Tae Lee Josh Reitsema Scott Zhong Mike Chao Mark Winter
Detailed Subassembly
Scott Main control and Processing Tae Motor Control Hardware Mark Sensor interfaces Mike Wireless Communications Josh Video and High Level Control Software
System Overview
Mainboard
68HC11K1 XCS10 EPROM and SRAM Bus Drivers
Motor Controls
What we have:
Two Pittman GM8000 series DC GearMotors HEDS-9000 series optical encoder
The plan:
Use two LMD18200T H-Bridges to control the motors
PWM is used to control speed (Duty Cycle) High/Low logic for direction Brake feature
To the MPU/FPGA
MPU / FPGA
FPGA
Create latches in FPGA, work as registers Registers hold decoded position information The registers are updated continually with new position information (we can control how often it latches the new signal)
HC11K1
When needed, goes out to FPGA and grabs contents of register HC11 will use information and compute PWM adjustments PWM is sent out from HC11
Recent Discovery
LMD18200T with a LM629 Motion Control Device
Advantages
This interface should allow for the addition of several more sensors without any hardware changes as long as they have a unique address This interface could be modified to use the I2C bus interface, thereby reducing the sensor interface footprint.
IR Sensors/Driver
Upon enable, begin outputting a clock signal of ~38kHz to IR LEDs. Wait a few clock cycles. Then enable output from all 6 of the IR sensors and place it on the data bus.
Ultrasonic Sensor/Driver
Once enabled send a single pulse of width period ~25.3us to selected transducer unit. Begin counting time units. Blank input from transducer for a short period in order to avoid hearing the sound as it leaves. Once input is received stop counter and output its value to the data bus.
Simplifications
In order to get the sensor interface up and running, we will put all of the logic into the FPGA, which means that the interface will be internal to the FPGA for now. One of the possible extensions would be to use a second FPGA or discrete logic so that other sensor could indeed be added on at a later date.
WiFi communication
Lantronix WiPort
Communicates with HC11 using RS232 Wireless gateway for RS232 transmission Advertised indoor range of 300 ft. Bandwidth limited by serial clock
RS232
HC11 uses a UART with the standard non-return-to-zero format Same format as RS232 Selectable bit rate up to 20 kbps
Sample Transmission
Received interrupt from RDRF (received data register full Read from input buffer SCDR Decode the character received Change the duty cycle of the PWM output.
Decode Transmission
Write to PWDTY1/2
Video System
The video camera will be mounted into the front of the robot The data will not be sent through the wi-fi due to bandwidth concerns A button on the webpage will access the direct feed through an applet No significant processing of the video will be done
Example Webpage
Autonomous Control and Sensor Platform Rover F Velocity KILL SWITCH L R Incoming Data: B Open Video Applet X: 1.8 M Y: 25 M Speed : 3 m/sec ... Avoid Objects Search Area Wall Follow
Parts List
Rover (Pebbles III) H-Bridge and Control Circuit Lantronix WiPort Mainboard and FPGA IR and Sonar Baby Monitor w/Video Capture Quality hours spent in Capstone $0 $100 $300 Charge it to Tom Included $400 Priceless
Total
$800
Schedule
Thanks