Windell Harold JonesMechanical EngineeringMarch, 7 2008

The FIRST OrganizationProject OverviewThe CompetitionWaipahu’s TeamGhost Rider’s SubsystemsControls ModificationGyro Control LoopProgrammingNear Future Plans

Non-profit organization that aims to intrigue young adults to pursue a technology related career through a friendly robotic competition.

Excite young adults about technology.

Mentor the Waipahu High School robotics team by connecting their ideas with reality

Teach the team how to code the Robot Controller

Help with interfacing gyro sensor to robot controller

Modify the operator interface controls Give them valuable hands-on

experience

Two main divisions: Six-week build season (Jan 5-Feb 19) Competition season (Feb 28-April 19)

Hawaii regional: March 27-29!!!

Length: 15s hybrid + 120s teleoperatedPoints: -4 points for each line crossed-8 points for hurdling 40” ball over overpass-8 points for knocking down ball during hybrid.

• Six members:• 2 Juniors• 3 Sophomores• 1 Freshmen

• All rookies• All part of the Engineers

Club• Little to no hands-on

experience

Simplest of the three subsystemsMostly composed of Aluminum 6061

Angle and cross braces Including acrylic ¼” thick protective

cover30mm Bosch Extrusion

Robot Controller (PIC18F8520)

PWM motor controllers

12 VDC power source

Spike Relays (Pneumatics)

Resettable Circuit Breakers

2-Globe motors 2-8” wheelchair

wheels Conveyer belt

material for extra traction

10 fps translation 90 deg/s rotation

(limited by gyro)

Code written in C Using the

Microchip’s MPLAB IDE using the C18 library set

Two files to modify user_rountines.c

(26ms) user_routines.c

Problem: Confusing as to where to edit code.

Problem: X-axis and Y-axis combination not intuitive.

Leads to a high practice requirement

Solution: Steering wheel Joystick throttle

Differential drive leads to high maneuverability

Hard to control as reaction times are slow

Using a gyro to maintain desired rotations solved problem

Proportional feedback control used

Designing and building a robot in six weeks is difficult.

Especially when it is required that the students be involved.

Dramatic tool skill increase observedFuture Plans: Add Hybrid mode code

at the competition.

Come see us compete along with many local high school teams!

March 27-29, Stan Sheriff Center