Final Report - Claymore - Grand Valley State University

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Where, Ci = Target input signal θ = Panning Angle p 1.4 Electrical Design The electrical schematic of the device is shown in Figure 4. The electrical schematic includes the ATMega32 microcontroller, a L298P H-bridge push-pull four channel driver chip, and a 4 volt power supply. Four 1 KΩ resistors were used to reduce noise from the stepper motor. Figure 4: Electrical Schematic 7
2. Free Body diagram and Differential Equations The calculations shown in subsequent sections was used to determine the required launch angle torque and launch speed needed to fire the ball the required distance. This calculation was helpful in the selection process of motors. 2.1 Panning Angle Calculation 2.1.1 Differential Equations for Stepper Motor τ Motor N FNR θ Figure 5: FBD for the Turn Table where, N= normal force (The hopper weight) W(hopper) = weight of the hopper and its configurations * * J θ = mass moment of inertia The differential equation for the launching angle from Figure 2.1 is * * ∑ M : τ Motor − FNR = J θ . * Put (2.1) into state equation, let θ = ω ω * = τ Motor − J W(hopper) FNR 8 * * J θ (2.1) , (2.2)
Page 1 and 2: Grand Valley State University Padno
Page 3 and 4: Table of Contents 1. Design Descrip
Page 5 and 6: pressure was applied, the flap rota
Page 7: ATMega32 1 2 3 4 Target Lines PWM A
Page 11 and 12: ∑ ⎟ ⎞ ⎛ d M = Tm − TF = J
Page 13 and 14: where, V= potential energy, and T=
Page 15 and 16: x i 0x ( t) = x + V t , ( 2.28) whe
Page 17 and 18: 2 2 2 h = a + o , ( 2.39) where, h=
Page 19 and 20: 1. The flap in front of the nozzle
Page 22 and 23: 7.1.2 Orthographic Prints 21
Page 24 and 25: Figure 13: Barrel Figure 15: Air no
Page 26 and 27: Figure 18: Ball stopper flap Figure
Page 28 and 29: Figure 22: Rubber foot Figure 23: H
Page 30 and 31: Figure 26: Hopper U-joint Figure 27
Page 32 and 33: 7.3 C Code //Author: Brian Coleman
Page 34 and 35: } CNT_timer1 = 0xFFFF - 80; TCNT1 =
Page 36 and 37: } } /*-----------------------------
Page 38 and 39: int main(void) { } sio_cleanup(); s
Page 40 and 41: VL= Kpot*state($,1)-Vzero; //estima

Final Report - Claymore - Grand Valley State University

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