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EMRAM
INNOVATIONS
Mini-Sumo Project
EMARAM INNOVATIONS
Team Members:
Nick Enriquez
Project Manager, MCU Programmer, PCB Design
Christian Marquez
Parts Requisition, Sensors, Programming Support
Christopher Reyes
Presentation Editor, Motors, Power Supply Support
Catherine Acain
Reports Editor, Power Supply, PCB support
Isai Michel
Webmaster, Body & Mechanics, Programming support
“The Juggernaut”
PROJECT OVERVIEW
• Mini-Sumo Competition
• Design Specifications
– 500g maximum weight
– 10cm x 10cm maximum width and length
– No destructive techniques
• Our Design Approach
– Robust Frame
– High Torque
– Simple but effective software implementation
Body &
Mechanics
Track system
• Sprocket
• Idler
• Tracks
Finished goals
• Chassis
• Track traction system
– Sprocket
– Idler
– Track
– Coverings
• Bumper
• PCB and component mounting
Vehicle demonstration
Motors
SERVO MODIFICATION
Pulse Width & RPM Testing
Sensors
Photo Sensor
• QRD1113 Reflective Object Sensors (Fairchild Semiconductors)
• 4.36 V swing (4.59 V to 228 mV) from black to white surfaces
• 1 V - Threshold
Distance Sensors
• 400 mV - Threshold
Distance Sensors
Power Supply
Lithium Ion Polymer Battery
•
•
•
•
3.7 V each
7.6 V Total Provided
Light-Weight: 0.7oz.
Easy to Charge/
Recharge
Voltage Regulation Schematic
Battery & Power Supply Specs
•
•
•
•
•
Current Draw:
Power:
Battery Rating:
Actual Charge Rating:
Avg. life (fully charged):
650mA – 750mA
4.94W-5.7W
800mAH
780mAH
45 minutes
Microcontroller
&
PCB Layout
PRINTED CIRCUIT BOARD
SYSTEM INTEGRATION
Algorithm Flowchart
MODE:
Pull-Away
Program Start
5-second
delay
YES
Are we at
the
boundary
?
MODE:
Turn and Seek
NO
NO
Is enemy
in range?
YES
MODE:
Attack
Freescale MC9S12C32
•
Hardware:
– Module Utilization
– Programming via BDM Port
– Removal of components
•
Software:
– Delay function
• 5-Second Start Delay
• Line Sense Function
– Phototransistors
• Priority
• ADC Threshold Value = 0x32
– IR Proximity Sensors
• ADC Threshold Value = 0x15
– Motors
• Utilizing PWM vs. Bit banging
• Controlled by adjusting Duty Cycle
Functional demonstration
Project
Scheduling &
Budget
GANTT CHART
‘BEFORE’ and ‘AFTER’
Questions?