Watch Your Back!Watch Your Back!

Team BAKEBryan SchoenAshish BablaniKelby PenneyEvan Schurr

Overview of PresentationOverview of Presentation

1. Project Description 1. Project Description

2. Project Design2. Project Design

3. Proposed Additional Features3. Proposed Additional Features

4. Timeline / Labor Distribution4. Timeline / Labor Distribution

5. Cost / Risk5. Cost / Risk

Introduction and PurposeIntroduction and Purpose

• Watch Your Back! is a wirelessly controlled amphibious vehicle armed with a camera with abilities to perform a wide variety of human tasks– Ability to transport items from one room to another– Can be used to enter hazardous situations, analyze

the situation and risks, and perform necessary actions– Eliminates threats to human lives in a battlefield when

equipped with a gun – Home/Business Security– Recreational

ObjectivesObjectives

• Eliminate threats to human life– Will equip the amphibious vehicle with a

paintball gun and camera– Will be able to control from a remote location

• Have ability to maneuver and fire from remote location

– View all data and react in real time

DescriptionDescription

• Wireless amphibious 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 or PS2 controller)

• Data can be viewed and controlled in real time by a user interface

Mechanical AspectsMechanical Aspects

• Pre-assembled Metal Mobile Platform

• Two 8 Inch Wheels

• Two 2 Inch Stabilizing Wheels

• Vertical motion Gear

DC Motors/Gun TriggerDC Motors/Gun Trigger

• Two 9FGHD Ferrite Series ServoDisc Motors

• 0.9 Deg/Step Stepper Motor

• Push Type Tubular Solenoid

PWM Controlled Motor DrivesPWM Controlled Motor Drives

• Two DC/DC Converters with PWM Input

• Input Voltage 12V

• Output Voltage 0-15 V

• Inverter Switch for Reverse Control

M68HC11K1MicrocontrollerM68HC11K1

Microcontroller• 4 MHz Clock• 16-bit addressing• 84-pin PLCC Package• Four 8-bit pulse-width

modulation (PWM) outputs• Enhanced asynchronous serial

communications interface (SCI)

• Dual-function I/O lines — Any pins used for the microcontroller’s peripheral functions can be configured as general-purpose I/O lines

M68HC11K 84-Pin PLCCC

MemoryMemory

• RAM– 64 Mb SDRAM

• ROM– 64 Mb

• 44 Pin - CPLD– Used to store data

Wireless, Camera & ControllerWireless, Camera & Controller

• 802.11g wireless control

• VGA (640x480) quality wireless camera with integrated audio

• Sony Playstation controller for horizontal/vertical movement and trigger controls

Mandatory/Extra FeaturesMandatory/Extra Features

Mandatory Features• 360 degree horizontal movement• Vertical movement of gun• Trigger control• Integrated wireless control & video

Extra Features• Valentine’s Day Massacre (VDM) button• Audio output• Various sensors (wall, drop-off, etc.)

Possible Problems & RisksPossible Problems & Risks

• TIMING!

• Recoil of gun & stability

• Weight/friction & current limiting the DC motors

• Smooth rotational movement of the motors

• Exceeding the motor specifications

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 ImplementationHardware Implementation

Control signal

Wireless transmission Driver for

trigger

Estimated CostsEstimated CostsPrice # Units Total

9FGHD Ferrite Series Servo Disc

Motor (x2)$704.00 2 $1,408.00

68HC11K1 Microcontroller (x2)

$20.00 2 $40.00

12V Car Battery $100.00 1 $100.00

LinkSys PTZ Internet Camera

$255.00 1 $255.00

Paintball Gun $200.00 1 $200.00

Misc (Resistors, Caps, Inductors,

Inductor cores, heat sinks, etc)

$100.00 1 $100.00

Stepper Motor $140.00 1 $140.00

PS2 Controller $20.00 1 $20.00

Gear System Parts $50.00 1 $50.00

RAM and ROM $100.00 1 $100.00

Gun supplies (Ammo, CO2, etc)

$50 1 $50.00

Total $2,463.00

Work DistributionWork Distribution

AshishAshish Kelby / EvanKelby / Evan BrianBrian

•Documentation •Documentation •Documentation

•Programming the HC11K1 to control the DC motor drivers

•Designing and implementing DC/DC motor drivers

•Setting up the web cam•Programming the HC11K1 to control the DC motor drivers

•Designing and implementing stepper motor drivers

•Designing and implementing trigger driver for paintball gun

•Designing and implementing trigger driver for paintball gun

•Designing a gear system for the stepper motor

Gantt ChartGantt Chart

ReferencesReferences

• "Freescale Semiconductor." M68HC11K Family Technical Data HCMOS M68HC11K Family. 2001. Motorola, Inc.. 12 Sep 2006 <http://www.freescale.com/files/microcontrollers/doc/data_sheet/M68HC11K.pdf>.

Questions? / Comments ?Questions? / Comments ?