XII. (Small scale) controls
Background and design requirements
- Goal of small controls: Create mechatronic system that illustrates autonomy of 1/12th scale network
- Three areas of concern
i. Increase number of operable vehicles on track to 10
ii. Refine location/tracking system for autonomous vehicles
iii. Design compact compact control system to fit within 3D cabins
Design overview
- Had to rewrite software used by previous teams (code was not designed for multiple vehicles
- Messaging protocol includes receiver, sender, message type, status, and message content or payload
- Uses checksum digits
Barcode node design
- Barcode based noding position used for tracking system (easy/cheap to produce)
- Barcode algorithm is as follows
i. The “unit time” it takes for a “short” bar to pass is around 15.67 ms
ii. A long bar is around twice as long as a short
iii. If a bar takes around 1.5 times as much to pass, then it registers as a 1, else a 0
Pathing algorithm
- Nodes are programmed with IDs that correspond to barcodes on the track
- Edges have properties that allow for manipulation of pathways for vehicle transport
- Edges have either a zero, one, or two, which tells the vehicle to stop, switch left, or switch right respectively
- Pathing algorithm inspired by video game design
Circuit design
- No middle layer of circuit
Verification and testing
- Program ran with two vehicles
- System worked
- Barcode sensor mounts
i. Sled shape created to allow it to enter track more easily
Cost of project
- Total cost is $240.00
Results and implications
- Working model made in time for makers faire
Conclusion and recommendations
- Tested successfully
- Various improvements could be made
i. Higher quality sensors for greater range
ii. Higher quality printer/paper to produce barcodes
iii. Different sensor mounts could be designed
iv. New code for four-loop
v. More robust algorithm for vehicle switch
vi. Printed circuit boards
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