Transcript 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.

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.
• 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 realtime.
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
Buffered
Heading
s
Buffered
Distance
Servo Controller
Pulse
Length
Number
of
Pulses
• Level Shifters from TTL to Logic
– FPGA outputs 3.3V TTL
– Servos take 5V logic
– CD4504 TI LS
Steering
Servo
Digilent FPGA
Development 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 subroutines
• 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
Communication
• 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 Protocol
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
B
Returns one 8-bit digital voltage
reading
Request Battery voltage
Path Calculation Code Block (FPGA)
Input Stylus
Coordinate
s
Compare
Consecutive
Points
Determine
Heading and
Distance
Start
Buffer
Instructions
Send
to
Servo
End
• Takes Input of an array of Touch-Screen
Coordinates
– Simple Algorithm to Determine Heading (H)
and Distance (D) to Reach Next Point
P1
H
D
P0
Path Transmission via Bluetooth
Confirmation
Received
Input Socket
and Path
Data
Start
Connect to
Socket
Send
Path
Data
Listen for
Confirmation
of
Transmission
Retur
n
False
Confirmation Not Received
Retur
n True
End
• 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.
Obtaining Data from the Vehicle
Input Socket
and Path
Data
Start
Connect to
Socket
Receiv
e Data
Send
Confirmatio
n
Generate
OCM_Data
Structure
End
• 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.
Regional Positioning System
Start
Webcam
Capture
Center
Pixel Pt
Map Abs
Coords
Send
Coords
to TSC
@
De
st?
Yes
End
No
• Determine OCM Location
–
–
–
–
Take live pictures of field
Color pixel tracking (OCM color coded)
Map field coordinates
Send to TSC
RPS Field of Vision
19 ft
Active-Zone
Dead-zone
7 ft
22 ft
55°
22 ft
Top-Down View
6 ft
Side View
• Capstone lab open space
– Maximum depth: 22 ft
• iPaq Bluetooth range: 30 ft
• Webcam viewing angle: 55°
Webcam Capture
• Microsoft Lifecam VX-3000
– 1.3 MP capture (1280 x 1024)
– USB connectivity
• OCM in the Field
– Specially color coded
– Unique color for detection
– Shaped spherically
OCM
Color Pixel Tracking
• Image/Pixel Detection
– Scan for specified color
– Calculate average pixel location
– Unique color → Center of OCM (pixelwise)
• 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?