Mappie
By: Michael Pusatera
Summary of Talk
Introduction Controlling Hardware Sensors Actuation Platform Behaviors Conclusions
Introduction
Autonomous Navigating Agent Use of non-mechanical navigation techniques
Optical Mice
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
Sensors
Bump Sensor Pushbutton switches
Infrared Sensor Sharp IR sensors
Distance Navigation Sensor Optical Mice
Sensor Report: Bump Sensor
Bump Switch Design
Vcc Vcc Vcc Vcc
R1 R2 R3 R4
Analog(0)
R?
S1 S2 S3 S4
Sensor Report: IR Sensors
Infrared Sensor Design
Analog(2)
Analog(3)
Analog(1)
IR Sensor IR SensorIR Sensor
Vcc
Sensor Report: Optical Mice
How Optical Mice Work:
Sensor Report: Optical Mice
How Optical Mice Work: Serial interface
Data, Clk
State Machine Inhibit USB Send two commands Read Data Stream
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
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
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
Actuation
2 servos
Platform
Based on TJPro Larger due to EVBU board size and Distance
sensor
Behaviors
Go Straight for 10 feet Go Straight for 10 feet =>Turn 180°=>Return Navigate a 4 foot by 4 foot square
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
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