windell harold jones mechanical engineering march, 7 2008
TRANSCRIPT
Windell Harold JonesMechanical EngineeringMarch, 7 2008
The FIRST OrganizationProject OverviewThe CompetitionWaipahu’s TeamGhost Rider’s SubsystemsControls ModificationGyro Control LoopProgrammingNear Future Plans
Non-profit organization that aims to intrigue young adults to pursue a technology related career through a friendly robotic competition.
Excite young adults about technology.
Mentor the Waipahu High School robotics team by connecting their ideas with reality
Teach the team how to code the Robot Controller
Help with interfacing gyro sensor to robot controller
Modify the operator interface controls Give them valuable hands-on
experience
Two main divisions: Six-week build season (Jan 5-Feb 19) Competition season (Feb 28-April 19)
Hawaii regional: March 27-29!!!
Length: 15s hybrid + 120s teleoperatedPoints: -4 points for each line crossed-8 points for hurdling 40” ball over overpass-8 points for knocking down ball during hybrid.
• Six members:• 2 Juniors• 3 Sophomores• 1 Freshmen
• All rookies• All part of the Engineers
Club• Little to no hands-on
experience
Simplest of the three subsystemsMostly composed of Aluminum 6061
Angle and cross braces Including acrylic ¼” thick protective
cover30mm Bosch Extrusion
Robot Controller (PIC18F8520)
PWM motor controllers
12 VDC power source
Spike Relays (Pneumatics)
Resettable Circuit Breakers
2-Globe motors 2-8” wheelchair
wheels Conveyer belt
material for extra traction
10 fps translation 90 deg/s rotation
(limited by gyro)
Code written in C Using the
Microchip’s MPLAB IDE using the C18 library set
Two files to modify user_rountines.c
(26ms) user_routines.c
Problem: Confusing as to where to edit code.
Problem: X-axis and Y-axis combination not intuitive.
Leads to a high practice requirement
Solution: Steering wheel Joystick throttle
Differential drive leads to high maneuverability
Hard to control as reaction times are slow
Using a gyro to maintain desired rotations solved problem
Proportional feedback control used
Designing and building a robot in six weeks is difficult.
Especially when it is required that the students be involved.
Dramatic tool skill increase observedFuture Plans: Add Hybrid mode code
at the competition.
Come see us compete along with many local high school teams!
March 27-29, Stan Sheriff Center