PT 5000 RIT Computer Engineering Senior Design Project HardwareSoftware Ted TomporowskiPooja Rao The...
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PT 5000 RIT Computer Engineering Senior Design Project Hardware Software Ted Tomporowski Pooja Rao The PT 5000 is a custom built RC car that is meant to deliver mail around an office. The vehicle follows a reflective tape path stopping at user specified checkpoints with its payload. It also stops if blocked by an obstacle, and can detect if it has gone off the track. February 2005 Part Actual Cost Our Cost Provided By: Vehicle $43.29 $43.29 Toys R’ Us 2 nd Vehicle $43.29 $43.29 Toys R’ Us Colored LEDs ( many ) $15.00 $15.00 Radio Shack. Digikey Distance sensors (7) $70.00 $70.00 Digikey Opto-reflectors (10) $50.00 $50.00 Digikey Battery Pack (5V) $15.00 $0 Battery Charger $10.00 $0 Extra Batteries $60.00 $60.00 Radio Shack, Dan’s Crafts & Things HC12 $125.00 $125.00 CE Dept. Servo Motor $5.00 $0 CE Dept. Reflective tape (2) $5.00 $5.00 Lowe’s IC’s $5.00 $0 Newark Voltage Regulators(10) $15.00 $15.00 RadioShack Steering Components $30.00 $30.00 Dan’s Crafts & Things Miscellaneous Circuit Components $100.00 $100.00 Radio Shack Miscellaneous $50.00 $50.00 - Other parts that we didn’t use $75.00 $75.00 Servo City, Tower Hobbies Total $716.58 $681.58 Project Cost Schematics User Interface Switches: Each of the numbered switches corresponds with a station, and selecting a given switch will cause the vehicle to stop at that station. Any or all of the stations can be concurrently selected. Stations need to be selected before the start button is pressed. LED’s: Each of the green LED’s corresponds to one of the stations found along the track. When a selected station is reached, its LED will be lit. The error light will light if the vehicle inadvertently skids off the track. The light will remain lit until the vehicle is manually realigned with the track, and the start button is pressed. The obstacle light will light when the vehicle stops because it sees something in its path. The light will remain lit until the path is clear and the vehicle can continue. Buttons: The start button is used to tell the vehicle to move. It is used initially when the vehicle first starts, and well as to continue when a checkpoint has been reached. The start button is also used if the car skids off the track, and is placed back on manually. The reset button is used to stop the car. The reset button also clears any errors, clears all checkpoint LED’s, returns the vehicle to its initial state. Track following circuitry User interface circuitry H-bridge and servo circuitry O n Track and w aiting O n track and moving See O bstacle? yes no Still see obstacle yes C heck Status no C heck ifon track yes Error no C heck if on track yes no O ffto left? O ffto right? no Turn rightuntil back on track Turn leftuntil back on track yes yes Take otheraction no no D etected a station Station 1 Station 2 Station 3 no no Error Station 1 selected? Station 2 selected? Station 3 selected? yes yes yes Background Loop no no no Lightstation 1 LED Lightstation 2 LED Lightstation 3 LED yes yes yes O n track and w aiting Software Flowcharts Background Loop Flowchart Checkpoint Detection Flowchart Analytical Components Three phototransistor reflective object sensors were used to keep the vehicle on the track. The sensor used was the Fairchild QRB1134 phototransistor reflective object sensor. Opto- Reflector The Sharp GP2D12 is a general-purpose type distance-measuring sensor, which consists of a position sensitive detector and an infrared emitting diode and signal processing circuit IR Distance Sensor Checkpoints Checkpoint track patterns http://www.ce.rit.edu/projects/srprojects/2004.2/ rt_pt5000/ Position 1 Position 2 Position 3 Selected switches Unselected switches Buttons LED’s Reset Start Error Obstacle Station 1 Station 2 Station 3
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Transcript of PT 5000 RIT Computer Engineering Senior Design Project HardwareSoftware Ted TomporowskiPooja Rao The...
PT 5000RIT Computer Engineering Senior Design Project
Hardware Software
Ted Tomporowski Pooja Rao
The PT 5000 is a custom built RC car that is meant to deliver mail around an office. The vehicle follows a reflective tape path stopping at user specified checkpoints with its payload. It also stops if blocked by an
obstacle, and can detect if it has gone off the track.
February 2005
Part Actual Cost Our Cost Provided By:
Vehicle $43.29 $43.29 Toys R’ Us
2nd Vehicle $43.29 $43.29 Toys R’ Us
Colored LEDs ( many ) $15.00 $15.00 Radio Shack. Digikey
Distance sensors (7) $70.00 $70.00 Digikey
Opto-reflectors (10) $50.00 $50.00 Digikey
Battery Pack (5V) $15.00 $0
Battery Charger $10.00 $0
Extra Batteries $60.00 $60.00 Radio Shack, Dan’s Crafts & Things
HC12 $125.00 $125.00 CE Dept.
Servo Motor $5.00 $0 CE Dept.
Reflective tape (2) $5.00 $5.00 Lowe’s
IC’s $5.00 $0 Newark
Voltage Regulators(10) $15.00 $15.00 RadioShack
Steering Components $30.00 $30.00 Dan’s Crafts & Things
Miscellaneous Circuit Components $100.00 $100.00 Radio Shack
Miscellaneous $50.00 $50.00 -
Other parts that we didn’t use $75.00 $75.00 Servo City, Tower Hobbies
Total $716.58 $681.58
Project Cost
Schematics
User Interface
Switches:
Each of the numbered switches corresponds with a station, and selecting a given switch will cause the vehicle to stop at that station. Any or all of the stations can be concurrently selected. Stations need to be selected before the start button is pressed.
LED’s:
Each of the green LED’s corresponds to one of the stations found along the track. When a selected station is reached, its LED will be lit.
The error light will light if the vehicle inadvertently skids off the track. The light will remain lit until the vehicle is manually realigned with the track, and the start button is pressed.
The obstacle light will light when the vehicle stops because it sees something in its path. The light will remain lit until the path is clear and the vehicle can continue.
Buttons:
The start button is used to tell the vehicle to move. It is used initially when the vehicle first starts, and well as to continue when a checkpoint has been reached. The start button is also used if the car skids off the track, and is placed back on manually.
The reset button is used to stop the car. The reset button also clears any errors, clears all checkpoint LED’s, returns the vehicle to its initial state.
Track following circuitry
User interface circuitry
H-bridge and servo circuitry
On Track andwaiting
On track andmoving
See Obstacle?yes
no
Still seeobstacle
yesCheckStatus
no
Check if ontrack
yes
Errorno
Check if ontrack
yes
no
Off to left?
Off to right?
no
Turn right untilback on track
Turn left until backon track
yes
yes
Take other action
no
no
Detected a station
Station 1
Station 2
Station 3
no
no
Error
Station 1selected?
Station 2selected?
Station 3selected?
yes
yes
yes
Background Loop
no
no
no
Light station 1LED
Light station 2LED
Light station 3LED
yes
yes
yes
On track andwaiting
Software Flowcharts
Background Loop Flowchart
Checkpoint Detection Flowchart
Analytical Components
Three phototransistor reflective object sensors were used to keep the vehicle on the track. The sensor used was the Fairchild QRB1134 phototransistor reflective object sensor.
Opto-Reflector
The Sharp GP2D12 is a general-purpose type distance-measuring sensor, which consists of a position sensitive detector and an infrared emitting diode and signal processing circuit
IR Distance Sensor
Checkpoints
Checkpoint track patterns
http://www.ce.rit.edu/projects/srprojects/2004.2/rt_pt5000/
Position 1 Position 2 Position 3
Selected switchesUnselected switches
Buttons LED’s
Reset
Start
Error Obstacle
Station 1 Station 2 Station 3
