Watch Your Back!Watch Your Back!
Team BAKEBryan SchoenAshish BablaniKelby PenneyEvan Schurr
Overview of PresentationOverview of Presentation
1. Description of Mechanical Design1. Description of Mechanical Design
2. Description of Logic Circuit + Progress2. Description of Logic Circuit + Progress
3.Description of Motor,Drivers 3.Description of Motor,Drivers
4. Memory map, CPLD, Stepper4. Memory map, CPLD, Stepper
5. Milestone Targets & Work Distribution 5. Milestone Targets & Work Distribution
DescriptionDescription
• 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 SystemGear 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
GearsGears
Gun
Large Gear
1 of 2 Support Columns That Attach to the Platform
Stepper Motor
Small gear
Servo Motor DriverServo 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 EXTPMI 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 HC11K1Processor – 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 SchematicHC11/Memory/CPLD Schematic
Wire Wrapped HC11/Memory/CPLDWire Wrapped HC11/Memory/CPLD
Memory MappingMemory Mapping• Internal memory
– $0 - $0FFF
• Ram– $1000 - $7FFF
• Flash– $8000 - $FFFF
CPLD LogicCPLD 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 SchematicCPLD Schematic
Stepper MotorStepper Motor
A3967 Stepper Motor DriverA3967 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 SchematicStepper Motor Driver Schematic
Wireless Web Cam & RouterWireless 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 connectionRS232 connection
Max233A-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 PartsFinal 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 PartsFinal 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 PartsFinal 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 ImplementationHardware Implementation
Control signal
Wireless transmission Driver for
trigger
Devices Built, incorporated & tested Currently in progress
Timeline Status 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 StatusTimeline 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 StatusTimeline Status
By 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 WorkDistribution of Work
Kelby-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 ChartGantt Chart
Questions?Questions?