Why just THROW the ball to Her? When you can BE THE BALL for
Contents
1. Go from traditional throw and catch to so much more Stra Pooch Table of Contents 3 Features and Usa sst sasear s0ss 3 re 4 User ETC REN 5 en ee 5 E as 5 EE 6 Industry Standards Patent Research and Liability sscccsssssscssssscsssscesssssssesesssssseenes 7 Assembly DaM AaS e a Eeer pda oes 8 KOA E REAA EH 14 EEN EE 16 tose ache ege 19 Computer SOWA a 20 SOMWA Ehari iat isla 21 22 For H Bridge Schematic Version 22 ee ee 23 For Computer Ee EE 24 Bottoni Lot ssa casein eed ia ode 24 KW WI 25 Presented by Allen Clark Kieu Dinh 9 Bilal Haroon Richard Hosch Abstract They say dog is man s best friend for the elderly this is exceptionally true Finding a way to allow those who have pets but are unable to interact with them do to limited mobility is the whole goal of the Stray Pooch Dog Toy The Stray Pooch Toy itself comprises2. x 10 if x 1 I the incoming byte is not 1 no value value_read i x Stores the incoming number in char array value_read i 0 Sets last value carriage return to null Converts the char array to integer value speed_value atoi value_read If speed value greater than zero the direction of motors will spin forward if speed_value gt 0 analogWrite enable2Pin speed_value digitalWrite motor3Pin HIGH Set leg 1 of the Motor2 high digitalWrite motor4Pin LOW Set leg 2 of the Motor2 low analogWrite enablelPin speed_value digitalWrite motor1Pin HIGH Set leg 1 of the Motorl high digitalWrite motor2Pin LOW Set leg 2 of the Motorl low I speed value less than zero the direction of motors will spin backward if speed_value lt 0 4 analogWrite enable2Pin speed_value 1 digitalWrite motor3Pin LOW Set leg 1 of the Motor2 high digitalWrite motor4Pin HIGH Set leg 2 of the Motor2 low analogWrite enablelPin speed_value 1 digitalWrite motor1Pin LOW Set leg 1 of the Motorl high digitalWrite motor2Pin HIGH Set leg 2 of the Motorl low I no key is pressed no movement will occur if speed_value 0 Z digitalWrite enable2Pin LOW digitalWrite enablelPin LOW Blinks the LED signifying restart void blink int whatPin int howManyTimes int milliSecs int i 0 for i 0 i lt howManyTimes i
3. digitalWrite whatPin HIGH delay milliSecs 2 digitalWrite whatPin LOW delay milliSecs 2 21 For H Bridge Schematic Version 3 2 BILL OF MATERIALS FOR H BRIDGE SCHEMATIC Bill of Materials PART PRICE PRICE TY MFG PART NO SOURCE 2 DESCRIPTION PER UNIT PER 100 XBee DigiMesh 2 4 _ XBEE 1 Module any XBee Digi Mouser 19 00 19 00 modem will function DMWIT 250 Electronics 8 bit ATMEGA ATMEGA8 Mouser 1 ers Atmel 16PU Electronics S 2 61 5 2 08 DATASHEET ZIC1 1 28 pin IC socket 3M 4828 3004 cp 5 6031 0 21 Iesse Electronics 5V compliant buffer Texas SN74AHC125 Mouser 1 chip Instruments N Electronics gt 0 56 gt 0 30 IC3 1 14 pin IC socket 3M 4814 3004 cp MSE 0 13 0 09 Lesen Electronics 1 36V Quad Half H Texas SN754410NE Leue 2 30 1 66 oatasneer Bridge Instruments Electronics IC1 1 16 pin IC socket 3M 4816 3000 cp MOUSE 0 13 0 09 Lesser Electronics 16 MHz Resonator Mouser Y2 1 16 MHz crystal may ECS ZTT 16 00MX a 5 0 50 5 0 35 DATASHEET be used with caps Electronics BJT NPN Transistor M a1 1 any 92 Fairchild FIN3303FBU 6020 0 15 packaging will do Electronics i M IC2 1 gt VlnearVoltase Gairchid 7805 OUSE 6054 0 40 mee Regulator Electronics 3 3V Low Drop Out Microchip MCP1700 Mouser IC4 1 ee A 7 c Voltage Regulator
4. Technology 3302E TO Electronics SE SE R1 R2 2 2000hmresistor KOASpeer cr1 aczou Mous 6015 0 10 Electronics R3 1 1 Mohmresistor Xicon 299 1M RC MOUSer 0 10 0 06 oatasneer Electronics R RS R7 4 1 Kohm resistor Xicon 291 1 5K RC MST 5010 0 05 een R8 Electronics M ea 7 araa Xicon 291 10K RC HUE 0 10 0 05 patasneer Electronics 22 QTY PART DESCRIPTION 0 1 uF 100nF capacitor MFG PART NO 140 50V5 104Z RC Electronics SOURCE BILL OF MATERIALS FOR H BRIDGE SCHEMATIC PRICE PRICE PER UNIT PER 100 Mouser DATASHEET 47 uF capacitor 140 MLNP10V47 RC Mouser Electronics DATASHEET POWER amp AD 6 pin header 3M 929870 01 06 Electronics Mouser DATASHEET IOL 8 pin header 3M 929870 01 08 RA Electronics Mouser DATASHEET Mouser DATASHEET Electronics PINHD 10 pin header 2mm Harwin M22 7131042 TOTAL PRICE 93 SP PER UNIT PER 100 For Assembly Drawings BILL OF MATERIALS FOR DOG TOY ASSEMBLY DRAWINGS REF QTY PART DESCRIPTION SOURCE PRICE Manufactured from radial aluminum The Yard per lbs 1 4 ID 3 4 OD Radial Ball Bearing BRC Bearing per unit Manufactured from stock aluminum The Yard per Ibs 2 5 1 4 Hex Bolt Ace Hardware per unit Gearbox Sparkfun p
5. This is the toy software written in Arduino It will convert the incoming bytes into integer values which will control the speeds of the motor define switchPin 2 Switch input define motor1Pin 3 Motor 1 leg 1 pin 3 define motor2Pin 4 Motor 1 leg 2 pin 6 define motor3Pin 6 Motor 2 leg 1 pin 11 define motor4Pin 7 Motor 2 leg 2 pin 14 define enablelPin 9 Motor1 enable pin define enable2Pin 10 Motor2 enable pin define ledPin 13 Reset LED char value_read 5 Define char array for reading serial values int speed_value 0 Define an initial speed void setup Serial begin 9600 Turn on the Serial Port at 9600 bps Serial flush Clear all serial inputs Set all the other pins you re using as outputs pinMode motor1Pin OUTPUT pinMode motor2Pin OUTPUT pinMode motor3Pin OUTPUT pinMode motor4Pin OUTPUT pinMode enable1Pin OUTPUT pinMode enable2Pin OUTPUT pinMode ledPin OUTPUT Blink the LED 3 times This should happen only once If you see the LED blink three times it means that the module reset itself probably because the motor caused a brownout or a short blink ledPin 3 100 void loop int x Sets storage variable for Serial read int i 0 Defines a counter for while loop As long as the incoming serial byte is not a carriage return or new line the values will be stored in the value_read array while x Serial read 13 amp amp
6. of micro controllers two hobby motors a gearbox and a single axle support frame To be included in the overall process is the XBee transmitter and receiver set this allows the toy to be controlled by a laptop or desktop computer system For the software there are two programs one for the micro controller and the other for the computer to send commands to the ball via the XBee set i e push the s button for forward movement and the w button for the opposite direction It is the idea that this new concept of interacting with a dog will work on an acceptable level given the right breed combination meaning the size of toy is not intimidating to the dog and some encouragement from the dog s owner Interest in the Stray Pooch design has been addressed among family and friends of the designers and improvements have been acknowledged and not yet implemented based on the comments provided to the designers Features and Usability This toy was designed to have the most efficient means of motion spherical This will allow the user to have control without planning a complex route to control the toy An obvious feature and the primary reason for the overall design is that the toy is remote controlled from a computer This provides those with limited mobility an easier way to play with their beloved pets The prototype is designed to have all electronics within the spherical shell preventing the beloved pet from destroying the toy T
7. the Stray Pooch Design Team did The following describes along with provides links to the patents themselves ideas that have similar concepts as the Stray Pooch Training Guidance System Patent No US 7 861 676 B2 Pet Entertainment System Pub No US 2008 0282988 The following are possible liability statements to incorporate into the user manual once a consumer product is developed In the following we us the group indicates all who participated in the design and fabrication of the Stray Pooch Dog Toy By pet we mean a dog or a cat By toy we mean the Stray Pooch Dog Toy e We are not responsible for lost pets e This toy is designed for appropriate use This means o Playing with a pet in a manner that does not endanger the pet owner or the pet itself No liability can be incurred due to any incidents or damages that occur while using this toy in any unintended function e Any alterations done on the toy either mechanical or electrical will result in freeing us from any liability Figures Assembly Drawings These drawings are the working views of the toy itself All models were created in CATIA V5R18 a computer aided 3D designing software that allows visualization of virtual models in real time These assembly drawings were used to create multiple working prototypes of the toy The first sheet shows a completely assembled toy as it will appear to the pet The second sh
8. DO iva ED A JILIL ONIMVYC 1 99198 UIAM INO 1 HJOQOOd AVY 1S payeo UNWWo9 Jo 95 149 aq 1482 y Auadoid 1 si Suimeap SIUL Codes Software was produced to make this toy functional one for the computer and one for the toy itself All software was written in the C language due to its relative ease of learning and versatility The toy software was written in an Arduino designing environment using the Arduino Software written by the open source group of the same name available at the Arduino Source page This environment runs entirely within C and uses a serial connection to push the user created software to the microcontroller The computer software was generated using the Processing environment Again this is an open source environment designed to allow users to generate C programs for deployment on multiple platforms It is capable of using the USB and serial ports on any machine as an input and output means of communication This capability was exploited to allow the XBee module which connects to a USB port to communicate with the toy wirelessly as if it were a directly attached peripheral 19 Computer Software This is the computer software generated in Processing As W is pressed on the keyboard the spee
9. ISOH PJCYIY AOL 9 i 31111 ONIMVYG 1 99198 US JNO 1 HJOOd AVY 1S pa ed UNWWOD JO aq 1169 y Auadoid 1 si Suimeap SIUL V V MJIA NOILOAS SaYvY3 Hl OZ v T iSt 0 SGV4IYHL ZE OT 6T XZ SC OY XC AISINASSYV ONINV3E dy 9 ESCHER V TTOZ ST 80 S S 81 LHOISM Z T JVS H OOd AVUYLS avd 8 GANDISIG C TOO SGWI y 3 YIGWIANONIMVUG 3 5 alya 8 43 23 2 TTOZ OT TT UISOH DIEU AOL Od 31 Ad NMVYA 31111 ONIMVYC 1 99198 US JNO 1 H OOd AVALS EE 14182 y Auadoid 1 si Suimeap SIUL 43 iGLOD XZ 1319 88 ONILNNOW LITT OD XZ VIYILYN 096 SNIAYY GNA OY SLITI TIV MalA 43 Support Structure Figure 2 Side view of End Cap Cap Bearing Assembly and Gearbox Coupling 14 Figure 4 Complete view of Gearbox Assembly without circuit board attached 15 Figure 5 Rear view of Gearbox Assembly showing attachment of the gearbox itself Schematics Three major versions of the electrical schematics were generated The first version created was a complete mockup of the Arduino Microcontroller design the motor driver c
10. alking to the family and friends of the design group prompted a consensus the prototype and the concept that surrounds it looks promising however they would not purchase the toy as it is now Some key features that should be looked into are as follows have a user friendly power switch and look into a plug and play design Productibility The construction of this toy is fairly simple and easy to mass produce One of the requirements though would be investing more time for research and development to reduce the size of the toy from 11 5 inches to say eight or nine inches along with designing a less sophisticated design for the support and housing of the toy s internal components A bill of materials for the current prototype will be presented later on however this design will have a price range for the parts only of 100 00 to 126 00 depending on if the parts were bought at bulk Again this is a prototype design for proof of concept and it is recommended that further development along with stricter cost analysis is needed to build a profitable design for marketability User Manual Disclaimer All topics discussed in this section are general ideas of what could be in here however this product is not yet ready for market and it should be noted that when it is further elaboration is needed for the user manual Instructions 1 Check contents to ensure that everything 15 present 2 Insert installation disk and follow th
11. d of the motor will increase in the forward direction Pressing S will increase in the reverse direction import processing serial Serial port int counter 0 Defines a counter and stores 0 String data r Defines the string data and stores a carriage return void setup size 100 100 println Serial list The first port in the serial list on the computer is always the last item to be connected For the purposes of this demonstration Serial list 0 is used the first port is opened port new Serial this Serial list 0 9600 void draw rect 25 25 50 50 Draws arbitrary box within window if keyPressed true This loop is performed only when the W key is pressed if key wii counter delay 100 Once the counter reaches 256 it will become to 255 since 255 is the max This will cap the speed at 256 if counter 256 counter 255 This loop is performed only when the W key is pressed if key s counter delay 100 Once the counter reaches 256 it will become to 255 since 255 is the max This will cap the speed at 256 if counter 256 counter 255 else counter 0 fill counter data counter r Generates string to send over serial connection port write data Sends data string through the serial connection 20 Toy Software
12. e auto run instructions if problems with auto run occur follow the directions below a Navigate to the CD ROM drive b Double click setup exe 3 Enjoy Contents 11 5 Stray Pooch Dog Toy Installation Disk Xbee Transmitter w USB adaptor Mini USB Cable Trouble Shooting Problem Possible Fixes e Ensure that the battery is installed Ball does not respond to e Restart computer commands from computer e Reinstall software e Press restart button e There might be a problem with the gearbox therefore for this Ball is not rolling even though the and any other problems not listed motors are moving visit the following website to get in contact with the manufacturer e Tech Support Page Industry Standards Patent Research and Liability Given this design uses a non rechargeable battery industry standards for the toy are not applicable however if the toy did have the ability to recharge itself then proper labeling would be needed on the charger This label would inform the users to such things as input and output voltages and currents Warning symbols might tell the user to properly dispose of the charger and caution statements that inform the user to only plug the toy into a grounded outlet Further elaboration involving the development of this portion would be needed once a marketable product is made Good news nobody else from the research conducted has developed the same idea as
13. eet shows an exploded view of toy with each part labeled The remaining sheets show each of the 3 parts that were manufactured V TTOZ ST 80 S T 3 LHOIAM E T Jos H OOd AVUYLS 3 8 GANDISIG 4 TOO SGWI V AW YIGWIANONIMVUG az is ava 8 43 23 2 TTOZ OT TT UISOH pyeudly AOL Od 313 Ad 31111 ONIMVYC 1 199198 US JNO 1 1 H OOd AVALS EE 1482 y Auadoid 1 si SIUL V TTOZ ST 80 S Z 81 1 S T JVS H OOd AVUYLS avd 8 GANDISIG C TOO SGWI y 3 YIGWIANONIMVUG az s alya 8 43 23 2 TTOZ OT TT UISOH DIEU AOL Od 31 Ad NMVYA 31111 ONIMVYC 1 99198 US JNO 1 H OOd AVALS EE 1 169 y Auadoid 1 si Suimeap SIUL V TTOZ ST 80 S 3 H OOd AVUYLS avd 8 GANDISIG C TOO SGWI y 3 YIGWIANONIMVUG az is alya 8 43 23 2 TTOZ OT TT UISOH DIEU AOL Od 31 Ad NMVYA 31111 ONIMVYC 1 99198 US JNO 1 H OOd AVALS EE 1 169 y Auadoid 1 si Suimeap SIUL 08 5137114 TIV TIV NYHL SZT O savanni orae es 0 0D 9LTC O T sSsav3 Hl CS BETO V TTOZ ST 80 S v 3 LHOIM TT JVS H OOd AVUYLS avd 8 GANDISIG C TOO SGWI y 3 YIGWIANONIMVUG az is alya 8 43 23 2 TITOZ OT TT
14. er unit Manufactured from sheet aluminum The Yard per unit F Plastic Hamster Ball PetsMart per unit G H 0 25 6 32 Machine Screw Ace Hardware UNLISTED per unit BINT IRIRINI NINN Ace Hardware TOTAL PRICE 60 72 0 5 10 32 Machine Screw UNLISTED per unit PER UNIT 23 For Computer Hardware 5 J A RIA IR 0 K AR A 9 D 8 1 Xbee Adapter for Client Computer SparkFun spe 24 95 Electronics 1 USB Cable Bytecc Newegg com 2 99 Bottom Line BILL OF MATERIALS FOR DOG TOY TOTAL COST OF ELECTRONICS TOTAL COST OF MECHANICAL OTHER HARDWARE TOTAL COST OF MACHINE 125 59 24 Wrap Up This toy was initially designed to give those who have to travel a means to play with their beloved pets via the Internet At first we the Stray Pooch Dog Toy group were making great strides at accomplishing this goal during the first semester of the senior design class We established proof of concepts for both the wireless communications between the toy and a joystick and an intranet website that streamed live video feed Then the second semester hit which ushered in reality for our group One of the first problems the construction of the toy itself We realized that the prototype developed for the first semester was inadequate structurally and needed redesigning to be more effective at supporting the inner workings of the toy and providing an axis of
15. ircuit that had been created for early testing as well as an XBee adapter circuit This schematic was never produced for a circuit board as there were several unneeded items This version was striped down considerably and was eventually replaced with version 3 2 This version striped the original design of everything except the microcontroller the buffer for the XBee and the motor driver Headers were added to allow testing of the circuit giving the schematic a rather chunky size In the latest version version 3 3 the headers were removed as well as the buffer since it was determined through testing this buffer did not affect the readings received from the XBee module Two versions are shown below version 3 2 and 3 3 16 H OOd 5 31 Ad 43 3 V Y39WNN NIMYYa azis alva A9 43123 2 DILVIFHDS AOL DO0 31111 ONIMVYC 1 99198 US JNO 1 H OOd AVALS EE 1482 y Auadoid 1 si Suimeap SIUL H OOd 5 31 Ad 43 3 V Y39WNN NIMYYa azis alva A9 43123 2 DILYINIHIS AOL
16. rotation The next problem that set before us was updating the programming to allow a computer to act as the joystick for the ball This proved exceptionally difficult for our group since the level of programming experience for the group was minimal at best From our initial design things had to be cut due to time restraints it is here that should be mentioned given more time the original concept of the Stray Pooch Dog Toy would be realized To be changed are the following a dual axis of motion design an ease of access outer shell design a website that allows the customer to view live video from the webcams or security cameras and a circuit board that is optimal in both size and usefulness We believe that Thomas Edison said it best when he said I have not failed I ve just found 10 000 ways that won t work Thomas A Edison Although we did not accomplish what the original concept set out to do this project taught us what working as a team is about how to critically think how to find answers and ask questions and finally what it means to see the big picture 25
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