1. Computer Guided Trebuchet Seth Katz Matt Leese

2. Overview  Trebuchet is a medieval siege weapon Throws a projectile by utilizing a counterweighted arm  Computer control provides automated accurate targeting

3. System Overview  Trebuchet  Embedded Controller  Computer Trebuchet Embedded Controller Computer

4. Trebuchet Overview Pivot Arm SlingProjectile Count er Weigh t

5. Trebuchet Targeting  Targeting Range Azimuth  Range Governed by: Move counterweight for range  Azimuth Rotate trebuchet base

6. Trebuchet Specifications  Fire a Nerf Ball (~2 oz.) a distance of 15 ft.  Therefore: Counterweight of 12.5 lbs. Small Arm Length of 2.5 in. Long Arm Length of 12.5 in.

7. Actuators  Rotate trebuchet base DC motor connected to gearing  Move counterweight DC motor connected to a lead screw  Remove firing pin Servomotor connected to the firing pin

8. Trebuchet Design

9. Trebuchet Design (2)

10. Embedded Controller  MC68HC12  Provides control over trebuchet Input data from sensors Output data to actuators  Takes commands from Computer Sent desired azimuth and counter-weight location Sent fire command

11. Embedded Controller Block Diagram Embedded Controller Pivot Sensor Pivot Actuator Counterweight Actuator Counterweight Sensor Release Actuator Computer

12.  Windows GUI Program to select desired target  Calculates appropriate azimuth and counter-weight position  Commands Embedded Controller to move trebuchet  Commands Embedded Controller to fire

13. GUI Screenshot

14. Schedule

15. Questions?