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Color Discriminating Color Discriminating Tracking SystemTracking System
Lloyd Rochester Sam Duncan
Ben Schulz
Fernando Valentiner
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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.
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Microcontroller BoardMicrocontroller Board
HC112 serial inputs for PC104+ and PC.NES ControllerLCD memory mapped, PIC controlledAddressing interrupts
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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.
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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.
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Digital Signal Processor:Digital Signal Processor:
Analog Blackfin or Tigershark DSPMotorola 56307 – used in DSP labPC104 Pentium processor
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PIC microcontrollerPIC microcontroller
Pros: – Very easy to use.
Cons: – Everything done for us already.
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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)
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Specifications continued:Specifications continued:
3 input capture lines, 5 output capture lines
2 16 bit index registers1 stack pointer
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Expanded Mode:Expanded Mode:
Onboard memory will not be used. Expanded mode will be enabled so
HC11 reads from external memory.
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Optional use of FPGA:Optional use of FPGA:
Stepper motor controlsNintendo controller logicInterrupt servicing
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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.
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Accuracy:Accuracy:
Bipolar stepper motors• 3.8 degree and 1.9 degree Industry Standard
H-Bridge controller required• Half step implementation realization
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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
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PositioningPositioning
Manual control for calibration• Uses NES game pad
Memory for position reference• Non volatile memory too slow
Shaft encoders just too inaccurate
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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
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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
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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.
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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
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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.)
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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