Team Gary

Dan Farley

Tyson Rogstad

Erik Flum

Rob Koch

Gary Zigmann

Background Information

• Pat Teehan developed the MARV platform to be used by future Electromechanical students for their miniprojects.

• MARV is includes a HC12 microcontroller, a Scorpion XL motorcontroller and two Denso DC gear motors.

• The frame is constructed of 8020 extruded aluminum which allows easily assembly and alteration.

Problem Statement

MARV2 is in an empty room. When MARV2 senses its battery is low, it needs to autonomously recharge its battery.

Solution Statement

• Use mechanical switch to simulate voltage low condition

• Sends MARV into search routine, where it aims to detect a light source

• Motors controlled by output voltages of sensors mounted on front and rear

Docking Station

IR Emitter

AC to DC

BatteryMicrocontrollerMotorcontroller

IR Receiver

MARV

System Overview

Electrical Probe

MARV Finding Docking StationBattery Voltage Is Low, IR Receivers Activated, MARV Spins

MARV Finding Docking StationReceiver Detects IR Emission

MARV Finding Docking StationMARV Spins Until Both Receivers Are Equal

MARV Finding Docking StationMicrocontroller compares rear sensor to front sensor

MARV Finding Docking StationMARV Reaches Docking Station, Probes Touch Electrical Connection

Mechanical Design of Docking Station

AC to DCIR Controls

Vertical Supports

Alignment BracketsFor IR Emitters

Electrical Connection

Wood Base

Mechanical Design of Probes

Code Flow ChartBattery Low

Check Buttons Spin Left

Compare Front Sensors

Compare Front and Rear Sensor

Go Straight

Stop

Drive Straight

350 ms

Stop Button

Pressed

Vlow On

Rear Sensor Greater Than

or Equal to Front Sensor

Front Sensors

Not Equal

Front Sensors Equal

Front Sensor Greater than Rear Sensor

Charging Circuit

On Charging Station

Infrared Emitter Circuitry

Sensor Circuit

To HC12

CdS resistor

Light circuit

Standard Wall Receptacle

Personnel Assignments

TYSON Sensors & Emitters

ERIK Power Supply

ROB Docking

DAN Software

GARY Software

Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8Group upConcepts and Design IdeasResearchBuilding MARVsFinalizing IdeasCharging Circuit(Building and Testing)Sensor/Emitter Circuit (Building and Testing)Testing MotorcontrollerSoftware to HC12Software IdeasMotor SoftwareSensor Detection SoftwarePresentation

Work Breakdown Structure

Budgetpart # estimated cost actual cost for us total estimated total actual

MARV 1 $800.00 $0.00 $800.00 $0.00HC12 1 $120.00 $120.00 $120.00 $120.00CdS Senors 3 $0.50 $0.00 $1.50 $0.00sensor mounts 3 $4.00 $0.00 $12.00 $0.00probes 1 $5.00 $5.00 $5.00 $5.00probe mounts 1 $3.00 $3.00 $3.00 $3.00wire 1 $5.00 $0.00 $5.00 $0.00stallpoly 1 $3.00 $0.00 $3.00 $0.00IR Sensors 5 $5.00 $5.00 $25.00 $25.00IR Emitter 6 $1.60 $1.60 $9.60 $9.605 minute epoxy 1 $1.00 $0.00 $1.00 $0.00tape 1 $1.00 $0.00 $1.00 $0.00assorted electronic components 1 $1.00 $0.00 $1.00 $0.00bread board 1 $2.50 $0.00 $2.50 $0.00

plywood 1 $9.00 $0.00 $9.00 $0.002x's 1 $4.00 $0.00 $4.00 $0.00steel rails 1 $1.50 $0.00 $1.50 $0.00legs 1 $2.00 $0.00 $2.00 $0.00screws 1 $1.00 $0.00 $1.00 $0.00light 1 $13.00 $0.00 $13.00 $0.00resistor 7 $0.05 $0.00 $0.35 $0.00electolytic capacitor 1 $0.80 $0.00 $0.80 $0.00capacitor 2 $0.30 $0.00 $0.60 $0.00voltage regualtor 1 $2.00 $0.00 $2.00 $0.00transformer 1 $8.00 $0.00 $8.00 $0.00diode 1 $0.05 $0.00 $0.05 $0.00op-amp 1 $0.30 $0.00 $0.30 $0.00LED 1 $0.05 $0.00 $0.05 $0.00bridge rectifier 1 $2.20 $0.00 $2.20 $0.00power resistor 2 $1.15 $0.00 $2.30 $0.00transistor 1 $0.12 $0.00 $0.12 $0.00

total estimated cost: $1,036.87total actual cost: $162.60

MARV Budget

Charging Station Budget

Questions?