RAVE

Remote-Controlled Assault VehicleAndy KnutsenScott HelgesonSusan JordanJohnny LamMatt McBurney

Overview

Project OverviewRover ChassisCommunicationsTurret SystemMain Board

Parts ListMilestonesDivision of LaborUpdated CalendarConclusion

Project Overview

Remote Controlled Assault VehicleControl Via RS-232 RF Wireless Transmitter/ Receiver

Java GUI InterfaceFull Turret and Vehicle ControlSemi-Automatic Firing Capability

Rover Chassis

Main Components:Steering servo motorDrive motor

Control signalsDrive motor is analogServo motor

Servo Control Signals

Communications Overview

User InterfaceSending InformationPacketsDevicesReceiving

User Interface

GUI Using Java swingJBuilderSeparate Rover from TurretEasy to useHave a drop box for amount of timeSize Limit

Sending Information

Send button is pressedGrab Command ListEncode using packetsJava Communications version 2.0 API

Packets

Consist of:Header

• Instructions about data

• Destination

Payload/Data/Body

• Padded

Trailer

Easy to modify

Packetspt. 2: Our Encoding

Header3 bitsStart BitDevice Select

Body7 bitsCommand SignalsDevice dependentPadded

Trailer2 bitsSignifies end of packet

Sequence DiagramUser uses GUI to send 2 commands to Rover

:RaveGui :RaveEncode :RaveComm

addCommand()

addCommand()

encodeRMovement()

getType()

encode()

send()

getType()

encodeTMovement()

<<DEVICE>>RS232

<<packet>>

User

sendCommand()

RS232 Devices

ATX8/ARX8-2400Wireless400 ft range418 MHz AM9 volt snap battery2400 baudOne-Way CommunicationPlug and Play

ARX8

ATX8

Receiving

ARX8-2400Treat as InterruptStore command list in memoryAllow for separate rover and turret movement.

Communication

BaselineAbove Baseline

Two way communication• CRC(Cyclic Redundancy Check)

More Robust CommandsUser Feedback

System Board Overview

Power, Reset and Communications CircuitMain System Board CircuitGlue Logic CircuitParts ListInterface Block Diagram

Power, Reset, and Comm. Circuitry

Main System Board

Glue Logic (FPGA) Circuitry

Parts ListQTY REQ.

UNIT OF MEASURE

DESCRIPTION MANUFACTURER NAMECOST PER

UNIT MEASURE

COST PER QTY

ACTUALCOST

1 EA M68HC11 Motorola $20.00 $20.00 $0.00

1 EA Xilinx FPGA Xilinx $12.00 $12.00 $0.00

1 EA Xilinx Socket Xilinx $20.00 $20.00 $0.00

1 EA Serial Port Socket AMP $12.00 $12.00 $0.00

1 EA RAM Texas Instruments $20.00 $20.00 $0.00

2 EA EPROM Texas Instruments $4.00 $8.00 $4.00

2 EA RF Transmitters Abacom Tech $40.00 $80.00 $80.00

1 EA IC Perf Board $20.00 $20.00 $20.00

1 EA 16-bit D/A Converter Texas Instruments $8.00 $8.00 $8.00

20 EA Decoupling Capacitors DigiKey $0.10 $2.00 $0.00

1 EA Clock in a Box (8MHz) Valpey-Fischer $2.00 $2.00 $0.00

1 EA Wires ece-capstone $5.00 $5.00 $0.00

1 EA Misc Switches, Power Strips JB Saunders $5.00 $5.00 $5.00

$214.00 $117.00TOTAL PROTOTYPE COST PER RAVE

Interface Block Diagram

MC68HC11 D/A

H-BridgeCircuits

TurretStepperMotors

Drive andSteeringMotors

RFReceiverRS-232

SolenoidFiringTrigger

Turret - Gun

Parts for the trigger box and turret will have to be machined

TurretQTY REQ.

UNIT OF MEASURE

DESCRIPTION MANUFACTURER NAMERec

COST PER UNIT

MEASURE

COST PER QTY

ACTUALCOST

1 EA Turret Gun Refab Generic O $52.00 $52.00 $52.00

1 EA Chassis Traxxas O $100.00 $100.00 $100.00

2 EA Stepper Motors Airpax O $10.00 $20.00 $20.00

1 EA Chassis Servo Motor(addl) Futaba O $15.00 $15.00 $15.00

1 EA Arming Solenoid Magnetic Sensing Systems O $16.00 $16.00 $16.00

1 EA Seriel RF TX/RX Abacom Tech O $40.00 $80.00 $80.00

1 EA 50 Count Hopper Generic $5.00 $5.00 $5.00

1 EA CO2 Cylinder Not to be sold with unit O $20.00 $20.00 $0.00

1 EA Battery/Charger Unk $50.00 $50.00 $50.00

1 EA Lazy Susan Turret Mount Generic O $9.00 $9.00 $9.00

1 EA Plexiglass build materials ece-capstone O $10.00 $10.00 $10.00

1 EA Misc parts Unk $12.00 $12.00 $12.00

$389.00 $391.00TOTAL PROTOTYPE COST PER RAVE

Stepper Motor Mechanics

90 degree phase shift between coilsLess than 30 Hz (for the motor we’ve already got)4-wire bipolar permanent magnet

Coil 1

Coil 2

More on Steppers

Winding 1a 1000100010001000100010001Winding 1b 0010001000100010001000100Winding 2a 0100010001000100010001000Winding 2b 0001000100010001000100010 time --->

Winding 1a 1100110011001100110011001Winding 1b 0011001100110011001100110Winding 2a 0110011001100110011001100Winding 2b 1001100110011001100110011 time --->

Control Sequences

Milestones

Milestone 1Communication

• GUI Completed

Gun • Parts Machined

Turret• Motor Interface

Turret• Hardware

Assembled

Milestone 2Communication

• Packet Design and Encoding

Gun• Test Firing

Mechanism

Turret• Interface with

Board

Division of Labor

Main Board – Matt, JohnnyCommunications – Johnny, SusanChassis – Scott, Susan, AndyTurret – Susan, Scott, AndyUser Docs – AllTechnical Manual – All

Updated Calendar

Conclusion

On scheduleOver baseline possiblePrototype over budgetPossible design issues