ME218C

Project Checkpoint Deliverables and Test Plan

Team 6 - Laura Blumenschein, Seth Charles,
Joel Torres-Diaz, Scott Hemley

Checkpoint #1
Deliverables:

1. Rough prototype hovering platform with ability to hold 4 batteries, TIVA, and mounted thrust fans (4
in total). Motor drive circuit utilizing power MOSFETs to drive the lift and thrust fans which are
driven by the onboard TIVA.
2. TREAT implemented on DOG with UART communication between DOG TIVA to turn on and off
the lift fan.
3. FARMER communicating with DOG via the Xbee radios and basic Status message sending to control
the thrust fans.

Test Plan:

For Deliverable #1
1. Using the Teraterm window corresponding to the FARMER TIVA, press the spacebar to connect to the
DOG.
2. Upon connection, the DOG should turn on its lift fan and visually hover above the ground. Additionally,
the thrust fans should all be now on.

Upon pressing the spacebar, the lift fan turns on, the DOG visually hovers, and the thrust fans are on.
For Deliverable #2
3. After connecting to the DOG and confirming deliverable #1, press the spacebar again to disconnect from
the DOG.
4. The lift fan and thrust fans should all turn off. This confirms proper function of the TREAT to turn the
lift fan on and off.

Upon pressing the spacebar again, the lift fan turns off, confirming proper functioning of the treat.
For Deliverable #3
5. Reconnect to the dog with the space bar. The lift and thrust fans should all turn on.
6. Press the letter T to turn on the thrust fans control.
7. Using the two potentiometers connected to the FARMER TIVA, confirm visual changing of the thrust
fans on the DOG. This confirms proper transmission of the command messages from the FARMER to
the DOG via the Xbee radios.

Upon pressing the spacebar and the letter T, confirm that turning the potentiometers connected to the
FARMER in fact change the speed of the thrust fans on the DOG.
 Checkpoint #2
Deliverables:

1. Rough prototype of FARMER with 3 unique controller input circuits built on breadboards
2. Communications protocol implemented on both DOG and FARMER.
3. DOG can be controlled with FARMER inputs
4. Temporary electrical (LED) display of DOG and FARMER connection status
5. IMU data received by FARMER from DOG

Test Plan:

For Deliverable #1
1. Show the circuits for the different FARMER inputs
For Deliverables #2-5
1. Power up DOG and FARMER with appropriate code.
2. Open Teraterm window for the TIVA on the FARMER side.
3. Initiate pairing to DOG by whistling (audio input) into the headset. It is acceptable for DOG number
to be hard coded.
Upon whistling, the FARMER should print out to Teraterm that it requested to pair with the DOG and
received an acknowledgement.
Pairing LEDs should light up on both the DOG and the FARMER to indicate successful pairing. (Deliverable
#4)
The DOG visually hovers, and the thrust fans are all on.
4. Via a keystroke (I) input to the FARMER, print IMU data to the screen to confirm receipt from the
DOG.
IMU data should be displayed on the screen following key press. (Deliverable #5)
5. Via a second keystroke (I) input to the FARMER, stop printing IMU data (to allow for future printing)
IMU data should stop printing to the screen.
6. Actuate throttle control forward
The FARMER should print out to Teraterm that it sent a control message to the DOG and received an
acknowledgement.

DOG actuates forward.

7. Actuate throttle control backward
The FARMER should print out to Teraterm that it sent a control message to the DOG and received an
acknowledgement.

DOG actuates backward.

8. Actuate steering control (tilt plane) to right
The FARMER should print out to Teraterm that it sent a control message to the DOG and received an
acknowledgement.

DOG rotates/strafes right when steering is actuated.

9. Actuate steering control (tilt plane) to left
The FARMER should print out to Teraterm that it sent a control message to the DOG and received an
acknowledgement.

DOG rotates/strafes left when steering is actuated.

 Project Preview
Deliverables:

1) Interoperability of FARMER with other DOGs.

2) Interoperability of DOG with other FARMERs.
3) IMU data display on FARMER showing at least information in two translational axis and one
rotational velocity
4) Closed loop rotation control (stretch goal). Craft stabilizes to zero rotation when receiving no turn
input

Test Plan:

For Deliverable #1
1. Power up FARMER with appropriate code
2. Using the FARMER inputs, select the tag number of another teams dog.
3. Initiate pairing to the selected DOG, whistling or other high volume noise into headset

After initiation of pairing, communication status on FARMER and paired status on DOG should show
successful pairing.

4. Actuate throttle control forward

Paired DOG actuates forward when throttle is actuated forward. FARMER displays matching IMU data.
DOG and FARMER remain paired

5. Actuate steering control to right

Paired DOG rotates/strafes when steering is actuated. FARMER displays matching IMU data. DOG and
FARMER remain paired

For Deliverable #2
1. Power up DOG with appropriate code
2. Using another teams FARMER, pair with DOG using dog tag.

After initiation of pairing, communication status on FARMER and paired status on DOG should show
successful pairing.

3. Using our teams FARMER, attempt to pair with DOG

DOG should remain paired to other teams FARMER, ignoring pair attempt
4. Actuate throttle/steering control
 DOG accelerates and rotates/strafes when appropriate inputs are given. FARMER displays matching IMU
data. DOG and FARMER remain paired

For Deliverable #3
1. Power up DOG and FARMER with appropriate code
2. Pair DOG and FARMER
3. Push DOG left

FARMER shows acceleration to left on display

4. Push DOG right

FARMER shows acceleration to right on display

5. Push DOG forward

FARMER shows acceleration forward on display

6. Push DOG back

FARMER shows acceleration backward on display

7. Spin DOG

FARMER shows rotation on display

For Deliverable #4
1. Power up DOG and FARMER with appropriate code
2. Pair DOG and FARMER
3. Give rotation input so DOG starts turning
4. Remove rotation input
DOG stops rotation when rotation input is removed