september 23, 2003jeff wilson1 the go-go gantry jeff wilson lee strobridge allison bodis david...
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![Page 1: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/1.jpg)
September 23, 2003 Jeff Wilson 1
The Go-Go Gantry
Jeff Wilson
Lee Strobridge
Allison Bodis
David Carlson
Mark Jarrett
Jeremy Paradee
![Page 2: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/2.jpg)
September 16, 2003 Mark Jarrett, Jeremy Paradee, and Jeff Wilson
2
Problem Statement:
• To engineer an automated system that plots text on various sizes of poster board
• Input is ASCII file (.txt) 100 bytes max
• Must complete in 8 weeks
![Page 3: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/3.jpg)
September 23, 2003 Mark Jarrett, Jeremy Paradee, and Jeff Wilson
3
Solution:
• Movable Vehicle
• Computer sends signal to Go-Go Gantry
• Go-Go Gantry drives in X direction
• Gantry with pen moves in Y direction
• Combination of X-Y motion plots text
• Vehicle plots text
![Page 4: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/4.jpg)
September 23, 2003 Lee Strobridge, Jeremy Paradee, Mark Jarrett, and Jeff Wilson
4
System Overview:
Controller
Motor
Motor Motor
Solenoid
Marker
12V
![Page 5: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/5.jpg)
September 24, 2003 Strobridge, Bodis, Jarrett, Wilson 5
Mechanical Overview:
Stepper
Motor
Solenoid
Stepper Motor
GantryStepper
Motor
Marker
![Page 6: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/6.jpg)
October 09, 2003 Lee Strobridge 6
3-D Model:
![Page 7: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/7.jpg)
September 23, 2003 Dave Carlson 7
Mechanical Detail:Gantry
![Page 8: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/8.jpg)
September 23, 2003 Dave Carlson, Allison Bodis, Mark Jarrett
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Mechanical Detail:Marker Fixture
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September 23, 2003 Mark Jarrett and Jeff Wilson 9
Solenoid: Test
12 V Solenoid:
F = 19 Newtons
![Page 10: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/10.jpg)
September 24, 2003 Wilson, Bodis, Strobridge, Paradee, Jarrett, Carlson
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Casters: Design Decision
![Page 11: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/11.jpg)
September 23, 2003 Mark Jarrett and Jeff Wilson 11
Ball Vs. Wheel Casters: Test
![Page 12: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/12.jpg)
September 24, 2003 Strobridge, Wilson, Jarrett, Bodis 12
Cup n’ Ball Casters: Test
![Page 13: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/13.jpg)
September 23, 2003 Allison Bodis 13
Friction: TestTrial (Tile
Floor)Friction Force
(uF)Normal Force
(Fn)
1 1.5 37
2 1.1 37
3 1.5 37
4 1.5 37
5 1.3 37
Average 1.4 37
(uF) = u (Fn)
u = .0376
* All measurements made in Newtons
![Page 14: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/14.jpg)
September 23, 2003 Mark Jarrett, Jeff Wilson, and Jeremy Paradee
14
Electrical Overview:
12VDC
120V AC
Computer HC11
Stepper Motors
Motor Controller
SolenoidPower
Signal
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October 08, 2003 Dave Carlson, Jeff Wilson 15
68HC11 Microcontroller:
![Page 16: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/16.jpg)
September 23, 2003 Paradee, Strobridge, Carlson, Jarrett, Wilson, Bodis
16
Computer System Overview:
C Code
Assembly Code
ASCII File In PC:
Computer:
Micro-ControllerHC-11“Yard Sale”
Go Go Gantry:
Seria
l Cab
le
Memoryyardsale
Letters
Printing
![Page 17: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/17.jpg)
October 09, 2003 Jeff Wilson 17
Layer Diagram:
Download
Letter Decision
Data Entry
Motor 1 Motor 2 Motor 3 Solenoid
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September 23, 2003 Jeff Wilson and Mark Jarrett 18
Program Flow Chart:Start
End
Home
Letter?LetterSubroutine
Yes
No
![Page 19: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/19.jpg)
September 23, 2003 Jeff Wilson 19
Pseudo Code ‘Y’:Solenoid #1 Set = Down Motor #2 Set = Forward Time Delay Motor #2 Set = Stop Motor #1 Set = Forward Time Delay Motor #1 Set = Stop Motor #2 Set = Reverse Time Delay Motor #2 Set = Stop Motor #2 Set = Forward Time Delay Time Delay Motor #2 Set = Stop Motor #1 Set = Reverse Time Delay Motor #1 Set = Stop Solenoid #1 Set = Up -Home Pen Subroutine-
-Test for more letters to print- -Move to next letter location if needed-
![Page 20: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/20.jpg)
October 08, 2003 Dave Carlson 20
User Interface Code://
// entertext.c - a terminal program to enter text and send it to the
// Go Go Gantry. A list of options is given to the user, who can enter
// text of up to 100 standard ascii letters.
#include <stdio.h>
int main( void )
{
char text[100], choice = 'a';
int numberOfChars = 0, i = 0;
// Title screen and prompt for letters
printf("****************************************************************\n");
printf("* *\n");
printf("* --- Go Go Gantry: Text Terminal --- *\n");
printf("* *\n");
printf("* Enter up to 100 letters to be printed by the Go Go Gantry *\n");
printf("* Press RETURN to continue *\n");
……..
![Page 21: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/21.jpg)
October 08, 2003 Dave Carlson 21
User Interface:
![Page 22: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/22.jpg)
October 09, 2003 Lee Strobridge 22
Design Vs. Prototype:
![Page 23: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/23.jpg)
September 24, 2003 Carlson, Jarrett, Wilson, Bodis, Strobrige, Paradee
23
Rover II Platform: Prototype• Pre-Assembled,
available• Large front
prototyping area• HC 11, Stepper
motors, wheels, controllers, serial communication and interrupt drivers
• More pins give options for sensors
![Page 24: September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee](https://reader035.vdocuments.us/reader035/viewer/2022062320/56649d445503460f94a202d9/html5/thumbnails/24.jpg)
September 23, 2003 Mark Jarrett 24
Schedule:TASKS 1 2 3 4 5 6 7 8
CONCEPT
FEASIBILITY
DESIGN
BUILD
TEST
REVISE
DEMO
1 Solenoid, 2 Wheels, 3 Stepper Motors, 4 RC car with pen, 4 Motor simulation, 5 Sensors6 System integration
DEMO EXPECTATIONS: GO-GO gantry will draw one letter in 30 seconds
13
DEMO
We are here!
42 5
6
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Thank You, Any Questions?
Go-Go Gantry Webpage:I:\WEB\DOCS\ELM\Projects\2003-2004\MiniProject\GoGoGantry\index.html