1. 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)

2. 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

3. Logistics Bianca Ragin

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

5. 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

6. 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

7. 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

8. 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

9. Monetary Budget Bought ItemsPartQtyCostTotal+tax Xbee 1mW250.00 Atmel Microcontroller100 Brushless Motor 12 VROB-08913211.6612.95 Paddle switches69.9010.70 Motor DriverMC33887139.9540.00 Lithium-ion BatteryPSH-12100F2-FR127.9543.67 CastorsSBT-1CS-3/8211.9925.90 Xbee Explorer USBWRL-08687224.9549.90 USB Cable A to BCAB-0051213.95 USB Cable A to BCAB-0051513.95 Fasteners201.20 Aluminum Rode tube442.68 Threaded Rod410.47 ATmega 328 Chip15.50 ATmega 328 Chip14.30 TiresDagu Wild Thumper Wheel229.9043.85 Total349.02 Items NeededQtyCostTotal + tax Optical Encoders213.9029.50 Ultra Sonic Finders224.9526.95 Other Electrical Parts200 Expo Poster150 Expo Technical Reference Manual150 Expo Users Manual150 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

10. Power Systems Bianca Ragin

11. 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

12. 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

13. 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

14. 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

15. Board Design Melissa Jansen

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

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

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

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

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

21. Sensing Melissa Jansen

22.  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

23. 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

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

25. 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

26. Programming and the Microcontroller Robert Morson

27.  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

28. 2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011 Command Receiver Main Send Data Back Wireless Data Transfer

29.  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

30. 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

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

32. 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

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

34. 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

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

36. 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

37. 328P Software Main Send Command Attend Response Set Informative LEDs Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

38.  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

40. Motor Control Angela Uribe

41.  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

42. 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

43. 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

44. 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

45. Motor Driver Schematic  MC338877 Motor Diver Chip Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

46. 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

47. Communication Mahdi Moghaddamzadeh

48. 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

49. 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

50. 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

51. 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

52. 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

53. 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

54. Risks/Solutions/C ontingency Plans Mahdi Moghaddamzadeh

55. 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!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

56. 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

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

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