Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for...
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![Page 1: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/1.jpg)
Team 6
Milestone II
Line Following
![Page 2: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/2.jpg)
Electrical
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Figure 1: Electrical configuration of Bender for Milestone 2
Used Port D for Phase, freeing two OC1/OC2
![Page 3: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/3.jpg)
Sensor Diagram
![Page 4: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/4.jpg)
Redesigning The Body
• Attempted to reduce body size by mounting to smaller metal plate.
• Plate required machining or wooden mockup to mount 68HC11, motor control unit and sensors.
![Page 5: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/5.jpg)
Tank Body
• Chris had used dozer style robots for his thesis
• Suggested that treads may make further milestones easier
![Page 6: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/6.jpg)
Tank Body
• This is the assembled tank unit we tried to modify as a base for Bender. (Though colors differ, toy is the same)
• Costs $99.99 plus tax in stores / online (only suckers pay this much).
• SKU 601-8262
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![Page 7: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/7.jpg)
Side-track• To obtain toys cheaply, call around to Radio
Shack stores• Ask for “broken” RC toys (RC toys without
remote control count as broken)• Buy the toy as a part (the tank came down from
$99.99 to $5)• Different Radio Shacks have different prices on
parts; Edmonton Center Radio Shack has best prices so far.
• If they don’t have something immediately, don’t give up. They do a stock cleanup every month, and mark new things as broken.
![Page 8: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/8.jpg)
Tank Body Modification• Removed the missile
launcher, existing PCB, speakers, etc.
• Mounted the 68HC11 on the back of the casing.
• Mounted the sensor housing on the front of the casing.
Sensor Mounts
68HC11 Mount
![Page 9: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/9.jpg)
Problems With Tank
• Too Stable– Leaving one actuator stopped or moving very
slowly with the other at full speed resulted in traveling in a straight line.
– Reversing one actuator and moving the other forward resulted in no forward movement. “Twitchy” behavior exhibited, and unable to progress towards goal while following line.
![Page 10: Team 6 Milestone II Line Following. Electrical Figure 1: Electrical configuration of Bender for Milestone 2 Used Port D for Phase, freeing two OC1/OC2.](https://reader038.fdocuments.in/reader038/viewer/2022110207/56649d2a5503460f949ff5ee/html5/thumbnails/10.jpg)
Solutions…?
• Forced to remount 68HC11 on wooden body due to problems with tank body.
• The sensor housing needed to be drilled again to account for the new body height, but as it was the night before the milestone, Chris was not available
• Used brackets and washers to get housing as close to the appropriate height as possible.