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RC Camera Car DDR 1
RC Camera CarDetailed Design Review
P1422612/10/13
Tim SouthertonBrian Grosso
Matthew MorrisLalit Tanwar
Kevin MeehanAlex Reid
Advisor: Dr. Becker-Gomez
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Agenda Items
Background Problem Definition Stakeholders Review
Major Purchase Camera and Video
Transmission Total Budget Power Budget Weight Analysis Component Layout
Component Updates Performance Data Differential Drive Speed Engineering Req.’s Review Dashboard Indicators
Console Construction Car Bumper Rev 2 MBED Programming Simulink Interfacing Steering Wheel Modifications Dedicated Computer Car Electronics Plan Schematics Console Flow Chart Course Components Lab Topics
System Functional Decomp. Risk Management MSD II Planning
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Problem Definition Review
Project Goal: Build a RC car platform controlled remotely with intuitive controls and
visual feedback that can be expanded to demonstrate Controls to college students. The project needs to be captivating and able to demonstrate multidisciplinary engineering innovation at various RIT events this year and into the future.
Deliverables:1. RC Car Platform with Cameras and Sensors2. Driving Station with Controller3. Equation of Motion of the System4. Characterizing Parameters of the System5. Source Code for Low Level Processing6. Interface for Student Coding7. Preliminary Differential Drive Code8. Supporting Documentation
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Stakeholders Review
Customer: Dr. Juan Cockburn Controls Professor, RIT, Computer Engineering (CE)
Sponsors: RIT CE Department, Multidisciplinary Senior Design (MSD) Freescale Semiconductor RIT FMS (Chris Furnare and Jim Shuffield) RIT ME Department (Bill Finch)
Event Attendees: Imagine RIT, Freescale Cup 2014 Various Campus Symposiums and Workshops
MSD Team Future RIT MSD Teams / Prospective Students
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Camera and Video Transmission
Ready Made RC LLC – Ohio – US Custom 5.8 FPV Starter Package: $232.70
RMRC-420XV NTSC CCD Camera ImmersionRC 600mW 5.8GHz Video Transmitter Uno5800 5.8GHz Receiver Standard Whip Antennas 2 x RMRC 1100mAh Batteries
LiPo Charger and Voltage Level Indicator Amazon: $37.26
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Total Budget
Total Budget 12-6-13 Min. Projected Remaining Expenses $141.40
Course Materials, Assorted Extras
On Target: $505.25 Total to be Spent
Long Lead Time Items Ordered at Minimum Cost
Approximately $363.85 Spent Thus Far Approximately $1328.25 in Total Value of Parts
Student Donated ~$170
Freescale Donation ~$600
Caster City Donation ~$60
FMS / Free Items ~$80
ME Dept. Donation - Free Computer, Table Surfaces ~$50
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Power Budget
Camera runtime estimated at ~4 hrs
2 LiPo Batteries coming for camera which can be one off one on charging
Far exceeds specs
Car runtime estimated at ~4 hrs
Additional NiMH battery available from CE Department
Far exceeds specs
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Weight Analysis
DDR Weight Analysis Components weighed and values for
those not purchased tabulated <10% More than 2013 RIT Freescale Cup Car 20% Less than when car tested for
performance (batteries weight will be less on final product)
Car will be able to move all the necessary components without issue
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Component Layout
Scale CAD model made of car electronics layout to verify that everything will fit
Significant room for expandability
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Performance Data
Performance Testing Car tested with RC controls + Arduino taking
encoder data and transmitting back to laptop through Xbee’s
Car run with two RC batteries (high weight) and car easily made it over Freescale bump
Gathered performance data that compared favorably with metrics
Information gained on bumper functionality, drivability, and clearance
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Performance Data
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Differential Drive Speed
Accelerometers unrealistic for linear speed measurement
Linear speed of car to be determined by averaging left and right wheel speeds Used as reference for feedback loop Easily available data for Simulink
Possible integration into console display
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Engineering Req.’s Review
Detailed Engineering Requirements Preliminary Testing Results:
0 to Max Speed 2.8s Max Speed to 0 2.4s Max Speed 10ft/s Max Range 141 ft
Addressed Items: Dashboard Indicators Dedicated Computer for Project
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Dashboard Indicators
Freescale automotive division MC9S12HY64 instrument cluster demo board donated for project
Stand built for protection and viewing
Movement!
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Console Construction
Console updated with lower mounting height difference between chair and table base
Changed to moving table toward user for safety
Found better desk and base surface
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Console Construction
Temporarily mounting casters and screen
New casters to be expected near start of MSD II
Possible seat belt for authenticity, time depending
Possible seat plate with team information
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Car Bumper Rev 2
New bumper design made with driving feedback (protection)
Polyethylene foam cut using hot wire foam cutter
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MBED Programming
MBED functionality with Xbee’s and MATLAB for KL25Z Freedom Board confirmed
Freedom Board, Xbee, Accelerometer, MATLAB Testing
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Simulink Interfacing
Serial information can be directly imported / exported from Simulink model
This will be integrated with Brian’s model to output motor speed signal
Simple interface for students to program
http://www.mathworks.com/help/releases/R2013b/instrument/srcblkparam.gif
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Steering Wheel Modifications
Access hatch added to allow for quicker electrical work and internal component mounting
KL25Z board mounted inside and wires connected to board outputs for interfacing with board
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Dedicated Computer
Change of approach on console side to controller and Xbee’s communicating directly with computer
Simulink running controls application on computer with serial in/out communication
Need for dedicated computer for project to reduce program version issues and increase robustness of final deliverable
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Car Electronics Plan
Using TLC Motor Shield on KL25Z Replacing pin headers on motor shield
with through pin headers to access unused pins
Attaching Xbee and encoder circuits using a perfboard shield on top of motor shield
Use existing switches, potentiometers, LED’s, and servo outputs as necessary
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Schematic – H-Bridge
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Schematic – H-Bridge
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Schematic – Motor Shield
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Schematic – Motor Shield
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Schematic – Encoder Circuit
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Schematic – Accessories
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Console Flow Chart
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Course Components
Freescale Cup Tarp 15’4” x 20’4” Stored in MSD Area Used on Floor with
Tables Moved Course Edging and
Obstacles TBD Budget Depending ~$60 Available Fix Freescale Bump Storage Limited
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Lab Topics
1) Physics Theory - Brian's Differential Drive Model Assumptions and Turning Radius / Speed Formulas
2) Controls Application Wheel Speed Averaging and PI Control
3) Console Microcontroller Information Microcontroller / Electronics Console Controls and Outputs
4) Chassis Construction and Information Car Steering Servo and Drive Motors Stats - Wheelbase, Track, Weight, Time Constants Battery and Power Management Assembly Instructions
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Lab Topics
5) Car Microcontroller Information Microcontroller / Electronics Car Inputs and Outputs
6) Wireless Communication Information Xbee Distance Stats and Info Camera Distance Stats and Info X-CTU, Updating, and Bricking Issues Using Xbee's with MBED
7) Simulink Interfacing Readings Data into Simulink Outputting Data from Simulink
8) Testing Uploading Code Implementing Model Changes Verifying Results Sample Code and Demo
9) FAQs and Troubleshooting
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System Functional Decomp.
Successfully Completed
Addressed with POC
MSD II
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Risk Management
Risk Management
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Test Plan
Test Plan Test Chassis and Console
Verify Physical Component Limitations
Test Wireless Communications Functioning Distance
Record Data at Imagine RIT User Feedback – Likert Scale
Statistical Driving Data
Finalized Project Deliverables Total Cost, Event Entries, Component Specs, Included System
Functionality
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MSD II To Do Short List
Wheel Speed Sampling Solution and Testing
Optical Gate Speed Testing KL25Z Xbee / Motor Controller Integration Controls Application Software Integration Table Surfacing and Component Mounting Course Design Component Mounts Aesthetics
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MSD II Planning
MSD II Planning 36 items identified for MSD II Week 5 Demo
Working Car using Console Drive Controls Week 8 Demo
Working Controls Applications Week 12 Demo
Working Course and Car Still plenty of work to be done
