Shaft Research, Gimbal, Motor Mounts, Housing - Matt/Patrick/Mike

Friday 2/21

Class

Matt worked on the GPS to get it more efficient and be more precise/accurate.  He then assembled what he and I made for the gimbal.  The gimbal housing now allows the camera and laser platform to sweep on the x-axis; the laser then can move even more on the x-axis and can also look up and down on the y-axis.  He made this way so that the housing would be very strong and stable.  He also made it so it would be easy to add y-axis movement for the camera.

Mike researched more ways to modify the shafts and cogs.  He chose a solution that would be easy and quick to complete (with help from Patrick and Dr. B).  This solution consists of....    Mike then made angled mounts for the front IR sensors so that objects wouldn't be missed by the sensors.  He also added more tread pieces to the tank treads since Patrick thought they might not be long enough.

I, Patrick, reinforced the motor mounts.  I thought the robot needed to be raised of the ground slightly.  I added 2" standoffs to the motor mounts.  Unfortunately, this did not actually work since the mounts became weaker.  I also assembled a very basic housing for the brains.


Outside of class

I, Patrick, removed the 2" standoffs from the motor mounts since that idea did not work as planned.  I assembled a more advanced hinged-roof housing for the battery, motor controllers, etc.  This new housing has a hinged access door to separate the gimbal from the other, previously listed components.  The whole housing then rotates on an axle and is then stopped by the chassis.  I also moved the supports for the housing to the outer part of the chassis from the inner part to make room for the laptop and a "control box."  This box will hold all the electronic components aside from the IR sensors.

New Gimbal (W/ Laser and Camera)

New Gimbal (Side View)

Motor Mounts (W/ Standoffs) & Basic Housing

Motor Mount (W/ Standoffs) Close-up

Reinforced Motor Mount

Angled IR Sensor Mounts

Unmounted Motors & New Reinforced Housing

Opening the Housing

Housing Nearly Open All the Way

Motor/Wheel/IR Sensor Mount, GPS, Gimbal - Matt/Patrick/Mike

Tuesday 2/18

Class

Matt continued to work on the GPS.  He modified the code after testing since he was getting bad data.  I believe he was successful in getting it to work.  He also worked on the camera and laser gimbal. He started to make it stronger and more stable by making a platform for everything to sit on.

Mike researched how to modify the gears and shafts for the treads so they would fit.  He came up with a few ideas like using three cogs.  Holes would be drilled in them to allow the cogs to be connected together.  So Patrick could do some locomotion tests, Mike mounted the Pittman motors, two on each side.  Since the treads are not completely ready, he attached some wheels on the motors just so it could move.

I,Patrick, switched between helping Matt and Mike.  For the first part of class I helped decide how and where to mount the motors along with shaft modifications.  I then switched to helping Matt make the gimbal stronger.  I made the "housing" for the laser and camera stronger.  I then made a platform that would rotate the camera on the x-axis.


Outside of class

I, Patrick, mounted and reinforced the front facing IR sensors, leaving space for the ground facing IR sensors to be mounted later.  I also started making a housing that would protect the "brains," the Arduino boards, the battery, laptop, and other electrical items. This housing is hinged, meaning it can be moved out of the way when someone needs to access the brains and then put back when finished.

Chassis (W/ Motor Mounts, Wheels, IR Sensors)

Pittman Motors, Mounted

Reinforced IR Sensor Mounts

Start of Hinged-Roof Housing

Chassis, Modified Gimbal, GPS, XBees, Servo Calibration/Sweeping, Object Avoidance, and Learning Arduino - Patrick/Matt

In Class

Tuesday 2/11 and Friday 2/14

I, Patrick, started to make a basic chassis using the GearsEd and VEX robot parts in the classroom.  The first picture shows the chassis, before it is finished

Matt worked on the camera and laser pointer gimbal.  The second picture shows the initial gimbal.

On Friday, we changed the gimbal slightly to allow the camera to move as well.

We both worked on the motors and the mounts for them.


Outside of Class

Friday 2/14

I, Patrick, learned how to use the Arduino programming language by making simple programs to make LEDs blink, integrate a switch, and light a seven segment display.  I also researched how to wire different IR sensors.  The first video shows the LEDs flashing and the switch changing the light pattern.

Matt modified/ added to the gimbal to make it more stable for servo sweeping (camera and laser).  He then calibrated the servos so that the laser would point to the relative center of the "target" area created by the camera.  The third picture shows the modified gimbal with the laser and camera mounted.

Matt worked for about three hours.  I worked for about an hour.


Saturday 2/15

I, Patrick, researched how to program the HC-SR04, the GP2d12, and the 2Y0A02 IR sensors with Arduino for object avoidance.  Using the LED programs, I made a simple test program for each sensor to see which one worked the best.  The shorter ranged GP2D12 did ok up to about 15-20 inches.  The HC-SR04 did great to about 22-24 inches.  The 2Y0A02 did the best at 24-26 inches.  This sensor seemed to do the best consistently.  The second video shows the HC-SR04 detecting objects, hands, in its path.  A green LED means the path is clear and a red LED indicates a blocked path.  Since the 2Y0A02 and the GP2D12 are similar sensors, except for range, I only took a video of the 2Y0A02.  All three programs used a switch to start detecting objects.  Since we decided to have 2 IR sensors looking forward, I made the program reflect that.  I also found the various datasheets.

Matt attempted to interface the GPS to Arduino.  After a couple of hours of testing and modifying programs to no avail, he finally gave up.  The fourth and fifth pictures shows the GPS and its code.

Matt and I worked for about 2 hours.


Sunday

Matt successfully wired and programmed the XBees, the XBee Pro S1s.  He was able to establish a link between the two, after he researched how they worked.  He also worked on a Google maps API interface using LabVIEW and a program from robotic teaming as a start.  He also attempted to get the GPS working. He was able to successfully get the GPS The sixth picture shows the XBees.

Matt worked for about 3 hours.

Start of Chassis

Initial Gimbal With Camera and Laser

Arduino LED/Switch Test

Current Gimbal With Camera and Laser

HC-SR04 IR Test

2Y0A02 IR Test

GPS Data

Cirocomm GPS

XBee Pro S1

finished the due date for Tuesday - Michael Mertz

finished the pin out for the arduino mega and uno and finished my target.

Finished Proposal - Patrick/ Matt

2/6/14

I, Patrick, finished the proposal.  I added to and revised the operation description so it now has the Google Earth integration for the GPS and the compass for the heading. The biggest obstacle the robot will face is the height of a curb, or six inches. I added the range to the specification list. I finalized the bill of materials by adding the 12V 15.5Ah lead acid battery, 4 amp battery charger, and the compass sensor. I removed the Arduino Mega 2560 from the BOM, since you said you have one we can use. I replaced the mechanical drawing and the electrical block diagram with the new ones from Matt.

Matt revised the mechanical drawing to reflect our most current design: no solar panels, two boards (Mega and Uno), one 12V battery, compass, and other minor changes. One potential change for stability will be adding a 6th cog on each side (top, middle). He also changed the electrical block diagram back to one battery using voltage regulators.