Design Presentation 2 Automated Pickup and Delivery System Sanjay Manglam Jimmy Shek Adam Chipalowsky

Design Goals Detecting objects (known as targets) To distinguish between obstacles and targets. Acquire targets of varying height. Retrieving targets Ethernet Connectivity

Division of labor Sanjay IR sensors, Ultrasound, application software, target design, testing Jimmy Crane hardware, target construction, hardware user interface, IR, testing Adam Application software, Internet user interface, testing

Specifications Resolution Four 16bit PWM controlling four servos 8bit ultrasound sensor IR using 38khz base frequency and 500Hz overlaying. Two HC12s using 8bits of Port B to “talk” to each other Hardware user interface contains four 7-segment displays Two to display ultrasound reading Two to display # targets remaining and # targets to acquire All four displays are powered by 4bit binary to ASCII PLAs

IR emitter

Crane Modifications

Crane interface board

Application Software

System diagram

Application Software continued Software is spread over 2 HC12s Communication is needed Used 8bits of PORT B

Internet User interface

Work Completed thus far …(just about everything) Motor control Hardware user interface Internet user interface IR sensors detect targets Ultrasound provides distances Software can align the arm and reach for targets some testing

Work to be completed Test for reliability Documentation

Power consumption Power supplied by RG&E (no batteries) Targets, each 22mA, 5V input HC12s, each 70mA, 5V input IR detector 10mA, 5V input Ultrasound 30mA, 5V input Servos measured ~50mA under low load, ~200mA under normal load (each)

Test Plan Self test will verify LEDs and interconnections to user interface Testing of each component Verify emitters Verify HC12 communication Verify internet access Verify sensor outputs Verify motor PWMs

Test Plan continued (done!) Basic Tests – functional (done!) Place targets at extreme distances (min, max) and several places in between. Place obstacles and verify crane does not attempt to capture them. Testing radius Verify we can detect targets at all angles Advanced tests Acquire several targets consecutively

Budget