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Mappie
By: Michael Pusatera
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Summary of Talk
Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions
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Introduction
Autonomous Navigating Agent Use of non-mechanical navigation techniques
Optical Mice
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Hardware
Motorola 68HC11 EVBU 68HC11 microcontroller Serial Communication Interface Breadboard for expansion
Mekatronix ME11 Memory expansion Digital Outputs
Altera UP1 Flex 10k FPGA JTAG programming Interface PS2 Communications Interface
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Sensors
Bump Sensor Pushbutton switches
Infrared Sensor Sharp IR sensors
Distance Navigation Sensor Optical Mice
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Sensor Report: Bump Sensor
Bump Switch Design
Vcc Vcc Vcc Vcc
R1 R2 R3 R4
Analog(0)
R?
S1 S2 S3 S4
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Sensor Report: IR Sensors
Infrared Sensor Design
Analog(2)
Analog(3)
Analog(1)
IR Sensor IR SensorIR Sensor
Vcc
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Sensor Report: Optical Mice
How Optical Mice Work:
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Sensor Report: Optical Mice
How Optical Mice Work: Serial interface
Data, Clk
State Machine Inhibit USB Send two commands Read Data Stream
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Sensor Report: Optical Mice
Data Stream
Byte 1
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Y overflow X overflow Y sign bit X sign bit Always 1 Middle Btn Right Btn Left Btn
Byte 2 X Movement Byte 3 Y Movement
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Sensor Report: Optical Mice
Optical Mouse Design Mouse Mouse
Vcc
FPGA
Enable Reset 8 bit out
Clk Data
Mouse
Clk Data
Mouse
PortCon HC11
8A15A14A13A12R/WEclk
Reset HC11
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Sensor Report: Optical Mice
Programming HC11 Memory mapped: 0x7000
Output order MCCR: condition code register for mouse 1 X[15..8]: upper eight bits of x data for mouse 1 X[7..0]: lower eight bits of x data for mouse 1 Y[15..8]: upper eight bits of y data for mouse 1 Y[7..0]: lower eight bits of y data for mouse 1 MCCR2: condition code register for mouse 2 X2[15..8]: upper eight bits of x data for mouse 2 X2[7..0]: lower eight bits of x data for mouse 2 Y2[15..8]: upper eight bits of y data for mouse 2 Y2[7..0]: lower eight bits of y data for mouse 2
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Actuation
2 servos
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Platform
Based on TJPro Larger due to EVBU board size and Distance
sensor
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Behaviors
Go Straight for 10 feet Go Straight for 10 feet =>Turn 180°=>Return Navigate a 4 foot by 4 foot square
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Conclusions
Optical mice seem to work as a navigation agent
Placement of mice on robot is critical to accurate data
Mechanically stable platform will have success using mice to navigate
Future work: Generate position in a 2D map based on mice
data Use 2D mapping for any navigation or mapping
applicaitons
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References
[1] http://www.altera.com/ [2]
http://www.howstuffworks.com/mouse3.htm [3] Ty Black, Sensor Report, IMDL [4] Ty Black, Final Report, IMDL
Acknowledgement: Ty Black