Watch Your Back!

Team BAKEBryan SchoenAshish BablaniKelby PenneyEvan Schurr

Overview of Presentation

1. Description of Mechanical Design

2. Description of Logic Circuit + Progress

3.Description of Motor,Drivers

4. Memory map, CPLD, Stepper

5. Milestone Targets & Work Distribution

Description• Wireless autonomous vehicle equipped with a

camera and paintball gun• Sensors may include: motion, video, audio and

light• Vehicle can be controlled by 802.11B

communication• The data will be transferred back wirelessly to a

computer with a controller (keyboard)• Data can be viewed and controlled in real time

by a user interface

Gear System• Created in Solid

Works via Gear Trax• 2 Spur Gears• Small gear will be

attached to the shaft of the stepper motor and will displace the larger gear

• Larger gear will have gun attached to it

•Gear system will be attached to the top of this unit

Gears

Gun

Large Gear

1 of 2 Support Columns That Attach to the Platform

Stepper Motor

Small gear

Servo Motor Driver

• LMD18200– 3A H-Bridge motor– Bipolar circuitry– Accomodates peak

output currents up to 6A

• Delivers up to 3A continuous output

• Operates at supply voltages up to 55V

PMI Piranha EFORCE EXT• 9V input power for electronic trigger• C02 powered• Various modes – single shot, burst, full auto• Trigger controlled by solenoid piston• PROBLEMS!!!

Processor – Motorola HC11K1

– 16 bit address– 8 bit data– 8 MHz clock– 4 PWM outputs for motor drivers

– Memory map to the right– Uses accumulator A & B for data registers– Read and write data and address on

falling edge of E clock (1 MHz)

HC11/Memory/CPLD Schematic

Wire Wrapped HC11/Memory/CPLD

Memory Mapping• Internal memory

– $0 - $0FFF• Ram

– $1000 - $7FFF• Flash

– $8000 - $FFFF

CPLD Logic• Input Pins

– Top 4 MSB address bits• Output Pins

– Chip select to Ram when address bits are $1 - $7

– Chip select to Flash when address bits are $8 - $F

– Future chip select to DC servo motor drivers and Stepper motor driver

• Add 2 more address bits

CPLD Schematic

Stepper Motor

A3967 Stepper Motor Driver• Controlled by PWM output of microcontroller• Can microstep up to 1/8 of 1.8 degrees• Output current limit – 750 mA• Sleep function to minimize power loss• Thermal shutdown temperature of 165

degrees C

Stepper Motor Driver Schematic

Wireless Web Cam & Router

The WebCam

-Plug and play

-Great Resolution (640*480)

-Control of Movement

-Remote Management

The Router

-helps communicate between PC & WebCam

-helps in sending control signals to the WebCam

RS232 connectionMax233A

-Driver for the rs232 interface-Dual transceiver and has

internal capacitors (saves space on board)

The Adapter-One end (DB9) connects

to a PC or any other terminal.

-The other end provides a 4-pin header to connect to any micro controller board that requires serial I/O

Final Parts• The Brain

– Clock – 8MHZ – Data and address buffers - – Microprocessor – Motorola MC68HC11K1– CPLD – 44PIN -XC9572– Flash RAM – Rom - EEPROM– Test Pins– Power Strips– RS232 ports - MAX233A

Final Parts• The Motor

– Servo Driver Chips , National Instruments– Stepper Driver Chips, Allegro A3967– Servo Motors, DC servo disc motors– Stepper Motor , Sure-Step– Power Strips

Final Parts• The Others

– Base Platform– Plastic Gear– “Air powered launcher”– Wireless Web Cam– Wireless Router– Solenoid– *RF transmitter (HAC-UM)– **Sensors

Motorola68HC11K1

Micro-Processor

SerialRS-232 Paintball gun

- trigger

Ram

Rom

DC Motor Drivers

44 pinCPLD

1 StepperMotor2 DC Servo Disc Motors

WirelessWeb-Cam

Computer

Hardware ImplementationControl signal

Wireless transmission Driver for

trigger

Devices Built, incorporated & tested Currently in progress

Timeline Status • By Milestone 1 - We should have the following:

– The servos motors – should be able to move as we expect it to, giving it the control signals from the computers keyboard it should move smoothly and in the appropriate direction.

– The stepper motor – should also move up and down as required and also making sure that it also does this very smoothly (using the driver for this motor will allow us to take 1/8th of a single step 1.8Degrees / 8 = 0.225 Degrees / Step)

– The RS232 – making sure that giving the instructions from the computer is interpreted as required

– Connection between our brain circuit with the motor circuit – this will enable us to use the brain part of the circuit to control the functions of the motor drivers which then will control the movement of all the motors.

– Testing everything for basic functionality

Timeline Status• By Milestone 2 - We should have the following:

– More complex functions for our system – such as automated functions like the Valentines Day Massacre

– Incorporate the RF device (HAC-UM) from SPARKFUN

Timeline StatusBy EXPO - We anticipate to have the following:

Have complete desired functionality of our system including – Complex Logic– Wireless Control– Ability to sense objects (to avoid crashes)– Smooth operation of all our motors– Smooth operation of our overall system

Distribution of WorkKelby

-Setting up the stepper motor and driver-Setting up the microprocessor + Ram + ROM + Buffers & CPLD

Evan-Designing the Gear mechanism to hold the gun-setting up the Servo motors and drivers-Wireless Web-Cam setup + UI

Bryan-Programming the CPLD-Setting up the microprocessor + Ram + ROM + Buffers & CPLD

Ashish– Programming the microprocessor – Setting up the Servo Motors and drivers– RS232 Interface (between PC and board) + UI

Gantt Chart

Questions?