Northwestern Design Competition

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DC2012

Equipment

  • NU32, USB cable, 6V power supply
  • 2 drive motors, 2 motor mounts, 2 wheels

Workshop 1, TBD

  • How to program in MPLABX
  • How to use the bootloader to put code on the NU32
  • Digital output I/O (read a button and flash an LED)
  • Analog input
  • PWM output

Milestone 1

  • If a pushbutton is pressed, read the value of a potentiometer and change the brightness of an LED to the corresponding value with PWM

Workshop 2, TBD

  • Optical isolation for motors and RC servos
  • Powering a motor with an h-bridge
  • Writing to the 16x2 character LCD
  • Laser detection of retroreflective tape / Optical line detection
  • 2 1/2D design

Milestone 2

  • Optically isolate a motor
  • Read a potentiometer and write its voltage to the LCD
  • Control the motor velocity based on the potentiometer reading
  • Mount a phototransistor to a laser and detect a scoring zone OR detect a line of electrical tape on white paper

Workshop 3, TBD

  • Line following
  • Laser cutting

Workshop 4, TBD

  • Line following and detecting the crate

Milestone 4

  • Finish laser cutter training
  • First draft of a robot chassis
  • One of the following:
    • Follow a line
    • Detect a crate or scoring zone and drive towards it

DC2011

Milestone 1

  • On a button press, read the value of a potentiometer and change the brightness of an LED accordingly using PWM. Note: Do not use an h-bridge or motor as previously assigned.
  • Due before Workshop 2 on Wed, 2/9.
  • Sample code from Workshop 1


Milestone 2

  • Due before Workshop 3 on Wed, 2/23.
  • Goals:
    • Use code from NU32v2: Nokia 5110 LCD and NU32v2: Analog Input to read a potentiometer and print the voltage to the Nokia 5110
    • Optically isolate a motor and control its velocity based on the potentiometer reading
    • Do 1 of the following:
      • Mount a phototransistor to a laser and detect a cake OR
      • Detect a line of electrical tape on white paper with an optoreflector
  • Datasheets
  • Notes
    • DC2011_WS2_OpticalIsolation.pdf - How to optically isolate an h-bridge and servo motor using the A847 and 74HC04
    • DC2011_WS2_OpticalSensors.pdf - How to use the SFH310 to detect a cake and use the OPB740 or QRE1113 for line following
    • DC2011_WS2_Code.zip - Example code for the NU32v2 that will:
      • Control a DC motor hooked up to an optically isolated h-bridge, and control an optically isolated RC servo motor
      • Respond to serial commands to control the motors, write to the Nokia 5110, and read two analog signals

Milestone 4

  • Due before Wed, 3/16
  • Finish laser training, at least one person per team
  • Construct a prototype chassis for your robot
  • Do one of the following:
    • Follow part of the line on the 36" x 96" printout of this pdf
    • Detect a cake somewhere on the floor and drive to it

Breakout Boards

  • Image of the breakout boards
  • Circuit schematic of the breakout boards
  • This board contains:
    • A spot to plug in the NU32v2 with some prototyping area
    • The optical isolation circuit with some prototyping area, the same size as the NU32v2 breakout board so it can be stacked on top
    • 8 SFH310 with LED breakout boards
    • 4 SFH310 with laser diode breakout boards
    • 1 LIS352AX accelerometer breakout board
    • 1 LSM303DHL tilt-compensated compass breakout board
    • 1 LPY550AL gyroscope breakout board
    • 1 LS7366R encoder decoder breakout board
    • 1 TCS3103 color sensor breakout board
  • How to use the boards:
    • Solder female header pins to the NU32v2 Breakout Board so that you can plug in and remove your NU32v2
    • Solder sockets to the Optically Isolated Motor Board so you can remove burnt out chips
    • The LED and Laser Phototransistor breakout boards will make it easier to attach wires to the sensors
    • You can stack the NU32v2 breakout board with the Optically Isolated board

Brochure for 2011

Previous Years

Wiki pages on sensors, actuators, programming, and microcontrollers: use pages below


Sensors and actuators for DC

Prof. Peshkin's favorite datasheets