Table DancerTable Dancer Final Design PresentationFinal Design Presentation

10/20/0410/20/04

Team Members:Team Members:Ryan GrayRyan Gray

Dale WilliamsDale WilliamsEmeric RochfordEmeric Rochford

Dan BeardDan Beard

Primary ObjectivePrimary Objective

Design a machine to navigate the Design a machine to navigate the perimeter of a tabletop.perimeter of a tabletop.

Navigate table with no direct user inputNavigate table with no direct user input

Complete a predetermined number of labs Complete a predetermined number of labs before stoppingbefore stopping

Ryan

SolutionSolution

HC08 microcontrollerHC08 microcontroller

Dual motor controllerDual motor controller

Twin motor propulsion, skid steeringTwin motor propulsion, skid steering

Touch based sensor navigation (left, right)Touch based sensor navigation (left, right)

Optical lap counterOptical lap counter

IR on/off control IR on/off control

Ryan

System OverviewSystem Overview

Emeric

Mechanical OverviewMechanical Overview

Twin MotorTwin Motor

Twin WheelsTwin Wheels

Skid Steer Skid Steer

Angle Detecting Feeler ArmAngle Detecting Feeler Arm

Corner Stabilizers Corner Stabilizers

Emeric

Side View

Emeric

Emeric

Assembled RobotAssembled Robot

Position SensorPosition Sensor

Dale

Position Sensor CalculationsPosition Sensor Calculations

Dale

Travel Rate CalculationsTravel Rate Calculations

Expected Speed 6 ft/minExpected Speed 6 ft/min

Gear Ratio: 203:1Gear Ratio: 203:1

Wheel Size: 2in DiameterWheel Size: 2in Diameter

Equation: [(72in/min)/((π)(Diameter))] X Equation: [(72in/min)/((π)(Diameter))] X (Gear Ratio)=Motor Speed(Gear Ratio)=Motor Speed

Motor Speed: 2327RPMMotor Speed: 2327RPM

Dale

Electrical OverviewElectrical Overview

Dale

Sensor TestsSensor TestsTest Results for Phototransistor QRB1134

       

Color Distance (Inches) Voltage (V) Normally Open

White 0.5" 2 V 5 V

  0.125" .2 V  

Dark Blue 0.5" 3.2 V 5 V

  0.125" 1.2 V  

Black 0.5" 3.4 V 5 V

  0.125" 3.2 V  

Dark Brown Wood Grain 0.5" 3.2 V 5 V

  0.125" 1.2V  

Emeric

Tested for performance of sensor on various colors

Tests showed the sensor will work on anticipated surfaces

Interface DiagramInterface Diagram

Dan

Dan

Software OverviewSoftware Overview

Dan

Programming BoardProgramming Board

Dan

Dan

Emeric

Budget Budget Part # Description Quantity Total

161022161022 Twin motor Gear box 1 $11.50

MC68HC908MC68HC908 HC08/ Programming board 1 $35.00

N/AN/A Twin motor driver board 1 $10.00

496X28VR496X28VR Lego tires 2 $0.80

QRB1143QRB1143 Inferred sensor 1 $0.97

N/AN/A Misc. Hardware 1 $5.00

Total CostTotal Cost $63.27

Ryan

Functionality Functionality

Current Level of functionality is as follows:Current Level of functionality is as follows: Initialize programInitialize program Enter number of lapsEnter number of laps Drive system operationalDrive system operational

(Tested using the 68HC12 micro controller (Tested using the 68HC12 micro controller with manual interface.)with manual interface.)

Ryan

Questions?Questions?