GreenJacket

1
GreenJacket

• IMDL Summer 2002
• Final Report
• Matthew Chernosky
• August 6, 2002

2
Overview

• Robot Functions
• Processor
• Software Development
• Locomotion
• Special Behaviors
• Navigation

3
What does it do?

• Golf putting practice robot
• Receives putts through opening in side
• Collects golf balls
• Adjusts to misaligned putts
• Deposits balls

4
What does it do?
Balls travel into here
5
Processor and Board

• Atmel ATMega163
• 6 MHz
• 3 PWM channels
• 8 channel, 10-bit ADC
• MegaAVR-Dev Board
• ISP Port
• Port headers
• Power regulation

6
Software Development

• Development in C
• AVR-GCC
• Atmel AVR Studio 3.54
• Function libraries developed
• Motors
• Servos
• Analog Ports
• Bump network

7
Locomotion

• 4 servo driven wheels

Channel 1
Channel 2
8
Locomotion

• 2 channels, left and right
• Locomotion servos driven by external PWM system

9
External PWM Overview

• 2 additional channels implemented
• Channels used for locomotion
• Altera MAX7032 CPLD
• Development in VHDL

10
External PWM Interface

• 3 Settings for each channel
• Forward
• Reverse
• Stopped
• A 2-bit wide input bus selects desired setting
  for each channel
• 4 output port pins of uP

11
External PWM Design
1 MHz oscillator
Atmel Mega163
Chan A select
Altera MAX7032
PWM A Out
PWM B Out
Chan B select
CPLD
Microcontroller
12
External PWM Design
Reset
15-bit counter
Logic
FF
PWM A
1 MHz clock
FF
PWM B
Chan A select
Chan B select
CPLD
13
Ball Collection

• Contact switch generates interrupt
• 2 servos
• Mechanism
• Rake traps balls within robot
• Lifter lifts balls into robot

14
Ball Deposition

• 1 servo
• Balls collect in ramp
• Servo moved to release one ball at a time

15
Lateral Correction

• 2 long range IR distance sensors (Sharp
  GP2Y0A02YK)

16
Navigation

• 2 forward facing IR sensors (Sharp GP2D120)
• 2 bump sensors, forward and rear
• Operates between two walls
• Turns at right angles using IR and walls

17
Navigation
User starts
18
Navigation
Goes out to wall
19
Navigation
Rotates
20
Navigation
Collects putts
21
Navigation
Rotates
22
Navigation
Returns
23
Navigation
Rotates
24
Navigation
Deposits balls
25
Conclusion

• Successes
• External PWM Hardware
• Ball Collection Mechanism
• Future work
• Lateral ball tracking
• Navigation