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Team Ocho Cinco. Raymond Chen Zhuo Jing Brian Pentz Kjell Peterson Steven Pham. Updated Objectives. Minimum: Design a vehicle controlled remotely by drawing a path on a handheld touch-screen computer. - PowerPoint PPT Presentation
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Team Ocho Cinco
Raymond Chen Zhuo Jing
Brian Pentz Kjell Peterson
Steven Pham
• Minimum: Design a vehicle controlled remotely by drawing a path on a handheld touch-screen computer.
• Target: Include obstacle avoidance feature with minimal path deviation. Utilize Bluetooth to provide real-time stats to touch-screen
• Optimal: Implement terrain and obstacle mapping capabilities updating the map in real-time.
Updated Objectives
Project Status
• Completed– Basic chassis assembly– Hardware design
• In Progress– RPS Pixel Tracking Software– FPGA/Picoblaze Firmware– Touchpad Software
Vehicle Chassis
• Tracked– 180 degree turns
• Runs on 7.2V Ni-Cd Batteries– 10 minute full throttle battery life
Servo Control
• Throttle and Steering Servos• Takes a pulse every 20ms• Linear time to angle relationship
Servo Control
• Level Shifters from TTL to Logic– FPGA outputs 3.3V TTL– Servos take 5V logic– CD4504 TI LS
Buffered Heading
s
Buffered Distance
Servo Controller
SteeringServo
Pulse Length
Number of
Pulses
Digilent FPGADevelopment Board
- Spartan-3 XC3S200: 200k gates- 3x32 open 3.3V I/O ports- Pre-configured power sequence- RS232 serial output- On-board SSDs for testing
• 256 Inputs, 256 Outputs– Supports numerous combinational sub-
routines
• Low Deployment Cost– Occupies only 96 slices, ~3% of XC3S200
• Processor Behavior– Simplifies control and state-machine
applications
Digital Compass
- I2C Interface- Continuous
Measurement to 1/10th of a degree
IR Sensors• Interfaces with
FPGA via A/D converter
• 8 bit A/D conversion gives 1cm resolution at 50-60cm (worst case)
Bluetooth DIP Module
• Connects directly to the FPGA (3.3V logic)
• Uses the RS232 protocol– Instantiate a UART on the FPGA
Connector Schematic
BT, Servo, and Compass Sch.
IR Sensor Array Schematic
• Nothing Works Without Communication• Necessary Communication Lines:
• RPS to TSC: Location• TSC to OCM: Path Data• TSC to OCM: Location• OCM to TSC: Obstacle Information• OCM to TSC: Heading• OCM to TSC: Battery Voltage
Communication
Communication Protocol
B Returns one 8-bit digital voltage reading
Request Battery voltage
Command (ASCII) Ensuing Data Description
C -- Clear Path
S # of instructions (0 – FF)16-bit instructions
Send Path
L 16-bit location (in inches) Send Location
O Returns six 8-bit distances (in inches), one for each sensor
Request Obstacle data
H Returns one 9-bit number (in two bytes) with heading (0o – 359o)
Request Heading
• Takes Input of an array of Touch-Screen Coordinates– Simple Algorithm to Determine Heading (H)
and Distance (D) to Reach Next Point
Path Calculation Code Block (FPGA)
Start End
Input Stylus Coordinate
s
Compare Consecutive
Points
Determine Heading and
Distance
Buffer Instructions
Send to
Servo
P1
P0
D)
H
• Takes Input of Socket Name, Address, obtained through IOCTL_BLUETOOTH_GET_PEER_DEVICE – Connects to Socket, sends all Path Coordinates– While still connected, makes sure that the data was
received, then returns.
Path Transmission via Bluetooth
Start End
Input Socket and Path
Data
Connect to Socket
Listen for Confirmation
of Transmission
Send Path Data
Return True
Return
False
Confirmation Received
Confirmation Not Received
• Uses same Socket for the Vehicle Transceiver as used in Transmission– Connects to Socket, receives Data, according to Communication
Protocol– Sends Confirmation back to the Vehicle.– After each piece of data has been successfully received, program will
return a structure containing all data to be processed and displayed.
Obtaining Data from the Vehicle
Start End
Input Socket and Path
Data
Connect to Socket
Send Confirmatio
n
Receive Data
Generate OCM_Data Structure
StartWebcam Capture
Send Coords to TSC
Center Pixel Pt
Map AbsCoords
@Dest?
EndYes
No
• Determine OCM Location– Take live pictures of field– Color pixel tracking (OCM color coded)– Map field coordinates– Send to TSC
Regional Positioning System
RPS Field of Vision
22 ft
19 ft
55°
• Capstone lab open space– Maximum depth: 22 ft
• iPaq Bluetooth range: 30 ft• Webcam viewing angle: 55°
Top-Down View
7 ft
6 ft22 ft
Side View
Dead-zoneActive-Zone
• Microsoft Lifecam VX-3000– 1.3 MP capture (1280 x 1024)– USB connectivity
Webcam Capture
OCM
• OCM in the Field– Specially color coded– Unique color for detection– Shaped spherically
• Image/Pixel Detection– Scan for specified color– Calculate average pixel location– Unique color → Center of OCM (pixelwise)
Color Pixel Tracking
• OCM Location– Algorithm: Pixel → Field Coordinates
Battery
Li-Ion Battery• 7V, 2AH• Weight: 3.5 oz• Dimension: W1.35x H0.6 x L2.5 (inch)
Battery Tracker
Li-Ion Battery Tracker
• 5 Bars(represents battery’s life at 100%, 80%, 60%, 40%...etc)
• Experiment– 1. Charge up battery to max capacity – 2. Discharge battery with light bulb, measure the
battery voltage every 5min till the battery is empty.
Power Distribution
Parts List
• Spartan-3 FPGA• HMC6352 Digital Compass• Kyosho Blizzard EV, Futaba S3003 Servos• MS Lifecam VX-3000 • 7.2V, 2Ah Battery • Bluetooth transceiver and Dongle• Regulators, capacitors
Responsibilities
• Kjell Peterson– Touchscreen Controller, Microcontroller
• Brian Pentz– FPGA, Picoblaze, Bluetooth
• Steven Pham– RPS, Bluetooth, CDS
• Zhuo Jing– Power Distribution, Servo Control
• Raymond Chen– Servo Control, CDS, FPGA
Project Timeline
Goals for Milestone 1
• Power/Battery interfacing• Simple RPS tracking capabilities• GUI complete• Basic Bluetooth interfacing complete• PCB layout, ready for fabrication• FPGA layout (completed)
Goals for Milestone 2
• PCB complete and fabricated• Servo controller and path calculation complete• Car follows given path• RPS Fully Functional• FPGA subsystem logic completed
Goals for Expo
• Subsystems fully integrated via FPGA• Obstacle avoidance capable• Obstacle mapping capable• Time permitting: Inclinometer/terrain mapping
Questions?