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Victor Mitselmakher

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Victor Mitselmakher. IMDL EEL5666 Summer 2002. Self ... JackRabbit BL1810. Integrated System. Difficulties Encountered. First robot based on Rabbit 2000 ... – PowerPoint PPT presentation

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Title: Victor Mitselmakher


1
  • Victor Mitselmakher
  • IMDL EEL5666 Summer 2002
  • Self-Centering Autonomous Bulldozer (SCAB)
  • August 6, 2002

2
Microcontroller
  • Rabbit 2000
  • JackRabbit BL1810

3
Integrated System

4
Difficulties Encountered
  • First robot based on Rabbit 2000
  • Learning Rabbit 2000 / Z-180 Assembly
  • Learning the Rabbit 2000 subsystems
  • Designing the PWM system
  • Faulty Sonar
  • Unreliable Electronic Compass

5
Limitations
  • Compass sometimes unpredictable
  • Wheel encoder distance measurement
  • Return behavior

6
Conclusion
  • Lots and lots of hours spent
  • Rabbit 2000 learned
  • Example code to build on
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