1

Color Discriminating Color Discriminating Tracking SystemTracking System

Lloyd Rochester Sam Duncan

Ben Schulz

Fernando Valentiner

2

Overview of systemOverview of system

3

Different Modules on Board

NTSC Camera with Co-Axial output.PC104+ and PCI Frame Grabber.30 Frames/ Second at 640x280

resolution.Will be completed in Real-Time

embedded systems.

4

Microcontroller BoardMicrocontroller Board

HC112 serial inputs for PC104+ and PC.NES ControllerLCD memory mapped, PIC controlledAddressing interrupts

5

Example turretExample turret

6

Motor circuitMotor circuit

Stepper motor controllers have full/half step mode for different accuracy, as well as a range of varying currents for different speeds.

Software control can converge smoothly on a target based on how many steps away.

Motors very noisy, inductors have huge voltage spikes when switching current.

Steppers will be on a different power circuit than microcontroller.

7

Stepper Motor SpecificationsStepper Motor Specifications

Limited by switching speeds of hardware controllers

Can sweep 30 degrees / step in full step mode,15 degrees / step in half step mode.

Travel full field of view ~1 second.Torque curve sufficient for turret.

8

Digital Signal Processor:Digital Signal Processor:

Analog Blackfin or Tigershark DSPMotorola 56307 – used in DSP labPC104 Pentium processor

9

PIC microcontrollerPIC microcontroller

Pros: – Very easy to use.

Cons: – Everything done for us already.

10

MC68HC11 Specifications:MC68HC11 Specifications:

8-channel A/D converter (may use external chip)

Asynchronous serial communications interface (SCI)

Separate synchronous serial peripherals interface (SPI)

2 8-bit accumulators (A & B), which can act as a single 16-bit accumulator (D)

11

Specifications continued:Specifications continued:

3 input capture lines, 5 output capture lines

2 16 bit index registers1 stack pointer

12

Microcontroller BoardMicrocontroller Board

13

Memory:Memory:

Can address 64K memory.Possibly have 32k EPROM, 32k

SRAM

14

Expanded Mode:Expanded Mode:

Onboard memory will not be used. Expanded mode will be enabled so

HC11 reads from external memory.

15

FPGA FPGA

Xilinx Spartan FPGA XC4005EPrimary Function: Decode address

for Memory Mapping

16

Optional use of FPGA:Optional use of FPGA:

Stepper motor controlsNintendo controller logicInterrupt servicing

17

On Board Demonstrations:On Board Demonstrations:

The controller will have a control mode that can be enabled to put the laser into demo mode.

3 separate preprogrammed paths: Circle, Square, and Infinity.

18

The Motor System ProblemsThe Motor System Problems

AccuracyControlPosition / Calibration

19

Accuracy:Accuracy:

Bipolar stepper motors• 3.8 degree and 1.9 degree Industry Standard

H-Bridge controller required• Half step implementation realization

20

H-Bridge ControllersH-Bridge Controllers

1 pin Step control• Pulse width for full or half step

2 pin Phase control• Direction of motor

2 pin Current control• Handles up to 1.5 amps• Only need 0.5 to 0.75 amps

21

PositioningPositioning

Manual control for calibration• Uses NES game pad

Memory for position reference• Non volatile memory too slow

Shaft encoders just too inaccurate

22

SoftwareSoftware

Task Perform by software in our design

23

Small Software state machine for Small Software state machine for the four modesthe four modesManual or Game Pad modeDemo modeTracking modeCalibration mode

The current mode will be displayed on the LCD screen

24

Control of the two RS-232 Control of the two RS-232 interfacesinterfacesSerial interface to the PC104+ to

receive XY coordinates for tracking

Serial Interface to monitor computer, this is used by the BUFFALO monitor program

25

Human Interface DevicesHuman Interface Devices

LCD, it will be used for most of the output to the user

Serial Terminal, information can be transmitted to the terminal for debugging purposes

LED lights, Sound, etc.

26

Monitor programMonitor program

The Motorola BUFFALO monitor program located locally on EEPROM

27

BUFFALO Basic CommandsBUFFALO Basic Commands

Command Description

BF <addr1> <addr2> <data> Block fill memory with data

LOAD <T> Download (S-records)

MD [<addr1> [<addr2>]] Dump memory to terminal

MM [<address>] Memory modify

HELP Display monitor commands

28

Goals for the projectGoals for the project

Minimum: Implement one two-dimensional laser turret controlled by one Game Pad.

Goal: Implement one two-dimensional laser turret controlled either by Demo Mode, Tracking system or Game Pad.

Extension: Implement two two-dimensional laser turrets controlled by Demo Mode, Tracking System or two Game Pads.

Maximum: Replace the laser by a more extravagant device, i.e. dart gun, BB gun, missile, etc.)

29

Objective TimelineObjective Timeline

CDR:

Main Board Schematics

Obtain Main board parts

Motor board schematics

Assemble microcontroller board

Get processor running

Milestone 1: 

Obtain Motor Board

Assemble Motor board

Finish and test microcontroller hardware

Implement Game Pad interface

30

Objective Timeline (Cont)Objective Timeline (Cont)

Milestone 2:

Monitor program running

Implement interface with motors

Real Time Embedded system PC104+ module

  Expo:

Run Demo modes for the laser

Receive XY and control laser

Calibrate stepper motors for tracking