Operation Sharp Shooter

Final Report 2013 December 4

Project By: Hope Baruffa Clifford Dowdell Joshua Hatfield Reuben Roman Marcia Smith Reginald Young

Advised By: Chief Warrant Officer Darius Banks

ITT Technical Institute Electronics and Communications Engineering Technology

SUMMARY

The Operation Sharp Shooter Unmanned Ground Vehicle (UGV) describes a modern solution for military personnel in times of training and war. The UGV consists of specifications, hardware and software in which work together to provide a comprehensive feature set. The OSS-UGV is designed specifically with modularity, affordability and the open-source philosophy in mind.

ABSTRACT

Vehicle automation has not been utilized within the United States military to its full potential due to the high expense. Operation Sharp Shooters main goal is to provide an inexpensive option to allow UGVs to be utilized in each branch of the United States military. In doing so, the developers hope to make the automation of tactical vehicles ubiquitous.

SUMMARY .............................................................................................................................................. 2 ABSTRACT .............................................................................................................................................. 2 1. PROJECT INTRODUCTION ........................................................................................................ 6

1.1. Significance .................................................................................................................................................... 6 1.1.1. Problem Statement ..........................................................................................................................................6 1.2. Development Tools......................................................................................................................................... 7 1.2.1. Hardware .........................................................................................................................................................7 1.2.2. Software ..........................................................................................................................................................7

2. OPERATION SHARP SHOOTER AUTONOMOUS TOPOLOGY ..................................... 8

2.1. Modules .......................................................................................................................................................... 8 2.2. Overall Design Goals ..................................................................................................................................... 8 2.3. Hardware Requirements ............................................................................................................................... 8 2.3.1. Primary Power Supply ....................................................................................................................................8

3. OPERATION SHARP SHOOTER ASSEMBLY MODULE ................................................. 10

3.1. Introduction ................................................................................................................................................. 10 3.2. Disassembly .................................................................................................................................................. 11 3.3. Mounting of Circuits.................................................................................................................................... 12 3.3.1. Troubleshooting circuit placement ................................................................................................................12 3.4. The Final Step of Disassembly ..................................................................................................................... 12 3.5. Reassembly .................................................................................................................................................. 13

4. MOTOR CIRCUITRY MODULE ............................................................................................... 14

4.1. Parts List ...................................................................................................................................................... 14 4.2. Motor Schematic .......................................................................................................................................... 14 4.3. Motor Circuit Connections .......................................................................................................................... 15 4.4. Troubleshooting ........................................................................................................................................... 16

5. LIGHTING CIRCUITRY MODULE .......................................................................................... 17

5.1. Introduction ................................................................................................................................................. 17 5.2. Parts List ...................................................................................................................................................... 18 5.3. Schematics.................................................................................................................................................... 18 5.4. Troubleshooting ........................................................................................................................................... 19 5.5. Final Process ................................................................................................................................................ 19

6. ARDUINO PROGRAMMING MODULE ................................................................................. 21

6.1. Introduction ................................................................................................................................................. 21 6.2. Parts List ...................................................................................................................................................... 21 6.3. Schematic ..................................................................................................................................................... 22 6.4. Connections.................................................................................................................................................. 22 6.5. Test Programs .............................................................................................................................................. 27 6.6. Final Programming...................................................................................................................................... 27 6.7. Troubleshooting ........................................................................................................................................... 27 6.8. Arduino Software ........................................................................................................................................ 28

7. FINAL PRESENTATION .............................................................................................................. 30

7.1. Introduction .................................................................................................................................................. 30 7.2. Initial Presentation Idea .............................................................................................................................. 30 7.3. PowerPoint Slides ........................................................................................................................................ 31 7.4. Written Speech ............................................................................................................................................ 31 7.5. Video Presentation ....................................................................................................................................... 31

8. OPERATION SHARP SHOOTER WEBSITE ......................................................................... 32

8.1. Introduction ................................................................................................................................................. 32 8.2. Home page ................................................................................................................................................... 32

8.3. Deliverables.................................................................................................................................................. 33 8.4. Capstone Students ....................................................................................................................................... 34 8.5. Gallery ......................................................................................................................................................... 34

9. CONCLUSION.................................................................................................................................. 35 APPENDIX A: PROGRAMMING CODE EXP1 ........... ERROR! BOOKMARK NOT DEFINED. APPENDIX B: ARDUINO PROGRAMMING H-BRIDGE ................ ERROR! BOOKMARK NOT DEFINED. APPENDIX C: LED PROGRAMMING TO SIGNAL CHANGE IN MOTOR DIRECTION ..................................................................................................... ERROR! BOOKMARK NOT DEFINED. APPENDIX D: PROGRAMMING FOR PS3 CONTROLLER ........... ERROR! BOOKMARK NOT DEFINED. APPENDIX E: PROGRAMMING OF PS3 VIA BLUETOOTH ...... ERROR! BOOKMARK NOT DEFINED.

1. PROJECT INTRODUCTION The scope of this project involved the creation and definition of Operation Sharp Shooter (OSS), as well as the design and construction of two OSS-unmanned ground vehicles. The work was completed during the Fall Quarter of the 2013 academic year as Hope Baruffa, Clifford Dowdell, Joshua Hatfield, Reuben Roman, Marcia Smith, Reginald Youngs Capstone Project in Electronics and Communications Engineering at ITT Technical Institute.

1.1. SIGNIFICANCE An unmanned ground vehicle can benefit military personnel by providing convenience and safety.

1.1.1. PROBLEM STATEMENT The basic technology needed to facilitate unmanned ground vehicles (UGV) functionality has been available and used since the 1930s. However, vehicle automation has not been utilized within the United States military to its full potential due to the high expense. Operation Sharp Shooters main goal is to provide an inexpensive option to allow UGVs to be utilized in each branch of the United States military. In doing so, the developers hope to make the automation of tactical vehicles ubiquitous.

1.2. DEVELOPMENT TOOLS

1.2.1. HARDWARE The main hardware device used in the development of an autonomous or remote controlled UGV is an Arduino ATMega 2560 microcontroller. This specific microcontroller senses the environment by receiving input from several different sensors. Along with sensing the environment, this microcontroller can control elements, such as, lights, motors and other actuators.

1.2.2. SOFTWARE The microcontroller on the ATMega 2560 is programmed using the programming language specified towards Arduinos. The programs were written and executed via download of the Arduino software from arduino.cc. The libraries used for the ATMega 2560 Arduino were downloaded from https://github.com/felis/USB_Host_Shield_2.0/tree/BTD .

2. OPERATION SHARP S HOOTER AUTONOMOUS TOPOLOGY

2.1. MODULES Motor Circuitry Lighting Circuitry Primary Power Supply Arduino (ATMega 2560) Programming

2.2. OVERALL DESIGN GOALS Modularity Standardization of hardware Standardization of communication Form follows function Design integrity takes precedence over cost Open Source software and hardware format functionality

2.3. HARDWARE REQUIREMENTS

2.3.1. PRIMARY POWER SUPPLY

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Figure 2-1: Primary Power Supply Schematic

3. OPERATION SHARP SHOOTER ASSEMBLY MODULE

3.1. INTRODUCTION One of the requirements to successfully complete Operation Sharp Shooter was the design, disassembly and reassembly of two Airsoft RC Tactical Remote Control Vehicles. A part of the initial design of the vehicle was to place new circuitry in the cars so the actual movement of the vehicles along with the movement and firing of the turret was accomplished by two different personnel viewing the field from a monitoring station. In order to accomplish the task at hand, the new circuitry needed is to be incognito. See Figure 3-1.

Figure 3-1: Ply board for placement of new circuits to become incognito

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3.2. DISASSEMBLY When the design of the mounting board was complete, the disassembly of the first vehicle began. It consisted of seven screws that held the body of the vehicle to the chassis. When that stage was finished, the wires that were connected to the factory circuit board and chassis needed to be disconnected. The motor that operates the turret was physically mounted on the chassis. This motor needed to be removed by taking out four screws and cutting the two wires that powered the motor. Refer to Figure 3-2 for complete disassembly of the tactical vehicle.

Figure 3-2: Completed disassembly of tactical vehicle

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3.3. MOUNTING OF CIRCUITS The next step in the design process was cutting the board for the circuits. A piece of ply board was cut fourteen by six inches and two holes were drilled into the board in order to feed the existing wires through to reattach the chassis. This step is necessary in order to mount the new circuits on the ply board. Holes were then drilled into the ply board for two and a half inch mounting bolts to attach the body to the chassis. Each mounting bolt had a two inch spacer as well.

3.3.1. TROUBLESHOOTING CIRCUIT PLACEMENT There were several hurdles during the deconstruction and reconstruction of each tactical vehicle. When the motor of the turret was removed, upon realization, it was noticed that the space between the body (where the turret was mounted) and the actual mounting of the motor to the board was limited. So it was decided to add pieces of ply board underneath the motor until the gap was closed. The gap needed to be closed in order for the motor and the turret to meet.

3.4. THE FINAL STEP OF DISASSEMBLY Once the board design was complete, it was then decided as to where the circuits were going to be mounted on the ply board. The drive circuit was mounted alongside the turret motor and then holes were drilled into the board in order to run the wires from the drive motors to the circuit. Then it was time to mount the microprocessor to the ply board. The ATMega 2560 will have wireless controls to move the vehicle through a course using monitors. To be able to use the monitors, a design needed to be created for the cameras to be mounted in two separate locations. The first location will be the drivers windshield, and the second location will be mounted on the
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turret. The reason for this design is so there is a monitoring station in one location while the vehicles are located elsewhere. This will enable the driver and the gunner of a vehicle to maneuver and shoot targets from their stations.

3.5. REASSEMBLY The reassembly of the Unmanned Ground Vehicle (UGV) is the final step of the assembly/disassembly module for Operation Sharp Shooter. The reassembly can be completed once the circuits are mounted and the turrets are connected together. After the circuits are connected with one another, they are then mounted on the body of the chassis. The testing of the UGVs took place as soon as the reassembly was complete.

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4. MOTOR C IRCUITRY MODULE

4.1. PARTS LIST The parts list for Operation Sharp Shooter is shown in Figure 4-1.
Part ID IC C1-C5 C6-C7 R1 REG Type Chip Capacitor Capacitor Resistor Regulator Attributes 0.1F 100F 22 k-Ohm 5V Manufacturer Part # LM293 399-4266-ND NTE NEV100M16CB 271-1128 LM2930T5.0/NOPB Qty. 1 5 2 5 2

Figure 4-1: Parts list needed for motor circuits.

4.2. MOTOR SCHEMATIC

Figure 4-2: H-bridge motor driver circuit

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Figure 4-3: LM293D Integrated Circuit

Figure 4-4: Final Circuit Design

4.3. MOTOR CIRCUIT CONNECTIONS Instead of using an actual motor drive circuit (Figure 4-2) with the use of transistors, it was decided to utilize a LM293 integrated circuit (Figure 4-3) for more efficient troubleshooting and implementation. The use of the integrated circuit allows the motor circuit to control two motors and use pulse width modulation.

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The enable pins are basically used to tell the IC which side to use. Since there are two motor drivers within this chip, input pins 1 or 2 may be used. It then can simply bridge form the VCC1 (PIN16) to the Enable Pin. Input (1A and 2A) are to be controlled by digital logic (1s and 0s). The Arduino will be used to send out the digital logic. Output (1Y and 2Y) are for the positive and negative of the motor to connect to. GND pins will be bridged together and grounded. VCC2 is where the voltage for the motors will go (12V). VCC1 is where the voltage for the IC will go (5V). On the other side of the integrated circuit, it is mirrored.

4.4. TROUBLESHOOTING After building the prototype circuit, it was determined that the circuit did no yield the outcome that was expected. The circuit was tested with the voltage meter and indeed there was voltage output. The question was, why are the motors not running properly? After troubleshooting the circuit and taking a current reading, it was found that there was no current flowing. The next step was to troubleshoot and research different ideas in order to make the circuit have output current. It was determined that more resistance was needed. Since 9V batteries were being used, there was enough output voltage. So it was decided that running the batteries in parallel would increase the current flow but keep the voltage the same. In order for the circuit to function properly 22kOhm resistors and 5V regulators were used to manage the voltage of the motors. Finally, the prototype circuit functioned properly.

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5. LIGHTING CIRCUITR Y MODULE

5.1. INTRODUCTION On researching different automotive lighting systems for an actual road vehicles, it was then established some simple guidelines as to how the lighting system should operate for the UGV. The criterion is as follows: (1) Brake lights are to light independently of the headlamps and parking lamps when the vehicle is stopped. (2) Headlamps and tail lamps come on when the vehicle is powered. (3) If vehicle does not move after 15 seconds parking lights come on and brake lights, headlamps, and tail lamps go off. (4) Parking lamps on / headlamps off and vice versa. (5) Reverse lamps operate when vehicle is in reverse. (6) Also when vehicle is in reverse headlamps, tail lamps, reverse lamps and reverse alarm comes on.

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5.2. PARTS LIST

Manufacturer Part # PRT-08022 PRT-08023 PRT-00091 COM-00532 COM-00531 COM-09590 COM-08837

Type Wire Wire Battery Snap LED LED LED Switch

Attributes BLK 22G WHT 22G 9V 3mmYellow 3mm-White 3mm-Red SPST

Qty. 1 1 1 4 2 2 1

5.3. SCHEMATICS

Figure 5-1: Light Circuit

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Figure 5-2: LED Circuit using a 9V battery

5.4. TROUBLESHOOTING After some testing it was determined that the lighting system would need to operate independently of the ATMega 2560 Arduino which was to operate the motor. This was because of budget and space constraints put on the project goal. So a simple LED circuit was designed and implemented. After completing the design and final test of the circuit, the lights started flickering on and off. At this point the power source was tested, then moving the wiring to the snap plate, it was determined that there was a loose connection between the wire and snap plate. Both vehicle lighting circuits made for the Operation Sharp Shooter UGV are now powered by a 9- volt battery, also called a PP3.

5.5. FINAL PROCESS In order to be able to control the RC vehicle lights independently an on/off switch needed to be added to Circuit #1 (Figure 5-1) and Circuit #2 (Figure 5-2). The goal is that when the power is delivered from the 9-volt battery through the on/off switch it will operate the rest of the circuit.

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The switch was added onto Circuit #1 by using a wire jumper from between the positive side of the battery and the first 330 ohm resistor (2) a jumper from the negative side connected to the proper terminals to the switch. From the switch to the rest of the circuit a connection was made with wire jumpers. The first circuit was constructed using a similar circuit board.

Figure 5-3: Completed light circuit, using a 9V Battery as its power source

Figure 5-4: Completed light circuit, ready to be mounted on the UGV

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6. ARDUINO PROGRAMMING MODULE

6.1. INTRODUCTION The design goals of the programming module are as follows: Determine the hardware requirements for the project Research the connectivity for the ps3 controllers to the Arduino Research the programming necessary to make the motors run

The hardware requirements we have come up with are that we will need two Arduino Mega, two USB host shields, two USB Bluetooth dongles, and two PS3 controllers for each car. We will need the Arduino Mega as opposed to the Uno as I see that we will need the extra outputs the Mega provides. The USB host shield is use as a translator board between the Arduino and the Bluetooth dongle. The USB Bluetooth dongle is used to wirelessly connect to the PS3 controller. We need two each of these as so we can have one person controlling the car while the other is controlling the turret and so that there is no interference between the two controllers. (Please refer to Table 6-1.

6.2. PARTS LIST

Manufacturer Part # DEV-11061 B00B17HN92 B000JFHA6I B000K1CS54

Type Microprocessor Shield Dongle Controller

Attributes MEGA USB USB Six-axis PS3

Qty. 4 4 4 4

Table 6-1: Parts List for Arduino Programming

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6.3. SCHEMATIC

6.4. CONNECTIONS The PS3 controller can be connected to the Arduino two ways. The first way is to connect the Arduino with the USB wire directly to the host shield. Based on research, this method is not feasible for the project at hand. The alternative method is to use the BlueTooth Dongle to connect wirelessly. Unfortunately, this method does contain a limitation of up to a twenty-five foot range. This is the preferred method of connectivity based on what is needed of the final outcome.

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The method of connecting the PS3 controller to the Arduino using the Bluetooth Dongle requires that the PS3's Bluetooth host ID be changed to the host ID of the Bluetooth Dongle. This is done reasonably easy with the library found online for the PS3 controller. As for the programming of the Arduino, in order to run the motors, the motors need to be activated. By using the PS3 library, the activation of the outputs is easily implemented and received by the controller.

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Pin Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37

Pin Name PG5 ( OC0B ) PE0 ( RXD0/PCINT8 ) PE1 ( TXD0 ) PE2 ( XCK0/AIN0 ) PE3 ( OC3A/AIN1 ) PE4 ( OC3B/INT4 ) PE5 ( OC3C/INT5 ) PE6 ( T3/INT6 ) PE7 ( CLKO/ICP3/INT7 ) VCC GND PH0 ( RXD2 ) PH1 ( TXD2 ) PH2 ( XCK2 ) PH3 ( OC4A ) PH4 ( OC4B ) PH5 ( OC4C ) PH6 ( OC2B ) PB0 ( SS/PCINT0 ) PB1 ( SCK/PCINT1 ) PB2 ( MOSI/PCINT2 ) PB3 ( MISO/PCINT3 ) PB4 ( OC2A/PCINT4 ) PB5 ( OC1A/PCINT5 ) PB6 ( OC1B/PCINT6 ) PB7 ( OC0A/OC1C/PCINT7 ) PH7 ( T4 ) PG3 ( TOSC2 ) PG4 ( TOSC1 ) RESET VCC GND XTAL2 XTAL1 PL0 ( ICP4 ) PL1 ( ICP5 ) 24 PL2 ( T5 )

Mapped Pin Name Digital pin 4 (PWM) Digital pin 0 (RX0) Digital pin 1 (TX0) Digital pin 5 (PWM) Digital pin 2 (PWM) Digital pin 3 (PWM)

VCC GND Digital pin 17 (RX2) Digital pin 16 (TX2) Digital pin 6 (PWM) Digital pin 7 (PWM) Digital pin 8 (PWM) Digital pin 9 (PWM) Digital pin 53 (SS) Digital pin 52 (SCK) Digital pin 51 (MOSI) Digital pin 50 (MISO) Digital pin 10 (PWM) Digital pin 11 (PWM) Digital pin 12 (PWM) Digital pin 13 (PWM)

RESET VCC GND XTAL2 XTAL1 Digital pin 49 Digital pin 48 Digital pin 47

38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75

PL3 ( OC5A ) PL4 ( OC5B ) PL5 ( OC5C ) PL6 PL7 PD0 ( SCL/INT0 ) PD1 ( SDA/INT1 ) PD2 ( RXDI/INT2 ) PD3 ( TXD1/INT3 ) PD4 ( ICP1 ) PD5 ( XCK1 ) PD6 ( T1 ) PD7 ( T0 ) PG0 ( WR ) PG1 ( RD ) PC0 ( A8 ) PC1 ( A9 ) PC2 ( A10 ) PC3 ( A11 ) PC4 ( A12 ) PC5 ( A13 ) PC6 ( A14 ) PC7 ( A15 ) VCC GND PJ0 ( RXD3/PCINT9 ) PJ1 ( TXD3/PCINT10 ) PJ2 ( XCK3/PCINT11 ) PJ3 ( PCINT12 ) PJ4 ( PCINT13 ) PJ5 ( PCINT14 ) PJ6 ( PCINT 15 ) PG2 ( ALE ) PA7 ( AD7 ) PA6 ( AD6 ) PA5 ( AD5 ) PA4 ( AD4 ) PA3 ( AD3 )
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Digital pin 46 (PWM) Digital pin 45 (PWM) Digital pin 44 (PWM) Digital pin 43 Digital pin 42 Digital pin 21 (SCL) Digital pin 20 (SDA) Digital pin 19 (RX1) Digital pin 18 (TX1)

Digital pin 38 Digital pin 41 Digital pin 40 Digital pin 37 Digital pin 36 Digital pin 35 Digital pin 34 Digital pin 33 Digital pin 32 Digital pin 31 Digital pin 30 VCC GND Digital pin 15 (RX3) Digital pin 14 (TX3)

Digital pin 39 Digital pin 29 Digital pin 28 Digital pin 27 Digital pin 26 Digital pin 25

76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100

PA2 ( AD2 ) PA1 ( AD1 ) PA0 ( AD0 ) PJ7 VCC GND PK7 ( ADC15/PCINT23 ) PK6 ( ADC14/PCINT22 ) PK5 ( ADC13/PCINT21 ) PK4 ( ADC12/PCINT20 ) PK3 ( ADC11/PCINT19 ) PK2 ( ADC10/PCINT18 ) PK1 ( ADC9/PCINT17 ) PK0 ( ADC8/PCINT16 ) PF7 ( ADC7 ) PF6 ( ADC6 ) PF5 ( ADC5/TMS ) PF4 ( ADC4/TMK ) PF3 ( ADC3 ) PF2 ( ADC2 ) PF1 ( ADC1 ) PF0 ( ADC0 ) AREF GND AVCC

Digital pin 24 Digital pin 23 Digital pin 22 VCC GND Analog pin 15 Analog pin 14 Analog pin 13 Analog pin 12 Analog pin 11 Analog pin 10 Analog pin 9 Analog pin 8 Analog pin 7 Analog pin 6 Analog pin 5 Analog pin 4 Analog pin 3 Analog pin 2 Analog pin 1 Analog pin 0 Analog Reference GND VCC

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6.5. TEST PROGRAMS Test Programs can be viewed in Appendixes A and B.

6.6. FINAL PROGRAMMING All final programming can be viewed in Appendixes C, D. and E.

6.7. TROUBLESHOOTING There were several problems that needed to be researched once the programming stage started. The problems began after the USB host shields were placed properly and the correct pins were soldered to it. The USB host shield library did not work properly with the Bluetooth Dongles either. This particular problem was fixed by downloading a modified version of the library. The only problem with this specific library is that they would only function with the Arduino Uno. After some time, the microprocessor unfortunately would stop responded to any commands inputted in the controller. It is believed that there was a possible buffer overflow or an error that happened or the dongle could simply have just stopped working. Unfortunately, it was undetermined as to why this problem continued to persist and why the dongle stopped working all together. The second major issue that needed to be addressed, researched and troubleshooted was the fact that all four Bluetooth Dongles that were purchased had the same MAC addresses. This meant that only one dongle could be used. If only one dongle was being utilized, based upon the implementation of the program, each controller would not be able to transmit the proper assigned program to the correct dongle.

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6.8. ARDUINO SOFTWARE When it came down to the software used in programming the Arduino, the program from the library downloaded was the most important. This program allowed the PlayStation 3 Bluetooth (PS3BT) to communicate with the arduino via USB cable connected to the computers serial monitor. Various values were obtained by the controller and can be viewed in appendix D. The way this program worked was through the use of if statements so that while no program code was being implemented through the controller. The program will check the statements and after the check is performed, it would come back false and would skip the interior of the statement unless it came back true. After finding one that came back true, it would run the instructions inside of the statement then continue scanning in an endless loop. The checks for the statements are all nearly the same and consist mainly of using the libraries subroutines to check the values of the controller's buttons and analog sticks then comparing them to a static value. After that, it would use the subroutine again along with the "Serial.print" command to display the value on the serial monitor. After using this program to figure out what I could input from the controller, it was time to write a program based on the PS3 BlueTooth. The program that needed to be written needed to be modified so it runs the motors through the motor controllers that had already been set up by the circuitry group. This set up can be viewed in Appendix C. The use of if statements (just like the ones in the example program) contains library subroutines that obtain the value from the controller and check it against the static values. The static values that were selected were based upon the analog sticks. When the analog sticks are in a neutral position, the value of 127 on both of the X and Y axis is read out. Once a check comes back true, it will set the corresponding pin that was previously associate with it to high. This was

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accomplished using the digital.Write command. It gave the output voltage to 5V once the command setting was set to high. If the check comes back false, the corresponding pin will be set to low. When it is set to low, it will be set to ground potential. This was used so that the UGV would stop when the controllers lost connection. It is noted that there are four pins that are set in each of the if statements. This is because of the way the motor controller chips are designed. If both of the pins are going to the same motor controller and there is 5V set, nothing would happen due to the fact that the op amps inside the motor controller would have the same electrical potential on both sides of it. Therefore, the output of the forward and backward movement is controlled by two motors. There is one difference within each if statement. The difference is the one that causes the turret to shoot gets the value of the X button on the controller then if it is true, it will then turn on the motor, shoot the turret, wait two seconds then turn the motor off to the turret. If this difference in if statements does not take place properly, then the turret will continue firing. The Serial.print commands that have been implemented within the program is simply for debugging purposes and are commented out in the final version.

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7. FINAL PRESENTATIO N 7.1. INTRODUCTION The Bachelors of ECET at the Columbus ITT Technical Institute Campus is proud to present the final project for capstone. The sex members consisted of: Hope Baruffa, Project Manager; Clifford Dowdell, Assemble; Joshua Hatfield, Programming; Reuben Roman, Circuitry; Marcia Smith-Perkins, Circuitry; and Reginald Young, Assembly. This project was designed and fabricated with military personnel from all branches of service in mind. The utilization of an unmanned ground vehicle, also known as an UGV, will benefit any and all military personnel by providing a safer environment in both training and war conditions.

7.2. INITIAL PRESENTATION IDEA The initial presentation for the Operation Sharp Shooter Unmanned Ground Vehicle, the group was going to wear BDUs with the facilitator, Chief Warrant Officer Darius Banks as the leader. The group was going to march in to a command presented by the CWO, but after careful thought, the presentation idea changed. It was decided by the ECET group that instead of marching in formal military style, that business dress is going to be worn while the CW3 still dresses in his uniform. The presentation went from the military trying to present the UGV to civilians, to civilian engineers trying to sell the UGV to the military.

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7.3. POWERPOINT SLIDES Power point slides and/or any programming can be received via email. Please visit the contact a member page and fill out the information from our website in order to receive files. Thank you!

7.4. WRITTEN SPEECH Slides 1-4: Hope Baruffa Slides 5-7: Reginald Young Slides 8-11: Clifford Dowdell Slides 12-15: Reuben Roman Slides 16-20: Marcia Smith-Perkins Slides 21-26: Joshua Hatfield Slides 27-28: Hope Baruffa

7.5. VIDEO PRESENTATION The Video Presentation was made by the Project Manager as a sentimental video to mark the last project that was completed as Bachelor students. It has been a wonderful two years completing the Electronics program. Good Luck to everyone!

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8. OPERATION SHARP S HOOTER WEBS ITE 8.1. INTRODUCTION The website was created by the PM in order to publish our successes along with the failures with this particular project. The six students worked continuously throughout the Fall Quarter 2013 in order to complete this project on time. Even though there were several last minute changes, every aspect of the project was carried out to the best of its ability. There are several pages to the website. Everyone should visit the page to read the successes and the triumphs that were encountered throughout the course of these eleven weeks.

8.2. HOME PAGE

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8.3. DELIVERABLES

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8.4. CAPSTONE STUDENTS

8.5. GALLERY

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9. CONC LUS ION In conclusion, the final presentation demonstrated the students ability to control the unmanned ground vehicle by remote as well as autonomously. This was completed by being able to control the maneuvering and firing the vehicles to engage enemy targets in its path.

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