EMRAM Mini-Sumo Project INNOVATIONS

EMARAM INNOVATIONS Team Members: Nick Enriquez Project Manager, MCU Programmer, PCB Design Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes Presentation Editor, Motors, Power Supply Support Catherine Acain Reports Editor, Power Supply, PCB support Isai Michel Webmaster, Body & Mechanics, Programming support

“The Juggernaut”

PROJECT OVERVIEW Mini-Sumo Competition Design Specifications –500g maximum weight –10cm x 10cm maximum width and length –No destructive techniques Our Design Approach –Robust Frame –High Torque –Simple but effective software implementation

Body & Mechanics

Track system Sprocket Idler Tracks

Finished goals Chassis Track traction system –Sprocket –Idler –Track –Coverings Bumper PCB and component mounting

Vehicle demonstration

Motors

SERVO MODIFICATION

Pulse Width & RPM Testing

Sensors

Photo Sensor QRD1113 Reflective Object Sensors (Fairchild Semiconductors) 4.36 V swing (4.59 V to 228 mV) from black to white surfaces 1 V - Threshold

Distance Sensors 400 mV - Threshold

Distance Sensors

Power Supply

Lithium Ion Polymer Battery 3.7 V each3.7 V each 7.6 V Total Provided7.6 V Total Provided Light-Weight: 0.7oz.Light-Weight: 0.7oz. Easy to Charge/ RechargeEasy to Charge/ Recharge

Voltage Regulation Schematic

Battery & Power Supply Specs Current Draw: 650mA – 750mACurrent Draw: 650mA – 750mA Power: 4.94W-5.7WPower: 4.94W-5.7W Battery Rating: 800mAHBattery Rating: 800mAH Actual Charge Rating: 780mAHActual Charge Rating: 780mAH Avg. life (fully charged): 45 minutesAvg. life (fully charged): 45 minutes

Microcontroller & PCB Layout

PRINTED CIRCUIT BOARD

SYSTEM INTEGRATION

YES Are we at the boundary ? Is enemy in range? MODE: Pull-Away MODE: Attack NO 5-second delay MODE: Turn and Seek Program Start YESNO Algorithm Flowchart

Freescale MC9S12C32 Hardware: –Module Utilization –Programming via BDM Port –Removal of components Software: –Delay function 5-Second Start Delay Line Sense Function –Phototransistors Priority ADC Threshold Value = 0x32 –IR Proximity Sensors ADC Threshold Value = 0x15 –Motors Utilizing PWM vs. Bit banging Controlled by adjusting Duty Cycle

Functional demonstration

Project Scheduling & Budget

GANTT CHART

‘BEFORE’ and ‘AFTER’

Questions?