CSU-1 Project Updates Mechanical: Redesigned chassis for optimum control and distribution of weight Making chassis by casting a plastic resin in a mold Electrical/Software: Prototype circuitry built and some testing done Beacon code in progress

New Chassis design; 1 piece molded from plastic (instead of 3 separate pieces). Mold completed, casting this week. Robot final assembly next week.

Motor Molds ready for casting – machined on CNC

Wiring Schematic Data Receiving (Beacon receiver) Analyzing Data (Arduino Uno) Data Processing (Arduino Mega) Position Distance Bearing Moving Robot toward Beacon Finalizing hiccups with motors and then on to soldering. We’ll be using LiPo batteries.

Beacon code approach: Bearing GPS data Set to 0 to 179 Multiply by 2(to have 360 degree) Implement New Algorithm Using airplane bearing Idea Choosing small angle of turn Defining the two sets of angles separately 0-179 = angle 1 180—359 =angle 2 Subtracting robot GPS position to transmitter position according to the two hemisphere angle Choosing the smallest angle Angle 3 Converting angle to turn (left or right) Transmit new coordinates and data to Arduino Mega Convert data to mechanical movement In this case, the VOR/DME represents the true north for the Robot. Therefore, we have two points, and we can calculate the smallest angle; and point the robot to the correct coordinates.

Testing Testing with movement, direction and beacon on sparkfun ‘prototype’ robot. Plan is to test all electronics (including beacon code) on manufactured robot by the end of spring break

Challenges Encountered Using four motors draws a lot of current. Using two motor shields to avoid overheating. Also gives the option of 4WD if time. All team members are ME so electronic/programming side has been an experience (smoking boards…) Testing on actual (manufactured) robot has yet to commence so fingers crossed

To Do List: Cast Chassis and assemble wheels and motors Attach finalized boards Finish Beacon program and test/debug Test finished robot in similar conditions Continue to have fun and not get frustrated 

Questions/Comments?