Preliminary Schematic and Hardware Design

Jason HolmesMatt WickesbergMichael PiercyMatt Guenette

Team 12 – Super Tank

February 15, 2012

Project Overview

Long Range Vehicle Control in collaboration with HKUST

Semi-autonomous tank Controller – Android application Video wirelessly transmitted from

vehicle to controller Using the Pandaboard

PSSCs An ability to send/receive/decode

commands from a controller wirelessly An ability to control direction/firing

capability of a vehicle An ability to autonomously avoid obstacles

encountered by the tank An ability to provide sensor feedback to a

wireless controller An ability to monitor a battery and prevent

unexpected signal loss by alerting operator

Theory of Operation

Power Sourcing and Distribution

Motor Driver Circuitry

Proximity Sensing Array

Serial Communication

Power Sourcing and Distribution Everything powered by a 12v drill

battery Main motors run off of 10-12v Efficient DC/DC switching regulators

to drop 12v down to 5v and 3.3v Microcontroller runs on 3.3v Pandaboard runs on 5v Coulomb counter used for battery

monitoring

Motor Driver Circuitry

L298 H-Bridge IC used for two main drive motors and turret motor

Require large heatsinks and channels must be tied due to current draw

Power MOSFET used for airsoft firing mechanism

Proximity Sensing Array

Infrared sensors distributed around the perimeter of the tank

Long Range sensors (20-150cm) used for object detection

Short Range sensors (3-40cm) used for ledge detection

Algorithm to handle object detection in software

Serial Communication

Used for all communication between the microcontroller and the Pandaboard Commands received from controller Status messages and sensor data sent

to controller ST3232 level translator used to

interface with microcontroller UART

Hardware Design

Package – 64 pin LQFP

This package makes ports A, B, and C available

Main on-chip peripherals used are UART, PWM, ADC, and several GPIO

Hardware Design – Port APin Use Description

PA0USART2_CTS UART to Pandaboard through level translator

PA1 USART2_RTS UART to Pandaboard through level translatorPA2 USART2_TX UART to Pandaboard through level translatorPA3 USART2_RX UART to Pandaboard through level translatorPA4 ADC12_IN4 IR Extra – if blind spots are found with current configurationPA5 ADC12_IN5 IR Extra – if blind spots are found with current configurationPA6 ADC12_IN6 IR Extra – if blind spots are found with current configurationPA7 ADC12_IN7 IR Extra – if blind spots are found with current configurationPA8 GPIO/PWM Drive Motor A – EnablePA9 GPIO/PWM Drive Motor A - IN1PA10 GPIO/PWM Drive Motor A - IN2PA11 GPIO Firing EnablePA12    PA13 Programmer To JTAG ProgrammerPA14 Programmer To JTAG ProgrammerPA15 Programmer To JTAG Programmer

Hardware Design – Port B

Pin Use DescriptionPB0 ADC12_IN8 IR Sensor Input - Rear LeftPB1 ADC_IN9 IR Sensor Input - Rear RightPB2    PB3 Programmer To JTAG ProgrammerPB4 Programmer To JTAG ProgrammerPB5 Extra Port out for extra (I2C)PB6 Extra Port out for extra (I2C)PB7 Extra Port out for extra (I2C)PB8 TIM4_CH3 PWM to 5V RegulatorPB9 TIM4_CH4 PWM to 3.3V RegulatorPB10    PB11    PB12 Extra Port out for extraPB13 GPIO/PWM Drive Motor B – EnablePB14 GPIO/PWM Drive Motor B - IN1PB15 GPIO/PWM Drive Motor B - IN2

Hardware Design – Port C

Pin Use Description

PC0 ADC123_IN10 IR Sensor Input - Front Ledge Detect

PC1 ADC123_IN11 IR Sensor Input - Rear Ledge Detect

PC2 ADC123_IN12 IR Sensor Input - Front Forward

PC3 ADC123_IN13 IR Sensor Input - Front RightPC4 ADC12_IN14 IR Sensor Input - Front LeftPC5 ADC12_IN15 IR Sensor Input - Rear BackwardPC6 GPIO Turret Motor – EnablePC7 GPIO Turret Motor - IN1PC8 GPIO Turret Motor - IN2PC9 Extra Port out for Extra (GPIO/Timer)PC10 GPIO Coulomb Counter HDQ – main communication interfacePC11 GPIO Coulomb Counter RBIPC12    

Preliminary Schematic

Serial Interface

DC/DC Switching Regulator

Coulomb Counter

Motor Drivers (L298 H-Bridges)

Questions?