Table Dancer Final Design Presentation 10/20/04 Team Members: Ryan Gray Dale Williams Emeric...
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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
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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
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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
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System OverviewSystem Overview
Emeric
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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
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Side View
Emeric
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Emeric
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Assembled RobotAssembled Robot
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Position SensorPosition Sensor
Dale
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Position Sensor CalculationsPosition Sensor Calculations
Dale
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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
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Electrical OverviewElectrical Overview
Dale
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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
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Interface DiagramInterface Diagram
Dan
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Dan
Software OverviewSoftware Overview
Dan
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Programming BoardProgramming Board
Dan
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Dan
Emeric
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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
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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
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Questions?Questions?