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