PowerPoint Presentation

Knightro KartLiz LyonsMike ScherbanOscar Orihuela

What Is Knightro Kart?An interactive, Android controlled vehicle race system consisting of two independent cars and controllers.Vehicles are controlled by Android powered mobile devices or tabletsConsists of two independent vehicles, a track utilizing infrared, and two independent remote controls

System Block Diagram

3System SpecificationsBluetooth Communication Range1 hrNumber of Users2Remote ControlMobile device will be used in landscape mode. It will utilize hardware level sensor data, and interpret them to tell the MSP430 how to direct the vehicle.

Why Android?Essentially Free No new hardware costs, free SDK, familiar languagesOpen source platform, easy to learnProgramming LanguageDevices Readily Available?FamiliarityCost to DevelopAndroidJava/XMLYesHighFreeiOSObjective-CNoMedium$99/yearWindows Phone.NET framework/ Visual C++/XNANoLowFree

Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market

Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market

Remote Control RequirementsAndroid Device Must:Have Bluetooth CapabilityContain Accelerometer SensorsHave Touch ScreenRun Android 2.3.3 Gingerbread or newer OSHandling AccelerometersAccelerometers are seen by the devices relative to an imagined coordinate system. We will be using the Y (left/right) and Z (forward/back) axis values to control the cars.

10Handling AccelerometersMust apply low-pass filter to isolate gravity, and then a high-pass filter to remove gravity from the readings. Also helps to smooth out values.

Wireless Communication ChoicesBluetooth (Class 2)Wi-Fi DirectWi-Fi (traditional)ProtocolLMP, L2CAP, SDPIEEE 802.11 a/g/nIEEE 802.11Communication DistanceRadio dependent, 10 meters min200 meters MAX200 meters MAXSpeed3 Mbps MAX250 Mbps MAX250 Mbps MAXAPI Requirement5 or higher14 or higher1 or higherPower2.5 mWVariesVaries, may be 40x BluetoothISM Band2.4 to 2.485 GHz2.4 GHz or 5 GHz

2.4 GHz or 5 GHzDifficultyLowHighHighConnectingAndroid devices will be able to connect to one and only one car.

Will use received values from the MSP430 to enhance UI with more info such as vehicle speed and current lap.

Include why Bluetooth slide.13BluetoothRemote control application sends information to the MSP 430 via Bluetooth.Sends one byte at a time, byte value depends on accelerometer valuesAscii ValueDirectionAccelerometer ValuesYForwardZ > 1.5RBackZ < 0Bluetooth ModuleRoving Networks RN-41Minimal configurationBaud rateBuilt in antennaAutomatically pushes data via UART RX/TX pinsRuns own Bluetooth stackLow power30 mA connected3.3V100m range

MicrocontrollerMSP430G2553Atmega168 w/ Arduino3.3V5V16KB flash16KB flashC, AssemblyC, Assembly16MHz16MHzUART & PWM supportUART & PWM support

2.752.75Bluetooth module runs at 3.3V as well16MicrocontrollerMSP430G25533.3V16KB flashC, Assembly16MHzUART & PWM support

Same voltage as Bluetooth moduleMore feature rich IDENo special bootloaders requiredBluetooth module runs at 3.3V as well17MicrocontrollerMSP430G2553 (28 pin TSSOP)Surface mount package

Function# of PinsUART2Infrared1LEDs5Motors 4Misc.2Programming and DebuggingJTAG used to take advantage of viewable registers and memory locations, and disassemblyConnect through TI USB FET device

Motor SignalsTakes advantage of MSP430 hardware PWM supportPWM used to add variable speed

Slow

Fast!Microcontroller Comm.9600 BaudrateRX/TX between BT and MSP430 crossedInterrupts will be used for phone MSP430 and infrared signal

Low Power ModeBluetooth Module separate from MSP430Allows BT pairing while MSP430 is asleepMSP430 goes to sleep at power on and when not in race modeTurns off clocksButton on the car or command from phone will wake the car for useExplain how sleep works!22MSP430 Software Flowchart

Move bottom section to the left to make the chart bigger23Printed Circuit BoardMost components will be on a custom printed circuit board designed in Eagle

Printed Circuit Board

LEDsMSP430JTAGBT Module and status LEDsPowerTrackRace car will contain an IR phototransistorBiased by IR lightAt the START line for the Race Track, there will be a line of IR LEDs that will set off IR phototransistorBy setting off the IR phototransistor on the car, it will allow user to know how many laps the car has travelled during the race

Race Car 9v power supplyrequiredPotential to travel20 mph 2 D.C motors1st Motor controlling FWD & REV motion2nd Motor controlling turning Left & Right 17 inches Long7 inches Wide8 Inches Tall

H-BridgeServes as mediator between MSP430 & Race car motorsMSP430 will receive commands from Mobile Application and send high / low signals to the H-bridge connected to the motors causing the motors to spin in a certain directionEX: Clockwise / Counter-clockwise / Stand Still

H-Bridge - TypicalTypical H-Bridge configurationInner Circle = MotorSwitches represent TransistorsMotor is at a stand still

H-Bridge - ClockwiseDue to the directional flowof the circuit, the H-bridgeis causing the D.C Motor connected to it to spinclockwise

H-Bridge counter clockwiseDue to the directional flowof the circuit, the H-bridgeis causing the D.C Motor connected to it to spincounter-clockwise

SN754410H-Bridge Designed to drive inductive loads such as DC MotorsChosen for its capability to manageboth D.C Motors in a single chipManufacturer: Texas InstrumentsCost: $2.161 Chip per car needed..

SN754410 Layout

D.C Motor VS Servo MotorRace car will require 2 motors1st Motor controls FWD & REV motion D.C Motor2nd Motor Controls turning capabilities

For the purpose of Knightro Kart, D.C motors will be sufficient as well as better for our wallets & Handbag D.C MotorServo MotorLess ExpensiveMore ExpensiveRequires Less Voltage to functionRequires Higher Voltage to functionSlower Reaction TimeFaster Reaction TimePower SupplyPower SupplyVoltage RegulatorSN7544109V5VRace Car9VDoes Not Require MSP4309V3.3V

DesirablesSpeedometerPhone to Phone CommunicationRace Standing Notifications

Speedometer (optional)Magnetic Reed SwitchSwitch opens at close proximityof a magnetSends PWM signal back to MSP430 Switch will be attached to axelof Race carLow power magnet will be attached to rim or inner wheel of the race car

Budget and Financing to DateTotal Cost To Date:$364.60Include Total39Current ProgressPlans For CompletionComplete SolderingComplete CodeAssemble VehiclesTestConstruct IR Start Line