EMRAM INNOVATIONS MiniSumo Project EMARAM INNOVATIONS Team Members
EMRAM INNOVATIONS Mini-Sumo Project
EMARAM INNOVATIONS Team Members: Nick Enriquez Project Manager, MCU Programmer, PCB Design Isai Michel Webmaster, Body & Mechanics, Programming support Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes Presentation Editor, Motors, Power Supply Support Catherine Acain Reports Editor, Power Supply, PCB support
“The Juggernaut”
PROJECT OVERVIEW n n Mini-Sumo Competition Design Specifications • 500 g maximum weight • 10 cm x 10 cm maximum width and length • No destructive techniques n Our Design Approach • • Robust Frame High Torque Bi-Directional Simple but effective software implementation
Body & Mechanics
Chassis
Track system n n n Sprocket Idler Tracks
Rotation
Motors
FUTABA S 3305 MOTORS
SERVO MODIFICATION
Pulse Width & RPM Testing
Sensors
Photo Sensors n n QRD 1113 Reflective Object Sensors (Fairchild Semiconductors) 4. 36 V swing (4. 59 V to 228 m. V) from black to white surfaces 1 V – Threshold About 5 mm above the ground
Distance Sensors • Sharp IR Proximity Sensors (GP 2 Y 0 A 21 YK) • 400 m. V – Threshold • Detects at 70 cm
Power Supply
Lithium Ion Polymer Battery n n 3. 7 V each 7. 4 V Total Provided Light-Weight: 19. 84 g Easy to Charge and Recharge
Voltage Regulation Schematic
System Requirements n n n Voltage Requirements 5 V and 6 V Current Draw: 650 m. AH – 850 m. AH Power: 4. 81 WH-6. 29 WH Battery Rating: 800 m. AH Expected Battery Life: (5. 624 WH / 6. 29 WH)*(60 min) = 53 min Actual Power Supply Output: n n Voltage Outputs Current Draw: Actual Power Supplied: Average Battery Life: 5. 0 and 6. 4 V 760 m. AH 5. 624 WH 45 minutes
Microcontroller
SYSTEM INTEGRATION FRONT IR SENSOR REAR PROXIMITY SENSOR REAR IR SENSOR MUX POWER SUPPLY ADC 7. 4 Battery 5 V REG MICROCONTROLLER 6 V REG PWG LEFT MOTOR RIGHT MOTOR FRONT PROXIMITY SENSOR
Freescale MC 9 S 12 C 32 n Hardware: • Module Utilization • Programming via BDM Port • Removal of components n Software: • Delay function n n 5 -Second Start Delay Line Sense Function • Sensor Response • Motors n n Utilizing PWM vs. Bit banging Controlled by adjusting Duty Cycle • Strategy
Algorithm Flowchart MODE: Pull-Away Program Start 5 -second delay YES Are we at the boundary ? MODE: Turn and Seek NO NO Is enemy in range? YES MODE: Attack
Project Scheduling & Budget
GANTT CHART
COST SUMMARY QTY PART PRICE DISTRIBUTOR 2 Servo High Torque 69. 98 TOWER HOBBIES Standard w/ Metal towerhobbies. com Gears 2 Infrared Proximity 29. 16 Sensors Spark Fun sparkfun. com 2 Timing Belt 11. 32 sdp-si. com 4 Timing Pulleys 46. 48 sdp-si. com 2 Lithium ion batteries 20. 00 Tower Hobbies 2 IR Proximity Sensors 29. 16 sparkfun. com 2 3 -pin JST connectors 4. 64 sg. BOTIC sgbotic. com 2 Li-Polymer Battery 15. 90 Electronics Goldmine Miscellaneous N/A J. Kennedy TOTAL 226. 64
LIVE DEMONSTRATION
WEBSITE Please visit us at: http: //emram. sdsu. edu Demo Day Friday, May 4 th 2007 In front of the Engineering Building • BBQ @ 12: 00 pm • Project Judging @ 1: 30 pm • Live Demonstration @ 2: 00 pm
- Slides: 30