ECE 492 SENIOR PROJECT 2 MINI SUMO ROBOT

Transcription

1 ECE 492 SENIOR PROJECT 2 MINI SUMO ROBOT STUDENTS EMRAH ÇAĞLAR CİHAN ARDA Supervisor: Assist. PROF. DR. ORHAN GAZi 1

2 DIGITEST ELECTRONICS LTD COMPANY(established in 2002) Main purpose of the company is to fix or backup the electronic boards which are commonly used in the industrial area They have researched the defect finder device on the electronic systems therefore they created the first domestic defect finder device which is called D&T500, D&T1000 (Fault locator) They are also doing : PCB Development PCB Tests Software projection and refinement System Engineering, System Building, Entegration Consumer Support Service Main Work Area; Industrial Electronic - Technical Support - Real Time Control Systems Meteorological Systems - Calibration Systems - Smart Sensor Networks 2

3 WHAT HAS BEEN DONE YET? We examine the concept of the mini sumo robot. Servo motor modification Motor Selection Designing software algorithm via CCS-C Compiler 3

4 Sumo Robot Circuit with PIC16F877 Signal: black color --> 5V --> 1 White color --> 0V --> 0 4

5 Fig. Structure of standart servo motor Fig. Mechanical stop 5

6 Fig.Equivalent resistors Fig. Potentiometer 6

7 Gear with motor stop Gear without motor stop 7

8 Result of the modification adjusting value 50hz sinusoidal wave, 4.8 volt 8

9 DC MOTOR CIRCUIT 9

10 REGULATOR CIRCUIT(7805) Decreases 9V to 5V. Also prevents changes on voltage. 10

11 Motor controller Circuit (L298) 11

12 Through the motor controller (L298) has the biggest Imax value between the type of motor controllers. That Imax value is 2 Ampere. Current under load I IL =current under load (A) TM=motor torque (mnm) km =torque constant (mnm/ A) io =no load current (A) IL= (TM/km)+io IL=(6.68/5.80) = 1.172A (Datas are taken from Faulhaber SR dc motor datasheet) As you see 2 A is enough to drive the dc motor ECE491 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 12

13 Software Algorithm 13

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15 ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 15

16 SENSORS(CNY70) CNY70 helps robot not to go out off arena. Fighting arena consist of two types of color; the edge color is white which surrounds the arena as 5 cm width. Inner place of the white circle is black for the maximum contrast. 16

17 OTHER DEVICES IN THE ROBOT Microcontroller(PIC16877a) We need Schmitt-Trigger in order to convert analog signal coming from cny70 sensor to digital signal Principle of Schmitt-Trigger 17

18 Second type of sensor that we can call it as robot target sensor which is o Infrared Object Sensors(Proximity Sensors) 18

19 Infrared Object Sensors(proximity Sensors) Infrared light and can measure the distance between object and itself. Easy to build a receiver and transmitter systems 19

20 In sumo robot circuits designers are generally use SHARP infrared systems. It uses ınfrared light and can measure the distance between object and itself. This kind of proximity sensors put forward the distance data or according to existance of a target I n sensor range, creates a signal. When the sensor is triggered, 8-bits of distance data is sended to a microcontroller by the sensor. 20

21 MINI SUMO with PIC16F877A Sumo Robot Circuit with PIC16F28A 21

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24 THANK YOU! 24