Vertigo

Head

Navaid
moc.liamg|1nahkdiavan#moc.liamg|1nahkdiavan
9732961393

Task

This was an event in IIT-B Techfest(2008)
http://techfest.org/competitions/xtreme-machines/vertigo/
The main focus will be on the autonomous bot rather than maual.

1st years

Kaushik Kislay
Satyabrata Mohanty
Palkush Rai Chawla
Mithilesh G
Samar Rehman Patel
Ramkumar R
NV Girish
Shrey Goyal
Paras Khaitan
Sawan Kumar
Abhirup Mallik
Pankaj Pansari

Discussions


Question: What is the minimum time delay (if any) that has to be given between two successive
input sequences to a stepper motor ?
Answer: That has to be checked on the spot. The delay controls the speed of the motor. the larger the delay, the lesser the speed and vice versa.

Announcement


Meeting on Tuesday(8th April) in I-lab at 9:00pm. Bring all the work that you have done.


Updates


Minutes of the Meeting


25th March, 2008 ( by Palkush )

Ideas on Mechanism:

  • The cage fall mechanism, a bucket which grabs the block from top.
bucket.jpg
  • Rotating frame mechanism, To avoid 180 degree turn for bot, turn the grabbing frame by 180 degree.
framerotate.jpg
  • Hockey stick Mechanism: To sweep the block into the pit, with the help of a rotating Г like stick.
hockey%20stick.jpg
  • Truck Load Mechanism: The bot encloses the block completely, and then drags it towards the pit.
truck%20load.jpg

Ideas on Sensor Placement (For Grid navigation):

  • Star formation, as suggested by naved, using 5 sensors in a + shaped formation, and a custom array of sensor at given angle, for rotation of bot
sensor.jpg

Distance Tracking(Using Steppers):

Using geometry, we calculate all the distances that need to be covered, and hardcode them sequence-wise in the bot. The present task is to make the stepper driver circuits (two) on a single PCB, using L298, to study its datasheet.

Code for Stepper

Task: To learn 8051 programming with help of C and MIDE, and to write a small demo code for driving a stepper motor to 8 revolutions.


(by pankaj)
/*code for bot rotation of 45degrees
let distance between rear wheels be 20cm
& radius of each wheel be 3cm*/
#include<8052.h>
void delay();
void main()
{
// no. of rev. of each wheel(n)=5/12
// n*2*pi*3=(45/360)*2*pi*10 (rotation about m.p of rear shaft)
float i=0;
int j;
/*rotation by n*360 rotations
step angle=1.8deg */
while(i<=(5*360)/(4*1.8*12))
{
delay();
P0=128;
P1=16;
for(j=1;j<4;j++)
{
delay();
P0=P0/2;
P1=P1*2;
delay();
}
i++;
}
return;
}
void delay()
{
int i;
for(i=0;i<50;i++)
;
}

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