Work • Pitch Control • Precise Robert Tao, Allan Rudwick, and David Schmitz

  18. Stepper Motor Controller • Acquire Stepper Motor • Test Functionality • Design Circuit • Test on Breadboard -> PCB • Fix PCB Errors • Redesign PCB with Selectable Phase Control for Multiple Motor Types Robert Tao, Allan Rudwick, and David Schmitz

  19. Prototype Version 1 Robert Tao, Allan Rudwick, and David Schmitz

  20. Battery Power • Full Current Draw – 15 A • DC Drive Motors – 7 A (Per Motor Under Load, Full Power) • Pitch Control Stepper Motor – 160 mA • DC Rotating Motor – 0.5 A • Batteries – Rated for 12 A-hr • Runs for 45 min (Full Load, Ideal) • 3 hr Practical Use (Specifications Exceeded) Robert Tao, Allan Rudwick, and David Schmitz

  21. What Has Changed? • Only 1 Stepper Motor (30 Min Switch) • No Current Limiting on DC Speed Controller • Frequent Stalling <- Not Occurring • PWM Generated By Circuit (Not PIC) Robert Tao, Allan Rudwick, and David Schmitz

  22. What (To Do) • Be Careless with MOSFETs • Touch MOSFETs to Test Functionality • Wire Carelessly (Sleepily / Half Heartedly) • Solder Hands • Burn Out 20 Chips without Reconsidering Design Robert Tao, Allan Rudwick, and David Schmitz

  23. Questions? Comments? Robert Tao, Allan Rudwick, and David Schmitz

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