RC Camera Car DDR 1

RC Camera CarDetailed Design ReviewP1422612/10/13

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 BudgetTotal 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 Speed10ft/s Max Range141 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 CompletedAddressed with POCMSD 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

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Additional SlidesP14226 EDGE Site