Project 704Ψ

Design team: Sarah Steward Chad Harrington Kyle Levesque

Problem statement

Modify a miniature vehicle that will… Be able to travel through any hallway Collect paper & magazines from bins Drive to a set location and unload

material Automobile will not need human

aid, after a initial button is pressed.

Solutions

Teaching the automobile the correct path – By recording a directed path in memory of an HC12 micro controller and then playing back the path, when the playback button is activated.

Drop bins – Sliding material out of the bins, and into a dump bucket on top of the automobile.

Simple dump truck style unloading - Using a motorized lifting system to slid material into the unloading area.

System Overview Car environment

Transfer system

Detailed System Overview

Micro processor (HC12)

Dump bin motor

Remote

Drive motorTurn motor

Mechanical design concept 1

Wedge

Dump Bin

Truck

Mechanical design concept 2 Bin design

Wedge slot

Direction of Wedge flow Magazine

inserted here

Working Drawings

Mechanical design concept 3

Wedge pusher Dump Box

Working Drawings

Stand Assembly

Working Drawings

Electrical Concepts

Electrical Layout

Software Design Concepts

Record /* * Function record * This function will record the input from the joystick to memory * */

void record(void) { int i; i=0; asm_main(); // call the assembly function for(;;) { DELAY_100ms(); path [i]= (PTAD & 0x0F); if (i == 500) { path[i]=0x00; // stores all zeros to memory break; //breaks out after 50 seconds of looping } i++; } // waits until the switch button is neutral DUMPROUTINE();

Play Back /* * Function playback * This function will playback the information recorded in memory * */

void playback(void) { int i; i=0; // call the assembly function // allows us to write to the whole port T DDRAD = 0x0F; RDRAD = 0x0F; for(;;) { if (path[i] == 0x00) break;//checks to see if byte is all zeros if so exits out PTAD = path[i]; // stores memory location in port T i++; DELAY_100ms() ; // waits 100ms } DUMPROUTINE(); DDRAD = 0; //add to wait until switch is recentered return; }

Dump Bucketo o ; ----------------------------------------o ; Subroutine DUMPROUTINE:o ; ----------------------------------------

o DUMPROUTINE:

o BSET PTT,P1_DUMPMOTORBIT ;changes direction of motoro BCLR PTT, E1_DUMPMOTORBIT ;turn dump motor ono LDX #50000 ;delay for 5 secondo JSR DELAY_X100o BSET PTT,E1_DUMPMOTORBIT ;turn off dump motor o LDX #50000 ;delay for 5 secondo JSR DELAY_X100USo o BCLR PTT,P1_DUMPMOTORBIT ;changes direction of motoro BCLR PTT, E1_DUMPMOTORBIT ;turn on dump motor o LDX #50000 ;delay for 5 secondo JSR DELAY_X100USo o BSET PTT,E1_DUMPMOTORBIT ;turn off dump motoro o RTS

Schedule Current status

Status Report as of October 19, 2005

  Complete Incomplete

Electrical

Schematic  

Wiring  

Trouble Shooting  

Mechanical

Drawing compete  

Building Attach dump body

  Fabricate wedge

Software

Written  

Downloaded  

  Troubleshoot

Proposed Budget

Project 704Ψ

At this time we will be willing to entertain any brief Questions.

Other implemented automated systems

www.dailycardinal.com/news/2005/09/13/News/New-Automated.Trash.Collection.Program.Facilitates.Recycling-982894.shtml

Automated trash collection systems for city use.

http://www.warwickri.gov/recycsanit/auto.htm City of Warwick, Automated trash system

http://www.madison.com/wsj/home/opinion/index.php?ntid=53867 Wisconsin, Madison automated recycling system.

Acknowledgements

Andre St. Denis

John Kidder

Roger Howes