1. Team01: Zelun Tie The design project Wall-E Prototype I is an intelligent automated trash collecting robot with obstacle detection capability. The robot responses to either user’s direct manual control, or the object tracking software, to locate and collect the targeted trash object (This prototype uses a colored ping pong ball as the prescribed target object – the “trash”).

2. UPDATED BLOCK DIAGRAM

3. Major Task for Micro: 1. Decoding Sensor Feed back 2. Decode command received via Xbee from PC end OpenCV recognition and tracking software. 3. Control robot movement. No heavy calculation or data transferring capability needed. Minimum Requirement: 4 ATD, 2 SCI, 1 SPI, 6 PWM, 1 I2C, 2 Digital I/O Extra Ideal Condition: 4 ATD, 4 SCI, 2 SPI, 8 PWM, 2 I2C, 6 I/O Break Down for Min Requirement: 4 * ATD: 4 Sonar range sensors; 2 * SCI: 2* Xbee (1 for command from PC, 1 for possible implementation of hand held control device); 1 SPI: LCD Screen; 6 PWM: 4 for speed control of motor drives, 2 for arm servos; 1 I2C: Fuel Gauge; 2 I/O: Fixed speed motor drive, testing, and expansion purpose MICROCONTROLLER DESIGN CONSTRAINTS

4. FreeScale 9S122*9S12PIC24FJ128GA110Minimum CPU Speed24MHz 32MHzN/A PWM51096 SPI3631 UART(SCI)2442 ATD816 4 I2C1231 Digital I/O816462 Pins3264100 Operate Voltage5V 2V-3.6V Max Current CostFree Free(by Sample) COMPARISON OF TWO CANDIDATE MICROCONTROLLERS Team Choice: single 9S12 with 1 multiplexed PWM port