1. 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

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

3. Motor Molds ready for casting – machined on CNC

4. 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.

5. 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.

6. 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

7. 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

8. 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 

9. Questions/Comments?