YAO WANG CHI DONG TUO ZHOU

Every year Notre Dame and Northern Ohio compete in the game of Collegiate Mechatronic Football. Senior mechanical engineers have divided into teams to play football robotic football!

Background and Introduction Mechanical Design

Origin Shooting Design Consideration of Defect and Improvement Improved Shooting Mechanism

Controlling Design Communication Testing results Conclusion and outlook

Original Shooting Design

Original Shooting Design

Two wheels shooting ball mechanism

Consideration of Defect and Improvement

Improved Shooting Mechanism

V0 : initial velocity D could be calculated using : shooting angle following equation: H0 : initial height of football D : shooting distance

Motor Selection

Motor Selection
DC motors are used to drive the wheel part and keep it rotating so that it can shoot the ball under the effect of fraction. Based on the mechanic design, we selected two DC motors: M5RS540-12.

Microcontroller
Arduino Uno board with ATmega

MCU Operating Voltage Input Voltage Digital I/O Pins Analog Input Pins

ATmega328 5V 7-12V 14 6

Flash Memory SRAM EEPROM Clock Speed

32KB 2KB 1KB 16MHz

Motor Driver
To drive and control the DC motor, we use seeed motor shield with arduino uno board. The arduino uno board is programmed to give orders to the motor shield.

Such orders include drive the motor forward\backward, change the current speed of the motor and decide which motor to start working, etc.

Core controlling module

Sensor

send out ultrasonic wave to detect objects and distances. Once the original wave reached an object, some of the wave get reverse and become reflected wave

Sensor

MaxSonar-EZ1.

offers very short to long-range detection and ranging detects objects from 0-inches, even objects pressing against the front sensor face, to 254-inches provides sonar range information from 6-inches to 254 inches Objects between 0-inches and 6-inches range as 6-inches.

Programming Arduino Uno Board

Together with sensor, communication module and motor driver, microcontroller can accomplish following functions:
Receive data detected from sensor Communicate with other device through communication module Process and handle data received Send out order to control motor driver

XBee Communication
Embedded solutions providing wireless end-point connectivity to devices

Windows PC connects XBee S2TM (receiver) via USB-cable, and the second XBee S2TM (transmitter) connects with Arduino Uno.

Arduino Communication
For receiver part: Connect an XBee S2TM via a USB cable to the computer. Run the X-CTU software that interacts with the XBee S2TM and set it to receiving mode.(coordinator)

For transmitter part: Connect an Arduino Uno to the computer. Connect the Arduino Uno via 4 wires (+5V, GND, TX, RX) to another XBee S2TM module, which is set to transmitting mode. Compile the program and upload it to Arduino Uno Board.

Integrating various parts of the robot together

Functionality: 1. Speed control 2. Differential shooting 3. Sensor locating 4. Calculate and feed back

Lets Shoot

Performance improvements Ball holder Certain method of stabilization Car kit Energy saving Remote control

1. 2. 3. 4. 5.

Future outlook Receiver robots and kicker robots can be constructed base on this design. Engineers need to customize the design for kicking the ball for kicker, and replace the shooting mechanism with a wide catch mechanism to build up a receiver.

However, basic idea of controlling and communication design can be reused right away.