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Knight Brawlers
Group 1
Allen Davila Carlos DavilaWill Allen Josh Thames
Motivation
•Create a fun gaming system that all group members would enjoy building
•Include streaming video into the project•Build something that would provide a first
person experience from the vehicles•Create something where all members of
the group could keep a functional piece of the project
Goals
•2 RC cars controlled by 2 users by their mobile device’s accelerometer
•On board cameras mounted to the cars that would provide a live first person view from the RC cars
•A competition mode that would provide a competitive game where the cars would fight each other
•An app that would create a friendly user interface
SpecificationsSystem Parameter Design Spec
Camera Resolution VGA 640x480
Camera Frame Rate 5 fps
Radio Communication Wi-Fi 2.4 GHz
Wi-Fi Range 30 m
Wi-Fi Data Rate 150 Mbps max
App User Interface Android 2.2+
App Vehicle Control Tilt
Battery Life 1 hour
Frame Scale 1/10th
App
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
System Block Diagram
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
Hit Locations
• Sensors on the rear, right, and left sides
• Triggered by collisions
Sensors
Piezo Disks Vs. Microswitches
Piezo Disks
Small easy to fit
Creates electric pulse on impact
Price range: 30 cents- 10 dollars
High tolerance
Microswitch
Small easy to fit
2 state single pole double throw
Price range: 90 cents- 5 dollars
High tolerance
Microswitches
•Lever Microswitch for added surface area for impact
•No debounce circuit needed•Reverse connection for component
reduction
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
Scoring System
Full Health One Hit Two Hits
LEDs•Super Bright LED headlights for extra
visibility working at 7000 mcd•Bright Red LEDs that activate when the
car is idle and turn off when in forward or reverse motion
•Red, yellow, and green high brightness for topLED Forward
VoltageForward Current
Intensity
Headlights 3.3 - 3.6 V 25 mA 7000 mcd
Tail Lights 1.8 – 2.0 V 20 mA 1200 mcd
Top Lights 1.8 – 2.0 V 20 mA 600 mcd
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
System Block Diagram
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
Camera – Previous OmniVision 9655 Pros
• Delivers 30 fps at 640x480 VGA Video
• Supports Compressed YCbCr 4:2:2 Format
• Microcontroller Compatible ▫ Fully configurable
• Some Factory Support (STM)
36 mm
27 mm
Camera – CurrentOmniVision 5642 Pros
• Supports MJPEG and H.264 hardware compression
• Raspberry Pi Compatible • Factory Support for stills
and video• Max 5 MP, 30fps• Size: 25mm x 20mm x
9mm• Weight: 3g
Compression? Yes!Previous Current
• Real-Time JPEG is optional (RTJPEG)▫ Must write in native
code▫ Effort > value
• MJPEG, MPEG-4 etc. not optional
• Sub sampled RAW images
• MJPEG Supported with hardware acceleration
• Instead, we are opting for subsampled images
• Software support
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
System Block Diagram
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
Wi-Fi ModuleRequirements EW – 7811Un
• EZmax support• $20• WPS, WPA2• 150 Mbps 802.11 b/g/n• Greater Range Than
Bluetooth• Raspberry Pi compatible
• Simple Configuration• Low Cost• Good Documentation • Modest Data Rate• Modest Range• Low Power
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
System Block Diagram
Bumpers
User Input
Load Profile Wifi
Raspberry Pi
Bluetooth
Bluetooth MATE Silver
Bluetooth MATE Silver
•Roving Networks Class 2 RN-42•Bluetooth v2.0+EDR•26uA Sleep, 3mA connected, 30 mA
transmit•UART data connection to MC•115200 bps
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
System Block Diagram
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
Motor Control
•DC motors already available on RC car will be used to reduce project cost.
•2 DC motors: 1 for steering and 1 for forward/reverse control.
•Forward/Reverse and Steering motor will be combined with H-Bridge for function.
H - Bridge ConsiderationsDVR 8833 L293D
Max Output 10 .8 V 36 V
Peak Output Current 2 A 1.2 A
Operating Temp -40 to 85 C 0 to 70 C
Supply Range 2.7 – 10.8 V 4.5 – 36 V
Control I/F PWM PWM
Package Type Surface Mount mini Through Hole
L293D H-Bridge Driver
•Two motors per driver.•Max current output 1.2 A, Max
temperature 70 C degrees Fahrenheit.•Pulse Width Modulation (PWM) input
interface controls forward/reverse control and right/left steering.
•Low Power Sleep mode and internal shutdown functions for over temperature protection.
PWM Control Using H-Bridge•H-Bridge driver
will use two PWM signals from the STM32 to generate Fwd/Rev and Steering function of the DC motors.IN1 IN2 Out1 Out2 Fwd/rev
MotorSteering Motor
0 0 Z Z Coast Straight
0 1 L H Reverse Left
1 0 H L Forward Right
1 1 L L Brake -
Motor Control CharactersMotor Function Character
Slow Forward/ Forward / Fast Forward A/B/C
Slow Reverse/ Reverse / Fast Reverse D/E/F
Brake/Right/Left G/w/y
Medium Right and Slow Forward/Forward/Fast Forward(For Left)
H/I/J(T/U/V)
Hard Right and Slow Forward/Forward/Fast Forward(For Left)
K/L/M(W/X/Y)
Medium Right and Slow Reverse/Reverse/Fast Reverse(For Left)
N/O/P(Z/a/b)
Hard Right and Slow Reverse/Reverse/Fast Reverse(For Left)
Q/R/S(c/d/e)
•Landscape mode•Direct the RC Car•Compatible with the newest version of
Android phones and older
Remote Control
Android Device Must:Have Bluetooth CapabilityContain Accelerometer SensorsHave Touch ScreenRun Android Android 2.2(Froyo)or higher
Remote Control Requirements
Motor Control Using Accelerometer •RC car will be
controlled by Y and Z coordinates.
•Z direction(into out of page) will control Fwd/Rev motor function.
•Y direction will control left and right steer.
•Sent Through Bluetooth
Handling Accelerometers
Y Axis Calibration Z Axis Calibration
-Axis’ must be calibrated so that the user can view the device at an optimal angle. Accelerometers must consider effect due to gravity, linear acceleration = acceleration - acceleration due to gravity.
Smartphone Operating System Android
Free – No new hardware costs, free SDK, familiar languages
Open source platform, easy to learn
Programming
Language Cost to
Develop Devices Readily
Available? Familiarity
Android Java/XML Free Yes Medium
iOS Objective-C $99/year Yes Medium
Windows Phone
.NET framework/ Visual C++/XNA
Free No Low
Target APIs 8 (Android 2.2 Froyo and higher), approximately 99.9% of Android market
Version Code name API level Distribution
4.3 Jelly Bean 18 0%
4.2.x Jelly Bean 17 8.50%
4.1.x Jelly Bean 16 36.60%
4.0.3–4.0.4Ice Cream Sandwich
15 21.70%
3.2 Honeycomb 13 0.10%
3.1 Honeycomb 12 0%
2.3.3–2.3.7 Gingerbread 10 30.70%
2.3–2.3.2 Gingerbread 9 0%
2.2 Froyo 8 2.40%
2.0–2.1 Éclair 7 0%
Jelly Bean 4.2
Jelly Bean 4.1
Ice Cream Sandwich
Honey-Comb 3.2
Ginger-Bread 2.3-
2.7
Froyo
Knight Brawlers App
Power Supply
Current and Voltage Requirements
Component Voltage Needed (V) Current Drawn (A)
Raspberry Pi 5 0.5
PCB 3.3 0.16
Discovery Board 5 0.3
Bluetooth Module 5 0.12 max
Wi-Fi Module Regulated byPi
0.15 max
Camera Regulated by Raspberry Pi
Unknown butNegligible
•Rechargeable Batteries • Nickel Metal Hydride
Power Supply
•18.8 inches Long•5.76 inches Wide•4.8 Inches Tall•Top speed of 2 mph
Remote Control Car
System Block DiagramApp
Create Profile
Sync Car
Start Game!
Control Car
End Game and Report Scores
Microcontroller
Bumpers
Camera
Steering
Motor LEDs
indicating “Health”
H-BridgeMotor
Bumpers
User Input
Load Profile
Bluetooth
WifiRaspberry Pi
MicrocontrollerAtmega328 MSP430 STM32F4 AM3359
Dev Board Arduino Uno MSP430 Launchpad
STM32F4 Discovery
BeagleBone Black
Speed (MHz) 16 16 168 1 GHz
Language C, Assembly C, Assembly
C, C++, Assembly
C, C++, C#, Java
Dev Board CostEst. PCB Cost
$35.00$50.00
$9.99$50.00
$14.25$50.00
$45$100+
PWM support Yes Yes Yes Yes
Max Temp. (F)
185 185 221 221
Flash Memory 32kB 16kB 1MB 512 MB
Interrupt Yes Yes Yes Yes
ARM?? No No YES! =D YES!
STM32F407VGT6
•ARM 32 bit Cortex M4F•PWM for motor control and Plenty of
GPIO available (82)•Low power modes•Serial Wire and JTAG interfaces for
debugging•External Interrupt/Event Controller
ST-Link/V2 Debugger & Programmer
•In circuit debugger and programmer for the STM32 available on Dev. Board
•Supports JTAG/Serial Wire Interface
Schematic Design In Eagle CAD
PCB
Division of Labor Josh Will Allen CarlosPCB Design Motors Power Smartphone Interface Sensors LED Network/Scoring System Camera Wireless Connectivity
All members will lend a hand in any area that may need additional assistance
Budget and Finances Cost Per Unit ($) Units Cost ($) Already Purchased
Lever Micro Switch Sensors 2.00 9 18.00
RC Cars 40.00 3 120.00
Experimental boards 20.00 3 60.00
Cameras Modules 10.00 3 30.00
Wifi Modules 20.00 3 60.00
Bluetooth Modules 35.00 3 105.00
Raspberry Pi 30.00 3 90.00
PCB 45.00 2 90.00
Power Systems 40.00 3 120.00
Miscellaneous (Wires, LEDs, Perf Boards, Epoxy, etc.)
NA NA 200.00
Total 893.00
Progress
Research Design Prototyping Testing Project Completion
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Issues
•Connectivity•Consistency•Soldering•Video Quality
Any Questions?