Project

# Title Team Members TA Documents Sponsor
43 Autonomous Golf
Thomas Holcomb
William Peterson
 Nicholas Ratajczyk final_paper0.pdf
presentation0.pdf
proposal0.pdf
# Team members:

Thomas Holcomb (tholcom2)

William Peterson (wjp2)

# Web Board Link:

https://courses.engr.illinois.edu/ece445/pace/view-topic.asp?id=27214

# Problem:

When golfing you are normally faced with deciding between a pull-cart, carrying or using a golf cart. Many people would like to get a good exercise by walking the course however when it is hot out, or for whatever reason they might have, physically carrying or pushing your bag for four hours may not be an attractive option.

# Solution:

We propose designing an autonomous golf "pull" cart, which will follow the golfer around the course. The general appearance of the cart will be identical to a traditional pull-cart (as our project will use a pull cart as a foundation).

The cart will have three wheels, one in front and two in the rear. The rear wheels will be rigged up to individual DC motors which will handle acceleration and steering. The motors will be powered by an on-board rechargeable lithium ion battery. A bluetooth controller will be used to control the system's state. The cart will track the user via ultrasonic transmitter/receiver system. Literature on this topic can be found: http://www.cs.cmu.edu/~./motionplanning/papers/sbp_papers/integrated1/wirnitzer_sonic_interference_cancel.pdf.

A IR transmitter will be fastened to the user, and a receiver on the cart will contain an array of 3 IR recievers (120 degree offset) to calculate the target angle of the user. Ultrasonic sensors on the cart will be used for collision avoidance for on-course obstacles.

The on-cart system will be responsible for:

1. Providing power to the motors

2. Recieving IR tracking data

3. Processing IR tracking data

4. Controlling the rpm of each motor

5. Object detection and collision avoidance

The on-user system will be responsible for:

1. Sending IR waves to indicate user position

The bluetooth remote will be responsible for:

1. Toggling autonomous mode

2. Any other UI features

Cypress Robot Kit

Todd Nguyen, Byung Joo Park, Alvin Wu

Cypress Robot Kit

Featured Project

Cypress is looking to develop a robotic kit with the purpose of interesting the maker community in the PSOC and its potential. We will be developing a shield that will attach to a PSoC board that will interface to our motors and sensors. To make the shield, we will design our own PCB that will mount on the PSoC directly. The end product will be a remote controlled rover-like robot (through bluetooth) with sensors to achieve line following and obstacle avoidance.

The modules that we will implement:

- Motor Control: H-bridge and PWM control

- Bluetooth Control: Serial communication with PSoC BLE Module, and phone application

- Line Following System: IR sensors

- Obstacle Avoidance System: Ultrasonic sensor

Cypress wishes to use as many off-the-shelf products as possible in order to achieve a “kit-able” design for hobbyists. Building the robot will be a plug-and-play experience so that users can focus on exploring the capabilities of the PSoC.

Our robot will offer three modes which can be toggled through the app: a line following mode, an obstacle-avoiding mode, and a manual-control mode. In the manual-control mode, one will be able to control the motors with the app. In autonomous modes, the robot will be controlled based off of the input from the sensors.