AME 3623: Project 1: Digital Logic Robot Controller
Due date: Tuesday, March 1
- Be prepared to demo in class (note that you may demonstrate prior to the due date).
- Turn in project report by the beginning of class (one per group).
- Turn in project evaluation (one per person).
There will be two infrared beacons located within the environment.
Your robot's task will be to:
- Lock onto a beacon (the robot will be placed such that the
beacon is initially in partial view).
- Move toward the beacon.
- Stop when a second beacon is detected to the left of the robot.
Robot interface
Beacon Receivers
A total of four infrared receivers will be mounted onto the robot.
Two will be mounted in a fixed configuration at the front of the
robot. The remaining two will be mounted on a controllable turret.
For each receiver, you will have access to 2 digital bits of state
information. These bits encode the strength of the signal, which
changes as a function of distance to and alignment with the beacon.
The encoding is as follows:
| B1
| B0
|
| Signal Interpretation
|
| 0
| 0
|
| No signal
|
| 0
| 1
|
| Low signal
|
| 1
| 0
|
| Medium signal
|
| 1
| 1
|
| High signal
|
Robot Control
The robot uses a pair of treads to move. By driving the treads in the
appropriate manner, the robot is able to turn left/right, to translate
forward/backward, or to mix translation with turning. For this lab,
you will control the motion of the robot through a simple digital
interface consisting of 3 input lines. The semantics of this digital
interface are as follows:
| C2
| C1
| C0
|
| Robot motion
|
| 0
| 0
| 0
|
| Stop
|
| 0
| 0
| 1
|
| Forward
|
| 0
| 1
| 0
|
| Left
|
| 0
| 1
| 1
|
| Right
|
| 1
| 0
| 0
|
| Forward-Left
|
| 1
| 0
| 1
|
| Forward-Right
|
| 1
| 1
| 0
|
| Backward
|
| 1
| 1
| 1
|
| x
|
Turret Control
The turret is controlled with 2 digital bits. The semantics of these
are as follows:
| T1
| T0
|
| Turret state
|
| 0
| 0
|
| Face forward
|
| 0
| 1
|
| Face left
|
| 1
| 0
|
| Face right
|
| 1
| 1
|
| x
|
Materials to Hand In
Project Report
Your report should include the following:
- The names of the group members
- A description of the function that you have implemented (i.e.,
for each possible beacon state, what motor command do you
generate?)
- Describe the corresponding truth table.
- Show the Karnaugh map and the clusters
- Show the circuit diagram.
The reports are due at 5:00 on March 1st. These
must be turned in via the Blackboard drop-box (one copy per group) in
either postscript or pdf format.
Personal Reports
Your personal report must include the following information:
- Your name
- An estimate of your contribution to the project in terms of
percentage of effort.
- An estimate of the contribution of each of your fellow group
members.
The personal reports are due at 5:00 on March 1st. These must be
turned in via the Blackboard drop-box in raw text format.
fagg at ou.edu
Last modified: Sat Mar 5 18:42:52 2005