Final Report (Main Document)
Contents
1. sssssseee 28 Table 5 5 Robot reactions to IR sensor input essessssseeeseeee 28 Table 5 6 Robot reaction when lifted from the ground ssesseessssss 29 Table 5 7 Robot reaction to contact switch inputs ssssssssseeeeeeee 29 2IFinal Report 1 History Background Robot building has taken off in recent years It is a common activity for hobbyists for high school CEGEP and university competitions and has even become popular in television such as The Discovery Channel s BattleBots The building and design of a robot is a process that at first seems simpler than it is Many skills from different disciplines must be applied such as Mechanical Electrical and Computer Engineering The completion of such a task cannot be done by one person alone it must be completed by a team with skills in all these areas of discipline It is also important that the members of the team have effective communication skills a lack of this can result in the failure of the project Team members must coordinate with each other effectively to run an efficient and highly functioning team During the course of this project the students learn important project management skills These include the design of the robot team management scheduling budgeting and testing of the robot Without proper application of these techniques the project can fall behind run over budget or t2. 1l0lFinal Report Figure 3 4 Circlebot searching behaviour This behaviour should allow the robot to quickly find its opponent It continues this behavior until a robot is seen Once a robot is seen it will follow the robot Once a robot is no longer seen the robot will continue this searching routing A visual representation of the behavior can be seen in Figure 3 4 This robot has the advantage of being extremely maneuverable and very quick By balancing the two back wheels with a caster wheel we are capable of having extremely narrow turning circles By being short and having a small width this robot is also not as easily detectable by its opponents This robot will also be easy to program and debug The main disadvantage of this robot is its lack of power It can escape well but lacks the strength to push its opponent out of the ring Another disadvantage is the difficulty in construction of this robot We may not have the resources available to use to create a circular chassis or to create a cylindrical chassis cover 3 2 3 Wall E Bot As is implied by the title this design is inspired completely by Pixar s Wall E A square chassis is placed between two triangular sets of tracks Line sensors will be places on the front and rear of the robot as well as proximity sensors on the front and rear This robot will be powered by high torque motors to take advantage of the treads It will also be bi directional The Wall
3. if robot makes contact on both front sensors set direction flag to 1 move forward into robot if robot makes contact on both rear sensors set direction flag to 0 move forward into robot if robot makes contact at front and back turn clockwise to evade being stuck ELSE IF ROBOT IS SEEN BY FRONT BACK IR SENSORS if a robot is seen detected at front or back if robot is seen on front left set direction flag to 0 move forward and left toward robot if robot is seen on front right set direction flag to 0 move forward and right toward robot if robot is seen behind to left set direction flag to 1 move forward and right toward robot if robot is seen behind to right set direction flag to 1 move forward and left toward robot if robot is seen by both front sensors set direction flag to 0 move forward toward robot if robot is seen behind set direction flag to 1 move forward toward robot ELSE IF ROBOT IS SEEN TO LEFT OR RIGHT if a robot is seen to left or right if robot is seen to left turn counter clockwise then move forward if robot is seen to right turn clockwise then move forward IF NOTHING IS DETECTED else Move forward 251Final Report 26lFinal Report 5 Testing and Results 5 1 Line Sensors Scenario Result 0 Reverse backwards away from the line Front right line sensor tripped first 9 45 Turns toward
4. E bot design is very similar to the Carbot in terms of the way it searches the ring However instead of turning around the robot reverses its front and back The robot simple changes which side is forward goes in that direction and turns at 30 so that it can continue searching the ring It continues this behavior until a robot is seen Once a robot is seen it will follow the robot Once a robot is no longer seen the robot will continue this searching routing A visual representation of the behaviour can be seen in Figure 3 6 111Final Report Figure 3 5 Wall E Bot A main advantage of this design is that it is able to maneuver with absolutely no turning circle It has high power and high maneuverability and therefore should be effective in pushing the opponent out of the ring Some disadvantages come with this robot The tracks used are not only very expensive but also very difficult to mount Another issue is the same as with the Carbot high torque means low speed If our opponent is faster than the Wall E bot it will easily out maneuver the robot Figure 3 6 Wall E Bot searching behaviour 121Final Report 4 Proposed Design 4 1 General The general behavior of this robot is that of a sumo bot The primary function of this robot is to locate opposing robots and push them outside of a circular area marked by a black boundary line along the ground At the same time the robot must remain inside the cir
5. SECOND DELAY othing for 5 seconds While 1 Loop 231Final Report 21 GET S Check line sensor Check contact sen Check Front amp Bac Check Left amp Righ NSOR DATA data sors k IR sensors t IR sensors IF A LINE IS DETECTED if a line is dete if front left Set direc go forward turn coun if front righ set direc go forward turn cloc if rear left set direc go forward turn cloc if rear right set direc go forward turn coun if both Front set direc go forward if both rear sensors d set direction flag go forward ELSE if robot makes contact on cted sensor detected th tion flag to 1 lin ter clockwise t sensor detected the lin tion flag to 1 kwise sensor detected the lin tion flag to 0 kwise sensor tion flag to 0 ter clockwise sensors detected the lin tion flag to 1 tected the lin to 0 IF ROBOT MAKES CONTACT if a robot makes contact if robot makes contact set direction flag move forward and left on front left to 0 into robot front right set direction flag to 0 move forward and right if robot makes contact behind to left set direction flag to 1 move forward and right into robot if robot makes contact behind to right 24lFinal set direction flag to 1 move forward and left into robot Report
6. and forth Spin until object found and then go back and forth between 2 objects Attack newest object Attack newest object Attack newest object Attack newest object 5 4 Robot Lifted From Ground Scenario Reaction 28lFinal Report Going Forward Front lifted Back lifted Left side lifted Right side lifted Reverse Forward Reverse Reverse Going Backwards Front lifted Reverse Back lifted Forward Left side lifted Reverse Right side lifted Reverse Table 5 6 Robot reaction when lifted from the ground 5 5 Contact Switches Scenario Reaction Front left activated Front right activated Front left right activated Back left activated Back right activated Back left right activated Front left back left activated Front left back right activated Front right back left activated Front right back right activated All except front left activated All except front right activated All except back left activated All except back right activated All 4 switches activated Turn left Turn right Go forward Reverse to the left Reverse to the right Reverse Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Spin counter clockwise Table 5 7 Robot reaction to contact switch inputs Please note that when any switch is pressed the IR sensors will not
7. are not likely to come loose during operation The Atmega8 microcontroller is the brain of the robot This controls the functions of all parts of the robot It determines when the robot will go forwards backwards turn chase a robot avoid the edge of the ring and so on The failure of this part of the robot will result in the failure of the whole robot This microcontroller was chosen as all students have previous experience working with the Atmega8 This also means that there is code written by the students already which can be re used for this project The motors used on our robot are two GM8 DC servo motors They are high powered and very responsive The model of motor being used was chosen for its balance of high speed and torque Since we are using tracks on our robot it is important that our robot has high torque 16lFinal Report Tracks are meant for high grip and the best way to take advantage of it is to use high torque motors The quad half H Bridge is the controller used for the motors This controller uses 4 signals from the microcontroller to determine whether the two motors will be going forwards or backwards and whether they are moving simultaneously or moving in opposite directions It makes use of the two battery packs power supply 14 4V to power each motor This specific IC was the most appropriate motor controller available from the parts list provided refer to Appendix B An array of digital sensors analog sensors
8. into the line 27 Final Report 5 2 Robot Start up Scenario No target on any sensor Target on 2 front sensors Target on 2 rear sensors Target on left side sensor Target on right side sensor Table 5 4 Robot behaviour on Start Up 5 3 IR Sensors Scenario 2 backs sensors activated Side left sensor activated Side right sensor activated Front right sensor activated Front left sensor activated Back left sensor activated Back right sensor activated 2 objects front back of robot 2 objects left right of robot 2 objects front left of robot 2 objects front right of robot 2 objects back left of robot 2 objects back right of robot Table 5 5 Robot reactions to IR sensor input Reaction Moves forward until line is hit Pushes target out immediately Moves forward for 1 second then moves backwards towards target Moves forward for 1 second then turns towards target moving backwards left motor forward right motor backwards Moves forward for 1 second then turns towards target moving backwards left motor backwards right motor forwards Reaction Change direction to backwards Turns left towards the target Turns right towards the target Turn to the right Turn to the left Turn towards target right track in reverse Turn towards target left track in reverse Move towards first target until dead zone is hit then change direction towards other robot and continue going back
9. leaves the ring without being forced to do so 1 stays within the ring for at least 10 seconds 1 has never detected the edge of the ring 1 and 2 are in the ring 1 has moved from the initial position 2 has not 2 leaves the ring without being forced to do so 1 leaves the ring in less 10 seconds after 2 1 and 2 have not moved from their initial starting positions Table 2 1 Scoring parameters and win lose conditions SIFinal Report 4 The chassis provided must not be altered in ANY way i e no holes drilling or enlarging no cutting no bending etc 5 All components must be mounted using either machine screws or tie wraps 6 No kind of glue is allowed 7 The maximum robot size is limited by the chassis listed in the parts list No part excluding the wheels when the motors may stick out for more than 10 mm before start and after finish before any interaction with robot If any of these requirements are not met the robot may be disqualified from the competition and the team may receive a deduction in marks from the overall grade for the class It is very important that the robot design respects these requirements As well as these limitations the robot parts must be chosen from a list provided by the course instruction This list may be referred to in Appendix B Additionally to the list some behavioral characteristics must be met by the robot Upon the start of a round the robot must remain in
10. lose situations are detailed in Table 2 1 2 2 Robot Characteristics The robot that will be designed by the students must respect an array of requirements as provided by the course instructor The main limitations that the robot must adhere to are listed as follows 1 No robot is allowed to INTENTIONALLY damage its opponent 2 The use of materials and or components other than the ones that are listed in the parts list is possible but must be authorized PRIOR to use Note that this parts list is not yet available 3 The materials used as plow shield bumper mounting bracket etc must be as light as possible No heavy gage steel lead concrete tungsten alloy etc is allowed Robot scores Time allowed sec H1 H2 Clear win and clear like wins 1 pushes 2 out of the ring 1 stays in the ring for at least 10 seconds 1 pushes 2 out of the ring 1 stays in the ring for less than 10 seconds 1 pushes 2 out of the ring 1 leaves the ring during the push while being pulled by 2 1 and 2 are in the ring Both of them have moved from their initial positions AND have detected the edge of the ring at least once 1 is closer to the center 2 leaves the ring without being forced to do so 1 stays within the ring for at least 10 seconds 1 has detected the edge of the ring at least once 1 and 2 are in the ring 1 is moving 2 has stopped 1 has touched 2 and has detected the edge at least once 2
11. respond Also note that the contact switches will not respond when the robot is lifted off the ground at any point 291Final Report 5 6 Design Changes During the construction of the BeemoBot some design issues did not become clear until BeemoBot was put under specific testing scenarios When this happened we noticed several problems with the design that needed to be changed for efficient fighting behaviour The first issue that was noted was that the Tamiya tracks used on the BeemoBot caused BeemoBot to bounce during operation This caused issues with the line sensors as when the robot would bounce up the ideal distance of the line sensor to the ground less than 5mm would be exceeded This issue was easily solved by lowering the line sensors to approximately 2 3mm from the ground Another issue was discovered during the robot trials which one of the first occasions for BeemoBot to fight an opponent The Grip Tight which we taped to the tracks for tractions was falling apart This was due to rubbing against other robots The Grip Tight is made of small rubber nodules and these nodules were ripping apart We were both losing traction as well as sabotaging not only our opponent s line sensors but our own as well The last two issues we found with our design were discovered during the final competition during the first round To mount the battery pack we attached a cross bar to the top of the BeemobBot and secured 12 fully charg
12. the 23 year old who is currently is his third year of electrical engineering at Concordia University was able to bring an electrical and circuit design background to the team as well as knowledge of project management from 5 years of working for CAE Inc Having graduated from John Abbott College in Engineering Technologies and having a passion for cars he is also mechanically inclined as this came to use when the robot was being constructed 6 1 3 Kenneth Richards Ken Richards is 22 years old studying Electrical Engineering at Concordia University in his 3 year He has a DEC in Sciences from John Abbott College which he acquired in 2009 He is enrolled in co op already having completed a work term which has given him experience in electrical engineering projects and working in a team environment He has knowledge in circuit design basic C programming and has strong writing skills 6 1 4 Sandra Witzen Sandra Witzen is a 23 year old third year Computer Engineering Student at Concordia University She attended the Engineering Technologies program at John Abbott College from 2005 through 2008 She has knowledge of many basics in engineering such as sheet metal Work circuit design C hardware programming and circuit analysis She also has more detailed knowledge of electronics C programming report writing and documentation 6 2 Project Responsibilities After analyzing the strengths and weaknesses of each team member Team Beemo assigned the mai
13. the sensor that hasn t been tripped until the robot is facing the line at 90 10 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 Front left line sensor tripped first 45 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 10 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 Table 5 1 Robot reaction when moving towards the line Scenario Result 90 Change direct to moving straight forward away from the line Rear right line sensor tripped first 45 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 10 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 0 Rear left line sensor tripped first 45 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 1 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 Table 5 2 Robot reaction when being pushed backwards into the line Scenario Result 0 Change direct to moving straight forward away from the line Rear right line sensor tripped first 9 4 5 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 45 Turns toward the sensor that hasn t been tripped until the robot is facing the line at 90 Table 5 3 Robot reaction when being pushed forward
14. UNIVERSITE Concordia UNIVERSITY DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING Engineering Team Design Project Final Design Report Presented by Team Beemo Team 3 COEN ELEC 390 2 Fall 2011 12 7 2011 The following document outlines the design and construction of the COEN ELEC 390 Team Design Project as completed by Team Beemo The document outlines the history of the project the problem statement defined for the project as well as some brainstorming solutions made by the team Next the document describes Team Beemo s proposed robot design in terms of both hardware and software and then the testing of the finished product Lastly there is an overview of the team s work breakdown as well as the budget for the project Table of Contents Table of Contents vicki icc ritcinariescreandieneranadiedaactrusncdannitehesadesnnnssmaditadeiindauenaaailetasuiieiuaedenaiiedcievasennts 1 Table of Figures MM Amm 2 Table OF AICS TRIN 2 1 History Background s sse oe sii oe dE etie eren teme 3 2 Problem Statement air rca nen nce nnne dean cna 5 EC Meer 5 2 2 Robot Characteristics err a p bi e a gd a a ba ang ra ace Ra E a a ar B 2 3 Playground CharacterislloS c uccctp e rrr to epar aU Mone u Hue uU UG eene H Ue qu RRU ne DUM DUE rp 6 ed General COIstfallifSsuec eared dI i Xa Rica Ea Du ob catu a into bu eret i LEA 7 3 Alternative Solutions RR 9 J GENEA Mte 9 SAR B16 aE ene E E ee 9 Ms BE DO th i i a e i d aii i a i
15. a neutral position not moving for 5 seconds before it may engage the opposition As well as that the robot must start after at the most 20 seconds otherwise it may be disqualified Further behavioral requirements can be seen in Table 2 1 2 3 Playground Characteristics The playground on which the competitions will occur is simply a 4 x4 white MDF board On this board circle with a 4 diameter is marked with black electrical type To win the robot must stay within the ring and simultaneously push its opponent outside of the ring When the competition starts the robots must be facing towards the outside of the ring 15cm away from the edge In the middle of the ring will be an unspecified material sand a block upturned tape etc of approximately 74 high and 1 17 in diameter Figure 2 1 The ring 6lFinal Report Although the ring is circular it may not be perfectly circular During the competition the ring will be illuminated by fluorescent overhead lights In Figure 2 1 is an image with an approximation of what the ring will look like including the starting position of our robot and its opponent 2 4 General Constraints The competition has a list of general constraints not directly applicable to either the robot or the playground The list is as follows e Must not exceed 200 budget limit e Must be completed within the allotted time frame 1 semester e Maximum round time is 3 minutes 180 seconds e All tea
16. and micro switches will be used to help the microcontroller determine the behavior of our robot These sensors are used to determine the proximity of an opposing robot where in relation to our robot our opponent lies whether we re touching a robot and also if we have approached the edge of the ring The GP2D12 and GP2D15 IR sensors were chosen as the members of the team have already written a program which uses these sensors This code can be imported into the robot code and make completion of the program much more efficient 4 5 Technical Drawings Figure 4 3 BeemoBot 3D drawing made in Google Sketchup 17 Final Report 4 6 Software 4 6 1 Basic Robot Behaviour In the figure below we can see a visual representation of what happens when BeemoBot detects an opponent In Figure 4 4 we see that BeemoBot is looking for an opponent with its digital IR sensors In Figure 4 4 b an opponent has entered BeemoBot s field of vision Next BeemoBot will turn to face its opponent as can be seen in Figure 4 4 c BeemoBot knows that its opponent is straight in front if both digital IR sensors are asserted If an opponent is seen in the rear the BeemoBot will change its direction flag reversing its front and back and will track the opponent in the new front direction MT Figure 4 4 BeemoBot Analog Front Rear Robot Detection a b Figure 4 5 BeemoBot Digital Left Right Robot Detection c In the figure above we can s
17. arious hardware components such as nuts bolts and double sided tape The electrical components of our design include e Printed circuit board PCB e Atmega8 microcontroller e Half quad H bridge e Battery pack e Switches e Sensors e Motors e Miscellaneous resistors capacitors wiring etc In Table 4 1 we can see a detailed list of electrical components used on the robot All parts are labeled to match the schematic found in Figure 4 2 BeemoBot Circuit Schematic 15 Final Report Component Label Part Number Part Description ay Ceramic Capacitor Ceramic Capacitor Green LED 8 Bit Microcontroller Quad Half H Bridge 5V Voltage Regulator Power Switch 12xAA NiMH Battery Pack IR Proximity Sensor 10 80cm Microswitch Reflective Object Sensor IR Proximity Sensor 24cm Servo DC Motor Metal Film Resistor Metal Film Resistor Metal Film Resistor Metal Film Resistor 1 1 1 1 1 1 1 1 4 4 4 2 2 4 1 4 2 4 Metal Film Resistor Table 4 1 Robot electrical components The core of our robot s electrical components is the PCB All the parts listed in Table 4 1 are connected using the breadboard On our robot we use one small PCB designed to fit comfortably on the top of the chassis A PCB is optimal as it has a much lower cost than a breadboard but also has much sturdier connections This is because all the wires connected to the PCB would be connected using screw down connectors These connections
18. bot will reverse its directions 20IFinal Report ontact sensing subroutine ther front o either rear Rt Forward Left 1s Forward Right 1s Change direction flag Rear Right Forward Right 1s Forward Left 1s Change direction flag Change direction flag Figure 4 8 BeemoBot contact sensing algorithm flowchart The next most important input after line sensing is contact with an opposing robot Depending on which contact switch is asserted at the time of the input data collection the appropriate maneuver is decided The highest priority is when our robot is making contact on both the front and the rear meaning BeemoBot is being pinned In this case the robot will spin CW either only front or rear sensors are being asserted Next the algorithm checks for a front pair then the rear pair and then checks for individual cases 211Final Report Analog sensing subroutine Forward Left 1s Forward Right 1s Forward Right 1s Forward Left ls Change direction flag Rear Right Change direction flag Change direction flag Figure 4 9 BeemoBot front rear robot seeing algorithm flowchart After checking for any possible contact the next step is to check if a robot is being seen on either the front or rear of the BeemoBot A tracking algorithm is implemented here If both front sensors are asserted the robot need only go strai
19. can be seen in Figure 3 2 This design has the main advantage of being simple and easy to implement This reduces the amount of labor in building programming and debugging The design of the robot is also very square with no angles or curves This has the advantage of creating a greater area with which the robot is able to push its opponent 9 Final Report Figure 3 2 Carbot searching behaviour There are some drawbacks to this basic design Firstly when choosing a motor one must pick between either high torque or high speed When picking high torque our robot will have a lower speed Because of this it becomes more likely that our opponents may out maneuver the robot even after it has established contact and begun pushing 3 2 2 Circlebot This is another simple design inspired by a shopping cart of all things This design consists of a small upright cylindrical chassis with two wheels located underneath the chassis as well as a third caster ball wheel near the front of the chassis The two wheels will be powered by high torque motors This robot also uses line sensors and proximity sensors at the front of the robot to detect the edge of the ring and to detect its opponents The basic behavior in the ring of this robot would be left turning As it is able to be very maneuverable and quick it would move forward a distance of approximately 1 5 then turns 45 to the left Figure 3 3 Circlebot artist s rendering
20. cular area at all times The behavior of the robot is controlled by the use of 4 line sensors 4 analog IR sensors 2 digital IR sensors and 5 micro switches At each of the four corners of the robot a light sensor is placed underneath the robot chassis facing straight down at a height of approximately 3mm off the floor These light sensors are used to detect the black electrical tape used to delineate the end of the ring On both the front and the rear we will find two analog IR sensors placed equidistant from the center of the front of the robot facing straight forwards They will be placed slightly inside the edge of the chassis These four sensors will be used to find and track the opposing robot On the center of the sides of the chassis mounted underneath we will find a digital IR sensor These sensors are used to detect if an opposing robot is approaching our robot from the side We use these sensors to appropriately maneuver out of the danger zone There are 2 micro switches on both the front and rear of the robot located behind aluminum bumpers These micro switches help determine whether the force applied by the opposing robot is on the left right or center of the bumper 4 2 Block Diagram In Figure 4 1 we can see the general block diagram of the robot and its main components Line Sensor x4 Contact Microcontroller ft Switch x4 H Bridge Figure 4 1 Block diagram of the robot M
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22. ed 1 2V batteries First we found the robot was far too top heavy When the BeemoBot would change direction it would rock so hard due to the weight of the high battery packs that the ends of our robot would lift This lifting would also assert our line sensors and cause the robot to change directions again causing it to rock even more This kept happening until the robot keeled over We promptly removed the cross bars and lowered the battery pack into the robot At the same time we pulled out 3 of our fully charged batteries and replaced them with half charged batteries to reduce the speed of the robot This worked well and BeemoBot had many successful wins afterwards 30lFinal Report 6 Work Breakdown Structure Before assigning tasks to the members of the team it is important to analyze the strengths and weaknesses of each member as well as their skill sets and any additional features they may have 6 1 Team Biographies 6 1 1 Andrew Evans Andrew Evans is 22 years old in his 3 year in computer engineering at Concordia University He graduated from John Abbott College in 2009 from the Engineering technologies program with a technologists diploma He has experience with various programming languages such as Assembly C C and Java He has worked with PIC microcontrollers which will come to a great advantage when working with Atmel s Atmega chip range His software knowledge is an asset to the team 6 1 2 Thomas Hayes Thomas Hayes
23. ee a visual representation of what happens when one of BeemoBor s digital IR sensors is asserted These sensors are placed on the left and right of the robot If Figure 4 5 a we see that BeemoBot is checking for a robot at its side In Figure 4 5 b we see that the digital proximity sensor has been asserted It will then turn to face the opponent as can be seen in Figure 4 5 c 4 6 2 Flowchart The following section discusses the algorithm used in the BeemoBot code Before discussing the code there are some points that need to be made clear The BeemoBot is a bidirectional 18lFinal Report robot This means that the BeemoBot essentially never goes in reverse as far as the code goes Instead of using a reverse function we set a flag from here on called the direction flag Whenever we set the flag we change the value from 0 to 1 or from 1 to 0 Whenever this occurs the robot changes its orientation front becomes rear rear becomes front left becomes right and right becomes left It should also be noted that unless stated otherwise when the robot uses the forward forward left or forward right functions these actions are interruptible only by a line sensor being asserted Similarly when any CW clockwise or CCW counter clockwise function is being run this is interruptible by any sensor line IR or contact switch that is asserted Start b Wait 5 seconds Forward for 1 Read a
24. ght forward If a left sensor is asserted the robot will track left until both front sensors are asserted If the right sensor is asserted the robot will veer to the right until both front sensors are asserted This behaviour is the same for the rear sensors First however if a rear sensor is asserted the direction flag is set Then the robot will track its opponent in the same manner 22IFinal Report The very Digital sensing subroutine Figure 4 10 BeemoBot side robot seeing algorithm flowchart ast input that is checked is the side sensor input If the left sensor has been asserted the robot will turn counter clockwise for 2 seconds unless any other sensor is asserted Similar for the right sensor except that it will turn clockwise 4 6 3 Pseudo Code MAIN IIll in set set set in Enab INITIALISE S S ITI EIST STS itialise Digital input line sensor states to 0 contact sensor states to 0 Left amp Right IR sensor states to 0 itilaise Analogue Sensor pins and Data values e 60Hz interrupt Enab e ADC for Front amp Back IRsensors ff Any itialise digital output pins set Motor control Pins as outputs set De Enab in Dire 5 do n PA Pd winning LED pin as output lay initialise les 1000Hz interrupt on Timer2 for interuptable delay itialise global state variables ction 0 forward HT PEE I S TTT AT AT PAT AAT STAI
25. he robot may end up not working properly There may be issues that only appear on the day of competition unless the device is methodically tested Another very important aspect of this design project is documentation Students must from beginning to end systematically document their design and any changes to the design and the reason therefore This allows the instructors to properly evaluate the students robot and see how it evolved during the project This Final Report is the record of the design project and also the record of how the project was managed by the team which students participated in which aspects of the design process and how effectively the team solved design problems encountered during the project 3 Final Report 4lFinal Report 2 Problem Statement 2 1 General The goal of this design project is to design and build an autonomous fighting robot The robot s purpose is to engage an opposing robot inside a circular playground while adhering to a set of pre stated rules The robot must push to opposition outside the limits of the playground The competition starts with both robots facing the outside of the ring Upon the start of a round the robots must remain still not moving for 5 seconds before they may engage in fighting To win the competition the robot must push the opponent outside the border of the playground as quickly as possible while staying inside the border itself Specific scoring parameters and win
26. ied 9 32 2 ION aaa sat been ena een T 10 3 2 3 Wall E BOE ccccssicistsssscsacacssasstecssesninoncssaiadunnsaansatasedadaienssennianisadanannsasanniacasesannnnns 11 4 Proposed DOSIQIT eterne eterne ennelesindesccieneiemadicdestenasleted nr 13 AA SAIC WAN RECORDAR ROREM 13 LEE 4B oggetto 13 213 Shemale uesueda edere id der ipee iar etiaai dida Ea iar rae tide 14 4A a eres dd mE 15 4 4 1 Hardware Components 5 uccisi nr er on Poo be e b o Re be b Fe ous 15 4 4 2 Electrical Components eoo o epos den cp epp pcm Oe nII HESS HE PME EEN 15 45 Technical Draws o5 HE REESE IE eH aa aaa ede det SERE pea elev 17 d5 OS Lact d idedevn Seton deled ed Seres ees eler dennes nere ede eee esame dede d 18 4 6 1 Basic Robot Behaviour Juocceccssko civita rat v iaa rd eta i a a e nail va ciet e Odin 18 S M O2 PIONER UE NENNEN 18 46 3 i e ele Nn 23 NEN eE geEa fte cM 27 Bal LIS Senso Omer 27 5 2 R botStar i 1 0 yasssnssastansa 28 D3 IR SENSO ae nn ee ee 28 5 4 Robot Lifted From Ground 5i caeca oda dai ou abaci add Ga a ani oa e rr 28 B5 Contact Switches eed RE es Led EE aa rev E Ea rU XB Eger es Er Le rv EAE Y eu Eoi pex sanasina 29 55 DesigniGhanges eiie odiies eid dentem ideis pie Moped Mer vedkende 30 6 Work Breakdown Structure cccccccsseecceccesseceecceesceeeceeeseceeeeeusceeeesenseeeeesaneeeeees 31 6 1 Team Biographiies e c Eoo e b n RR e hu c b re f b LR edu toc 31 6 1 1 Andrew EVaISL oed eben epe deb a Qe pasen d
27. ll p m A Yes Line sensing second sensor data di a subroutine A Jo Switch AX Yes Robot touching lt ressed subroutine VP ye No Robot seen Yes Analog sensor on front rear subroutine DP No bane No Robot seen Yes Digital sensor gt Sides subroutine Figure 4 6 BeemoBot Main Flowchart In Figure 4 6 we can observe the flowchart which represents the main function in the code When the robot is turned on it waits 5 seconds as required by the customer before performing any manoeuvres Once this delay is over the robot will move forward 1s before it begins checking for any sensor inputs Next the robot will gather all input data and then move into the appropriate subroutine 19 Final Report subroutine Change direction flag Forward Left is Forward 1s CW 0 5s Forward 1s CCW 0 5s Change direction flag Forward 1s CCW 0 5s Forward 1s CW 0 5s Figure 4 7 BeemoBot line sensing algorithm flowchart If a line sensor is asserted this subroutine will be called above all others Depending on which line sensors were asserted at the time of the input data collection the appropriate maneuver is decided Multiple line sensor assertion takes priority over only a single line sensor being asserted If any rear line sensor is asserted the aforementioned direction flag will be set and the ro
28. m members must be present for the competition e Availability of laboratory room e Limited to the use of parts provided in the Parts List Appendix B 7 Final Report 8lFinal Report 3 Alternative Solutions 3 1 General The following section has brief descriptions of alternative solutions that were thought up by the team These solutions and their strengths and weaknesses were analyzed to come up with the proposed design outlined in Section 5 3 2 Design 3 2 4 Carbot Figure 3 1 Carbot artist s rendering The Carbot design is very simple rectangular box with four wheels The design mimics a basic version of the everyday car It is covered with a rectangular chassis for durability and to help with pushing the opponent out of the ring This design is optimized by using two high torque motors on the rear wheels for maximum pushing power Line sensors and proximity sensors would be placed on the front of the robot to detect the edge of the ring and to detect its opponents The Carbot s main behavior is to search the ring systematically Upon start up it heads towards the edge of the ring Once the line has been detected it will reverse turn 150 in the direction opposite to the side of contact and then keep searching the ring It continues this behavior until a robot is seen Once a robot is seen it will follow the robot Once a robot is no longer seen the robot will continue this searching routing A visual representation
29. n roles and responsibilities of the design project to each member The work done for the design category is categorized mainly into two distinctive categories hardware and software As Evans and Andrew have the most knowledge in Software design and debugging this role has been assigned to them Hayes and Richards have more knowledge in the electrical hardware and have therefore been assigned to the hardware side of 3llFinal Report the project Team members do not however only work on their respective tasks All aspects of the project will be discussed and designed by the team as a whole The following is a list of main responsibilities of each team member 6 2 1 Andrew Evans Andrew Evans main responsibility is software implementation He programs the Atmega8 and ensures the functionality of the components within the program He also creates the technical drawings for our robot design 6 2 2 Thomas Hayes Thomas Hayes was nominated Team Leader First and foremost he is in charge of maintaining order and proper communication of all team members His main responsibilities include the construction of the chassis and mounting of robot components He will also contribute to PCB design with resources from Witzen 6 2 3 Kenneth Richards Kenneth Richards main role in the project is implementing and documenting the testing and troubleshooting of the robot He also helps Hayes in the construction of the robot chassis as well as ensuring
30. ntation testing and completion of Team 3 s BeemoBot 32IFinal Report 1 Plexiglass Chassis 112mm x 106 mm Jonny Robot GM Standard 4 Motor Bracket GMB28 GM2 GM8 Solarbotics GM8 SN754410N 7 Microcontroller Atmega8 8 5V Voltage Regulator 9 ISP Header 10 ISP Cable 11 IR Analog Proximity Sensor AIIRS 10 80cm 12 IR Line Sensor QRD1114 13 IR Digital Proximity Sensor GP2D15 24 cm 14 Contact Switch 15 Battery Pack PN A N A A e BB BN NY NN kB Fk HB 16 Battery Charger 17 Robot Shell Material 18 Assorted Components Resistors capacitors etc 19 Heat Sink 20 Handling Fee Total Parts Cost Figure 7 1 BeemoBot Budget 331Final Report 8 Bibliography AVR Freaks News in Weblog format links forum tutorials articles specifications devices tools projects vendors http avrfreaks net accessed December 12 2011 Battle Bots Wikipedia the free encyclopedia http en wikipedia org wiki BattleBots accessed December 12th 2011 Technical Manual Template http sydney edu au engineering aeromech MT RX3700 Course Material labs major Technical Manual Template doc accessed December 12 2011 Team S U M O B O T Final Report http users encs concordia ca wojciech 390 390 final report team sumobot pdf accessed December 12 2011 Team S U M O B O T Technical Manual http users encs concordia ca wojciech 390 390 technical manual team sumobot pdf acces
31. otors x2 131Final Report 4 3 Schematic Vs 14 4V 4 RI R2 R3 7 R4 20k gt 20k gt 20k gt 20k 14lFinal Report R5 20k SN754410 Figure 4 2 BeemoBot Circuit Schematic R1 160 Voc R13 R14 R15 160 gt 160 gt 160 4 4 Components Our robot s design components can be broken down into two sections These sections would be electrical and hardware 4 4 1 Hardware Components The hardware components of the design include e Chassis e Tracks e Brackets e Miscellaneous screws nuts bolts tape etc These parts of the robot do not need an electrical input or signal to run They are the bones of the robot body The chassis which is the structural pillar of our robot is a 112mm x 106mm Plexiglas board This board is pre drilled with many holes which we use to mount the other hardware and electrical components of our robot Our robot uses tracks rather than the conventional choice of wheels They are made using 20 tracks each with pins to fasten them together Each track has two wheels inside which have a center to center distance of 3 25 One of the wheels will be attached to a motor and the other one of which will be mounted to our chassis using shoulder bolts The motors are also attached to the chassis using L brackets along with bolts 4 4 2 Electrical Components All the other components of the robot such as the electrical components will be mounted to the chassis using v
32. rcuit Schematic eesesssesesseeeneeeenen 14 Figure 4 3 BeemoBot 3D drawing made in Google Sketchup 17 Figure 4 4 BeemoBot Analog Front Rear Robot Detection sss 18 Figure 4 5 BeemoBot Digital Left Right Robot Detection sss 18 Figure 4 6 BeemoBot Main Flowchart ses 19 Figure 4 7 BeemoBot line sensing algorithm flowchart ssseessssssse 20 Figure 4 8 BeemoBot contact sensing algorithm flowchart 21 Figure 4 9 BeemoBot front rear robot seeing algorithm flowchart 22 Figure 4 10 BeemoBot side robot seeing algorithm flowchart 23 Figure 7 1 BeemoBot Budget cccccccsccccceeeeeeeeeeeeeaeeeeeeeeeeeeesseeaaeeeeeeeeeeeeeeneenaaeaes 33 Table of Tables Table 2 1 Scoring parameters and win lose conditions ss 5 Table 4 1 Robot electrical components 2 ccccceeeeeeeeeeeeeeeeeeeeeeeeeeesessneaeeeeeeees 16 Table 5 1 Robot reaction when moving towards the line ssssssss 27 Table 5 2 Robot reaction when being pushed backwards into the line 27 Table 5 3 Robot reaction when being pushed forward into the line 27 Table 5 4 Robot behaviour on Start Up
33. sed December 12 2011 Team S U M O B O T User Manual http users encs concordia ca wojciech 390 390 user manual team sumobot pdf accessed December 12 2011 Wall E Photograph Disney s Pixar http fastcache gawkerassets com assets images 4 2008 04 Ultimate 20Wall E 20GI jpg accessed December 12 2011 34lFinal Report
34. that the electrical components of the robot work properly before being implemented in the design by Evans 6 2 4 Sandra Witzen Sandra s main roles include documentation of the project as well as writing the final report She also creates the theoretical algorithms for the robot behavior which are implemented in code by Evans She also helps Evans in troubleshooting problems encountered during the programming of the robot and its parts There are some critical moments in the design and construction of the robot Firstly the team must ensure that a testable and programmable temporary assembly of the robot is created so that Evans and Witzen may begin the software programming and implementation Next the robot chassis must be properly assembled in time for the robot trials As the team wishes to create a PCB for their robot they must ensure that the appropriate time and resources are available to them to complete this in time Next the debugging of the software must be done quickly to ensure functionality for the robot trials and later for the robot competition Many of these critical design aspects happen simultaneously so the team must ensure that a proper schedule and good communication allow for the fastest possible design and construction of the robot In Appendix D is the work breakdown structure of the project followed by the proposed schedule for this project 7 Budget The following is the budget of parts used for the building impleme
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