# Helicopter/Howard Community College/Spring2012/p2502JASS
### Problem Statement

Build a helicopter to maneuver autonomously. To this end, create an aircraft structure, control multiple ESC's, balance the structure via a gimbal mechanism, design for a payload and power supply, and develop flight control software.

### Team Members

    Jromanch0088
    Spark93
    Shatton8111
    Amirrezasaharkhiz

### Summary

We're building an autonomous quadcopter. The quadcopter will be a kind of helicopter that is balanced by four equally powered motors. By giving it software to control its movements and act independently, we hope to give it "a mind of its own."

### Story

What we did over the project was mostly exploration of the motors and different programs, the lift test was critical to seeing how much each individual motor could lift. Once extensive testing on this was done, we moved the motors to the see saw. This allowed us to see how to change the speeds of the individual motors to change the position of the see saw. We ran into a lot of trouble with keeping the motors powered though. We are still confused but we did fix a floating ground issue. The gyro is almost finished. As well as the accelerometer has finally been figured out to be giving us values we can understand.

### Decision List

None

### Material List

We used the following materials during the course of our project. For materials for which examples could not be found, facsimiles have been substituted.
| Product | Description | Quantity | Unit Price |
| Electronics Explorer Board | Helpful, but not important. | 1 | $599.00 |
| Hacker A10-13L Brushless motors | These are strong, despite their weight and size. | 4 | ~$54.00 |
| Thunderbird 9 ESC | Thunderbird 9 | 4 | $29.95 |
| Arduino Uno | Uno (any revision) | 1 | $29.95 |
| Jumper Wires Premium 12" M/M Pack of 10 | Male to male | 2 | $4.50 |
| Breadboard Small Self-Adhesive | 5x5 pins or more | 1 | $5.95 |
| E&L Instruments PS-01 or facsimile | 12 volt, 1 Amp DC power supply | 1 | N/A |
| Ratcheting wire crimper | Multi-gauged or variable gauge (see Ratchet Crimper 22-10 AWG) | 1 | ~$65.09 |
| Wire strippers | Multi-gauged or variable | 1 | ~$12.76 |
In order to continue this project and progress to further goals, the following kind of materials are recommended. The specific items are just examples.
| Product | Description | Quantity | Unit Price |
| A Bluetooth module for the Arduino | This would be Bluetooth transceiver on the helicopter, and would allow the helicopter to be controlled wirelessly. | 1 - 2 | $64.95 |
| A Bluetooth module for a computer | This makes it easy to talk to the helicopter by Bluetooth. This would preferably be for a USB port. | 1 | $20.00 |
| A 3-axis gyroscopic sensor | This would allow the Arduino to control the helicopter's orientation by software. | 1 | $49.95 |
| A lightweight power supply | This would need to be 12 volts, 1 Amp, DC, and possibly lithium-polymer. It should also be light, since it would be on the helicopter. | 1 - 2 | ~$39.99 |
| Wood | This could be cut into various shapes, creating a structure that supports the weight of the parts. | 1 | $8.92 |
| Foam | This could provide a structural shell for the aircraft and provide limited protection. Various kinds, such as EPS or insulation foam, could be used. | 1 | $11.98 |

### Software List

* Arduino Software Development Kit
* Processing Software Development Kit
* WaveForms

### Time

53.15 Hours

### Tutorials

None

### Next Steps

The next steps are to finish constructing a gimbal; get all four motors hooked up to a single arduino; construct the actual frame with motors, batteries, ESCs, and the Arduino; and then go on to testing. Also Build a Better Landing gear for the Parrot Drone.