The date is: Wed Feb 3 14:10:30 MST 1999 This week I am attempting to force pulse width modulation onto an Altera chip. I am hoping to create a nearly autonomous "drive" system. I won't be too optomistic so I think I'll be doing the same thing next week also. The date is: Fri Feb 12 15:56:09 MST 1999 This week I completed the closed loop pwm for the robot's motor systems. There wasn't enough space on the Altera chip we were goin to use for our design so we couldn't simulate or program, yet. I also participated in the decision on a preliminary speed for the robot. We decided on either 2 or 3 inches a second. This will be maintained untill proven unfeasible. Next week I plan to seperate the pwm program, and attempt to place it on two seperate Altera chips. I have grave misgivings, but I believe that I will be able to implement the pwm with only token support from the hc11. The date is: Sat Feb 20 19:01:59 MST 1999 This week the group worked on the presentation. Other than that we decided to order parts for the motor control system system. Next week we'll finish the motor control system and begin to delve into the sensor systems. The date is: Fri Feb 26 16:17:59 MST 1999 This week Shawn and I put together an order for all the Altera parts we needed. This included an EPM7128ALC68-15, an EPM7064LC44-12, and an 84 pin socket for the 7128. After finishing these orders I attached a donated caster wheel to the rear of the main chassis of the robot. This intailed drilling the hole and hammering in the castor stud. After that I ran a 12-volt DC comparison of the motors we were provided with, by attaching the the battery directly to the motors. This comparison showed that the motors, when powered up and allowed to carry the main chassis, will run in a straight line, e.g. the motor constants are extremely close in value and therefore need no complicated circuitry or code to get them to run at equal speeds. Next week we will be working on our turret design for our fire suppresion system. This turret will cause the low volume fluid pump to turn in a 30 degree arc for maximum suppresant dispersal. To accomplish this we will be attaching a cam on a small motor to the platform we are going to use on our fire suppesion pump. When activated the motor and cam will cause the platform to swivel 15 degrees to both the left and the right. The date is: Fri Mar 5 11:21:18 MST 1999 This week I managed to fit the entire motor control system, including signal processing, PWM and close-loop controller, onto our Altera chips,in theory that is. Then since we did not have our hardware yet, Shawn and I went on a "scavenger hunt" for parts. We managed to find a 12-volt low volume continuous stream pump, a windshield washer pump off of a late '80's model Dodge Colt. We then bought from Ace hardware the required hose and adapters to make it work with our robot. We also purchased a prepunched perfboard on which to mount our Altera wire-wrapping sockets. Next week we will probably begin modifying the pump and programing and wire-wrapping Altera chips. I imagine that will consume most of the week. The date is: Fri Mar 12 12:27:06 MST 1999 This week I completed the fire suppresion system. This intailed joining a set of salt and pepper shakers with epoxy to form the tank, attaching the various connectors again with epoxy, and cutting hoses to the correct lenghts to make the pump work correctly. The most ingenuis idea I had was the use of a sprinkler head to disperse the fluid stream. This removes the need to have the nozzle move in an arc. We also programmed our Altera chips, and I began wire-wrapping them. I will continue to wire-wrap through spring break, hopefully finishing before the 23rd. After spring break I believe the entire group will begin integrating the various subsystems into one cohesive fire fighting robot. The date is: Thu Apr 1 16:49:47 MST 1999 This week we tested the motorcontrol system and blew a cap on the H-bridge, big excitement. We also built the second and third levels to our robot out of masonite. Next week we will, hopefully, finish the test on our motorcontrol, and be able to prove that it works. After that we will begin to hook the systems together to finish the robot. The date is: Fri Apr 9 14:48:48 MDT 1999 This week we redesigned the motor control four times(and I rewired it twice, Big Excitement!). So this week was fairly productive in the fact that we now might have a working motorcontrol system. We also completed the final assembly of the chassis. We haven't mounted any circuitry yet but now we do have something on which to mount our circuitry. Next week we will begin testing the motor control and assembling the robot components. At least we will if we don't have to redesign the motorcontrol again. The date is: Fri Apr 23 14:01:26 MDT 1999 It works!!!! The motor control that is. We actually designed one that works. This is the best possible ending to a week filled with big excitement. We fried our 64 logic cell Altera chip but, by the good nature of our fellow classmates we found ourselves with a new one. Once programmed, connected correctly and tested the motor control worked. I have no idea what we are doing next week but, I can go home happy tonight. The date is: Fri Apr 30 16:14:40 MDT 1999 This week we completed assembly of the entire robot chassis. We also completed and will test the motor control before tomorrow. Next week will all sleep much better. The date is: Fri May 7 10:51:35 MDT 1999 This week I worked on my portion of the final paper. It covers chassis design and encoder signal processing. I also made sure that I turned in the final weekly report. Next week I will probably feel that something is missing when I don't have to turn in a weekly report.