RAMMBO the Robot Butler RAMMBO the Robot Butler R obert Morson A ngela Uribe M elissa Jansen M ahdi Moghaddamzadeh B ianca Ragin O ur team (as stated above)

Project Overview  Serves snacks/beverages upon request  Find owner location  Obstacle avoidance mechanism  Used in offices and at homes to save time  Served right to your desk, couch, beds, etc… Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Logistics Bianca Ragin

Functional Gantt Chart Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Milestone 1 Deliverables  Generation of motor driver signals  Motor modes complete  Forward and Backward to show control  PCB revision 1 done  Power system functional  Command transmitter debugging interface  Robot body structure built Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Milestone 2 Deliverables  Looks pretty  Finalized body complete  Paddle sensors active  Optical encoder functioning  Obstacle maneuvering  Functional combination of blocks  Establish wireless communication  Comes on command Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Design Expo Deliverables  Receive commands  Sends back status updates  Finds caller through remote vs. computer  Maneuvers easily through congested room Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Division of Labor Bianca Power Systems Primary and auxiliary power design Documentation and Schedule CDR compilation. Schedule tracking Hardware Frame design Material research Angie Movement Motor mount design Hardware Frame construction Material Testing Power Systems Power research Robert Microcontroller Lead software design Algorithm design Movement Command programming Test Design Test area design Test data collection Mahdi Wireless Core circuit design Peripheral design Circuit construction Microcontroller Software development Algorithm development Software development Sensing Ultrasonic Melissa Sensing Tactile Switches Ultrasonic Documentation and Budget CDR compilation. Resource tracking Test Design Hardware test design Test data collection Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Monetary Budget Bought ItemsPartQtyCostTotal+tax Xbee 1mW Atmel Microcontroller100 Brushless Motor 12 VROB Paddle switches Motor DriverMC Lithium-ion BatteryPSH-12100F2-FR CastorsSBT-1CS-3/ Xbee Explorer USBWRL USB Cable A to BCAB USB Cable A to BCAB Fasteners Aluminum Rode tube Threaded Rod ATmega 328 Chip15.50 ATmega 328 Chip14.30 TiresDagu Wild Thumper Wheel Total Items NeededQtyCostTotal + tax Optical Encoders Ultra Sonic Finders Other Electrical Parts200 Expo Poster150 Expo Technical Reference Manual150 Expo Users Manual150 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Power Systems Bianca Ragin

Power Up  9V Battery Pack no more  Lead Acid Battery  12VDC  41 Watts per Cell  10.5 Amp. Hr.  8lbs overall  Rechargeable  Nonspillable Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Voltage Regulator  Through hole  LM317  Voltage divider sets output voltage  Output Current = 1.5A  Needed Voltages:  12V, 5V, 6.6V Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Power Testing  Pin vs. Pout  Motors – 9V  Microcontroller – 9V  Xbees – 3.3V  Motor Driver – 6V  Encoder – 6V Using Voltage Regulators Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Power Circuit Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Vin = 12V To motor To micro- controller To Xbee To encoder To motor driver 9V Reg 9VCC 3.3V Reg 3.3VCC 6V Reg 6VCC

Board Design Melissa Jansen

Level 0 Level 0 Functional Decomposition Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Level 1 Functional Decomposition Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Level 2 - Motor Functional Decomposition Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Level 2 – Obstacle Avoidance Functional Decomposition Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Infrared Sensor

Level 2 – Find Caller Functional Decomposition Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Sensing Melissa Jansen

 Wall sensing  Transmitter & receiver next to each other  Very inexpensive  Single pole double throw  Short circuits when pressed  Very inexpensive  Simple to implement Obstacle Avoidance Infrared Tactile Switches Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Obstacles

Find Caller GPSUltrasonic  Transmitter on Remote  Two Receivers on Robot  Price within budget  Need two units  Accurate within cm  Accuracy increases price  Not within budget Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Ultrasonic

Sensor Testing  Switches  Voltage  Interrupt  Infrared  Time delay  Interrupt Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Sensor Testing  Ultrasonic  Voltage based on signal strength  Comparison of voltages from separate receivers  Algorithm for movement working with motors Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Programming and the Microcontroller Robert Morson

 Atmega 2560  Direct subsystems control  Moving RAMMBO about  Atmega 328P  Wireless controller  Telling RAMMBO what to do Microcontrollers Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Command Receiver Main Send Data Back Wireless Data Transfer

 Use Xbee  RS232  One-byte commands  Send back information Wireless Data Transfer  Testing commands  0x0: Status  0x1: Rotate Left  0x2: Rotate Right  0x3: Forward  0x4: Stop  User Commands  0x9: Come  0xA: Go away  More for other functions Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Command Receiver Main Find Direction Location Detector Send Data Back Wireless Transmission

 Use Ultrasonic Sensing  A-to-D  Signal Strength  Comparison Location & Direction Sensing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

2560 Software Command Receiver Main Find Direction Location Detector Send Data Back Move Forward Rotate Stop Movement Wireless Transmission Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

 PWM  Motors  Square Wave  Set period, duty cycle Movement Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Command Receiver Main Find Direction Obstacle Handler Collision Detector Location Detector Send Data Back Move Forward Rotate Stop Movement Blink Eyes Talk User Interaction Wireless Transmission

Talking Robert has no idea what he is talking about! Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

2560 Software Command Receiver Main Find Direction Obstacle Handler Collision Detector Location Detector Send Data Back Move Forward Rotate Stop Movement Blink Eyes Talk User Interaction Wireless Transmission Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

328P Software Main Send Command Attend Response Set Informative LEDs Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

 LEDs  Various Voltage-Testing Equipment  Logic Analyzer  Verify RS232 transmission  Output numbers from registers / variables Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Motor Control Angela Uribe

 DC Motor  Two DC Motors 12 V Rated Voltage  Operating Voltage from 4.5V-12V  Max Current at 48mA  RPM at Max Voltage 415rmps Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Motors

Tires/Castors  Wild Thumper Wheel  120X60mm  Easily mountable  Shaft diameter 4mm  Carbon Steel Castor  Omni-directional  Ball material  One inch ball rotates Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Optical Encoders  Hardware  GP2Y0D810Z0F  Operating range 2.7V-6.2V  Current pulled: 5mA  Digital voltage output  Distance sensor  2cm-10cm Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Motor Driver  Dual MC33887 Motor Driver  DC Motors Range 5V-28V  Used for Both Motors  Driver Chips  2 Inputs CW/CCW and PWM  2 Enable Pins  2 Disable PWM inputs “Low” Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Motor Driver Schematic  MC Motor Diver Chip Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Motor Driver to Motor Testing  Hardware  Pulse Width Signal  Speed of Motor  Forward/Reverse  Supply Voltage of 4V-12V  Software  Set Speed  Set Direction  Enable Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Communication Mahdi Moghaddamzadeh

Wireless Communication  Two Xbees  RX, and TX ports for communication  Powering Xbees through Microcontrollers Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Voltage Level Shifter  3.3 V to 5 V and vise versa Ground from Xbee 3.3 V from Xbee 3.3 V Data Output 3.3 V Data Input 5 V Data Input 5 V Data Output 5 V from Atmega Ground from Atmega Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Communication Testing  1 st stage: PC to PC  2 st stage: PC to Atmega  3 rd stage: Atmega to Atmega Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Communication Testing  Setting up Xbee’s through X-CTU software 1 st stage: PC to PC  Communication through X-CTU terminals Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Communication Testing  Send data through X-CTU terminal  Receive it through Xbee connected to the MicroC  Turn on an LED 2 st stage: PC to Atmega PC (X-CTU) Xbee Atmega2560 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Communication Testing  Send data through Atmega328  Receive data through Atmega2560  Testing: two buttons/two LED’s  Then Vice Versa 3 rd stage: Atmega to Atmega (yet to be done) Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Risks/Solutions/C ontingency Plans Mahdi Moghaddamzadeh

Change of Plans NO CANDY SHOOTING NO CANDY SHOOTING SYSTEM… SYSTEM… Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 It’s REALLY difficult!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

Risks, Delays & Contingencies  Ultrasonic Sensors  Ability to sense the signal coming from owner  Path Finding  Most efficient algorithm  Controller failure  Interrupts and function calls not working properly  Motor driver implementation functional Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Conclusion  On schedule  Expectations  Expo objectives  RAMMBO is awesome. Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

Questions? Thanks Thanks NOT this Rambo!!! Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011