Mech - User contributions [en]

Basketball

2009-03-20T05:19:54Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman DC brush motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4520</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our control circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Designing a functioning throwing device along with getting the rest of the project implemented was difficult to complete with the given time constraints.

*Many components burned out. Fly back diodes were implemented however, we still went through quite a few H-bridges. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause of some of these part failures.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speeds, the loss in the long wires played a significant effect resulting in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.

Basketball

2009-03-20T00:58:11Z

Alex Wojcicki: /* Electrical Components */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4520</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our control circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Designing a functioning throwing device along with getting the rest of the project implemented was difficult to complete with the given time constraints.

*Many components burned out. Fly back diodes were implemented however, we still went through quite a few H-bridges. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause of some of these part failures.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speeds, the loss in the long wires played a significant effect resulting in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:52:31Z

Alex Wojcicki: /* Problems Encountered */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our control circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Designing a functioning throwing device along with getting the rest of the project implemented was difficult to complete with the given time constraints.

*Many components burned out. Fly back diodes were implemented however, we still went through quite a few H-bridges. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause of some of these part failures.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speeds, the loss in the long wires played a significant effect resulting in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:50:31Z

Alex Wojcicki: /* Problems Encountered */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our control circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Designing a functioning throwing device along with getting the rest of the project implemented was difficult to complete with the given time constraints.

*Many components burned out. Fly back diodes were implemented however, we still went through quite a few H-bridges. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause of some of these part failures.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:50:03Z

Alex Wojcicki: /* Problems Encountered */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our control circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Designing a functioning throwing device along with getting the rest of the project implemented was difficult to complete with the given time constraints.

*Many components burned out. Fly back diodes were implemented however, we still went through quite a few H-bridges. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause of some .

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:41:50Z

Alex Wojcicki: /* Notes */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement. Simply using PWM to drive the motor at different speeds may have been sufficient.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:41:08Z

Alex Wojcicki: /* Notes */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Simplify the motor control portion of the project. Trying to implement a speed control using the encoder count was difficult to implement.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections.
*Combine the PICs on one circuit board, solving the issues we encountered when attempting this.
*Perform a more detailed calibration, adjusting starting position, final launching position, and speed to get improved control over throwing distance.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:36:46Z

Alex Wojcicki: /* Problems Encountered */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count. Larger diameter wires may be an alternate solution to this problem.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:35:40Z

Alex Wojcicki: /* Results */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. This could be due to the effect of motor noise on our circuitry.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and calibrate our throwing distance was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. When using long wires running from the encoder, we were not able to get our encoder chip to function properly. Replacing them with shorter wires fixed the issue. Because the signal from the encoder is switching at such high speed, there is loss in the wire if it is too long which results in a faulty encoder count.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:28:45Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing arm attachment close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:28:26Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire system|left|thumb|200px]][[Image:mech2009bballcloseup|Front view|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:27:51Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire System|left|thumb|200px]][[Image:mech2009bballcloseup|Front View|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for better performance detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:26:32Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire System|left|thumb|200px]][[Image:mech2009bballcloseup|Front View|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:22:31Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Entire System|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:21:33Z

Alex Wojcicki:

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:19:11Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:18:58Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:18:42Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

File:Mechatronics2009BballArmCloseup

2009-03-20T00:18:13Z

Alex Wojcicki:

Basketball

2009-03-20T00:18:01Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Close up|right|thumb|250px]]
=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-20T00:17:40Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.
[[Image:Mechatronics2009BballArmCloseup|Throwing Arm Attachment Closeup|right|thumb|250px]]
=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The IR pair and ultrasonic sensor are stacked vertically and inserted into the fitted holes on the laser cut acrylic. Because of the close proximity of the IR pair, to prevent saturation of the IR receiver, the emitter was wrapped in electrical tape. This allowed for the detection of reflected IR rather than from the emitter right below the detector. The RC servo goes through a sweep looking for the hoop. It finds the hoop by storing the location of the highest IR detection. The reflective tape used in Design Challenge 2008 and 2009 was used to wrap the hoop and is used to assist in the finding of the hoop as it reflects more IR radiation than most common objects. After making its sweep, the servo returns to the position where the most IR was detected. The ultrasonic sensor will then ping the hoop to find the distance of the hoop.

The Pittman motor, H-Bridge, and encoder chip circuit is more complex. This circuit is run by PIC2. The information collected about the hoop location is communicated from PIC1 to PIC2. The Pittman is used to launch the ball. After the hoop is found, the arm attached to the Pittman launches the ball into the hoop. The shaft rotates forward and then reverses to its previous position. The device is then ready to find the hoop and launch the ball again.

The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

LINK TO VIDEO HERE

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were implemented however, we still went through quite a few H-bridges.

*Many components burned out. Encoder chips also burned out. The PING sensor burned out as well. We are not sure of the cause.

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the PICs could not be combined onto a single board.
*Introduce feedback control once the motor is tuned. Sense the distance the ball travels and adjust accordingly if the shot misses.

Basketball

2009-03-19T22:26:50Z

Alex Wojcicki: /* Electrical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Electrical Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:26:37Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Mechanical Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:26:06Z

Alex Wojcicki: /* Components */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
<tr><td>Rubber Feet</td><td>-</td><td>4</td><td>Lab</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:24:15Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|350px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:23:56Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|400px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

File:Mech2009bballcloseupalternate

2009-03-19T22:22:52Z

Alex Wojcicki:

Basketball

2009-03-19T22:22:24Z

Alex Wojcicki: /* Introduction */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]][[Image:mech2009bballcloseupalternate|Alternate close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:16:01Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|250px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:15:37Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|200px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:14:54Z

Alex Wojcicki: /* Mechanical Design */

[[Image:Mechatronics2009Bball|right|thumb|180px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|250px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|200px]]
The major mechanical components were machined out of clear acrylic using the laser cutter in the machine shop. Holes were machined and threaded as required. The base is a square (12" x 12") with threaded holes for attachment to the purchased turntable bearing. The turntable has threaded holes for attachment to the turntable bearing as well. Large holes were added to the turntable for screw access during assembly because once one of the parts is attached to the turntable, the screws would otherwise not be able to be tightened. The turntable features a rectangular cutout for the servo motor and threaded holes for mounting. There are additional through holes for mounting the sensor bracket and the motor supports.

Two motor supports were designed to accept the Pittman motor and hold it six inches above the turntable surface. Fasteners are inserted from below the turntable into threaded holes in the motor supports. Clamps were designed to thread onto the supports and secure the motor in place. The sensors (IR emitter/receiver pair and ultrasonic sensor) are mounted on a machined acrylic bracket that which is attached to the turntable again through fasteners inserted underneath the turntable.

The arm is also made of laser cut acrylic. It was designed with a close fit on the flat of the motor shaft and with a clamp for tightening using a threaded fastener. For manufacturing reasons, the ball holding portion of the arm was cut out of a separate piece of acrylic and secured to the end of the throwing arm.

The hoop can be anything with the highly reflective tape around it. It is suggested to have a circular profile for ease of detecting its center using the IR emitter/receiver.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com/#8560K357 McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com/#6031k17 McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T22:06:23Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:58:54Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:56:09Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:55:28Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:52:59Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:49:25Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:44:49Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:44:07Z

Alex Wojcicki: /* Mechanical Design */

Basketball

2009-03-19T21:37:15Z

Alex Wojcicki: /* Mechanical Design */

ME 333 final projects

2009-03-19T21:33:06Z

Alex Wojcicki: /* Basketball */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===

 
=== [[Persistence-of-Vision Display]] ===

 
=== [[Rock-Paper-Scissors]] ===

 
=== [[Three-speaker Chladni Patterns]] ===

 
=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
 

=== [[Robot Drummer]] ===
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===

 
=== [[Monkeybot]] ===

 
=== [[PPOD-mini: 6-DOF Shaker]] ===

 
=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.
[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

Basketball

2009-03-19T21:31:15Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:31:04Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:30:45Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:30:30Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:30:13Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:29:40Z

Alex Wojcicki: /* Team Members */

Basketball

2009-03-19T21:29:04Z

Alex Wojcicki:

Basketball

2009-03-19T21:28:21Z

Alex Wojcicki:

[[Image:Mechatronics2009Bball|right|thumb|200px]]
<br=clear all>
== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|400px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|200px]]
The project is made of acrylic that has been laser cut. Two pieces of acrylic are used for the turntable base and the turning surface. The base is a square (12" x 12") on which the bottom of the servo is mounted. The turntable surface has a rectangle cut out of it to fit the servo motor. They are connected by the turntable. The Pittman motor clamped between two supports that are screwed on the turning surface. The sensors, IR emitter/receiver pair and ultrasonic sensor) are fitted onto a slab of acrylic that is also screwed on top of the turning surface. The arm is also made of laser cut acrylic and uses a screw that can be tightened to fasten to the motor's shaft. The hoop can be anything with the highly reflective tape around it.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

=== Drawings ===

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.

Basketball

2009-03-19T21:27:17Z

Alex Wojcicki: /* Team Members */

[[Image:Mechatronics2009Bball|right|thumb|200px]]

== Team Members ==
[[image:Team_12_Mechatronics_2009|Team Members from right to left: John, Alex, and Meredith|thumb|400px|right]]
* John Rula (Mechanical Engineering, Class of 2009)
* Alex Wojcicki (Mechanical Engineering, Class of 2009)
* Meredith Chow (Electrical Engineering, Class of 2010)

 

== Introduction ==

A throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket."
[[Image:Mechatronics2009Bball|Full view|left|thumb|200px]][[Image:mech2009bballcloseup|Close up|left|thumb|200px]]
 

== Mechanical Design ==
[[Image:Mechatronics2009BballCADassembly|CAD Assembly|right|thumb|200px]]
The project is made of acrylic that has been laser cut. Two pieces of acrylic are used for the turntable base and the turning surface. The base is a square (12" x 12") on which the bottom of the servo is mounted. The turntable surface has a rectangle cut out of it to fit the servo motor. They are connected by the turntable. The Pittman motor clamped between two supports that are screwed on the turning surface. The sensors, IR emitter/receiver pair and ultrasonic sensor) are fitted onto a slab of acrylic that is also screwed on top of the turning surface. The arm is also made of laser cut acrylic and uses a screw that can be tightened to fasten to the motor's shaft. The hoop can be anything with the highly reflective tape around it.

=== Components ===

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>Pittman Motor </td><td>GM8712</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>RC Servo Motor - Futaba </td><td>S3004</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Acrylic .25" Thick, 24"X 24"</td><td>8560K357</td><td>1</td><td>[http://www.mcmaster.com McMaster]</td><td>$39.63</td></tr>
<tr><td>Corrosion-Resistant Turntable</td><td>6031K17</td><td>1</td><td>[http://www.mcmaster.com McMaster]</td><td>$2.42</td></tr>
<tr><td>Fasteners</td><td>-</td><td>24</td><td>Shop supply</td><td>-</td></tr>
</table>
 

=== Drawings ===

== Electrical Design ==
The IR pair, ultrasonic, and servo have a relatively simple circuit. The Pittman motor, H-Bridge, and encoder chip circuit is more complex. In the diagram below, the IR pair, ultrasonic, and servo are controlled by the program on PIC1. The Pittman, H-Bridge and encoder chip were run by PIC2. The two pics communicated with a common ground and wire connecting RC6 and RC7 as shown in the diagram. The power supply was two 12 volt power supplies connected in series to give a total of 24 volts.

=== Components ===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th><th>Vendor</th><th>Price (Total)</th></tr>
<tr><td>PICs</td><td>PIC18F4620</td><td>2</td><td>Lab</td><td>-</td></tr>
<tr><td>Encoder</td><td>LS7083</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>H-Bridge</td><td>L298N</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Ping Ultrasonic Sensor</td><td>28015</td><td>1</td><td>Lab 5 supply</td><td>-</td></tr>
<tr><td>IR Emitter</td><td>QED123</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>IR Phototransistor</td><td>LTR-4206E</td><td>1</td><td>Lab</td><td>-</td></tr>
<tr><td>Diodes</td><td>1N4148</td><td>4</td><td>Lab</td><td>-</td></tr>
<tr><td>Resistors</td><td>47.5/150K</td><td>2</td><td>Lab</td><td>-</td></tr>
</table>
 

=== Circuit Diagram ===
[[image:team12mech2009cktwiki|Circuit diagram of how the the pics, sensors, and motor components are connected.|thumb|500px|left]][[image:mech2009bballelectronics|How the the pics, sensors, and motor components are connected.|thumb|500px|left]]

 

== Code ==
== Results ==
In the end, the project ultimately succeeded -- baskets could be made. However, better tuning for the motor control and needs to be developed for more consistent results.

Video

===Problems Encountered===

*Attempting to integrate multiple pics and circuits onto one circuit board did not give good results. Ultimately, we had to use separate boards for each pic. We are not sure what the cause of this is -- perhaps it is noise.

*Motor control was an intense programming effort -- almost a project in its own right. Trying to combine the motor control and distance variation was difficult. Fly back diodes were used to prevent the H-Bridges from burning out. However, we still burned out many H-Bridges.

*The encoder chips also burned out - why?

*The PING sensor also burned out - why?

*The length of wires for the Encoder A and B should be limited. A longer wire seems to result in loss since the signal is oscillating at such a fast speed, there is loss of the wire is too long.

== Notes ==
A few things we might change if we did it again:
*Try another actuator that requires less intense motor control.
*Test different wires for length and diameter for optimal performance for the Encoder A and B connections
*Figure out why the pics could not be combined onto a single board.