Liter
Liquid Tending Robot
Julie Lam
Kevin Chang
Jason Smith
Andrew Jenkins
Objectives
 Move
Core
Goals
Extensions
using tracks and motor
 Receive order by using Keypad and
LCD
 Delivering an assortment of drink
through controlled valves
 Read customer information (tab, name,
preferences) through magstripe reader.
 Follow route using sensors.
 Pre-recorded voice prompts.
Block Diagram
SRAM
LCD
Keypad
Path
Sensor
Microcontroller
ROM
FPGA
Registers
Interrupts
A/D
Motors
Power
Supply
12V_UNREG
110VAC
Card
Reader
15V
5V
-15V
Washer
Valve
Pumps
Solenoids
Status
 68HC11
is up, running uC code from
ROM, read/writing to RAM,
communicating via RS-232 to host PC.
 Interrupt-driven communication.
 Unregulated
power supply complete,
provides plenty of power for washer
pumps and motors (>2A).
 Tested with pumps – works.
 Motor
base turns, moves, varies speed; with
bench setup (not a Puerile design).
FPGA- XCS10
Kevin Chang
FPGA Overview
 XCS10
FPGA device
 Interface between microcontroller and
‘dumb’ peripheral devices.
 Chip selection based on address bus
 Registers for valve controls and motor
controls.
 Interrupt detector and interrupt
controller.
Microcontroller-HC11
Jason Smith
Hello World Test in C
Interrupt Test
LCD
MICROCONTROLLER
 Store ROM information
into registers
 Selects the LCD
 Outputs the ROM
information
FPGA
 Tells ROM to place
information on the
bus
 Selects LCD to
receive information
from the data bus
Pumps
MICROCONTROLLER
 Processes pump
selection and
duration
 Outputs above
information onto
the address and
data buses
 Receives interrupt
FPGA
 Selects appropriate
pump and outputs
power to transistor
 Uses decrementer
to hold selected
pump for the
duration
 Send interrupt when
finished
Motor
MICROCONTROLLER FPGA
 Controls the motor
 Outputs direction,
inputs
speed, and stop
 Uses direction input
command
to output to motor
 Stores speed input
to the duty cycle
register
 Uses stop command
to turn off motors
Light Sensors
MICROCONTROLLER
 Performs ADC of
light sensor photo
transistors
 Processes light
sensor data for path
correction or stop
command
 Outputs appropriate
data to FPGA
FPGA
 Selects light sensors
Card reader
MICROCONTROLLER FPGA
 Receives interrupt
 Generates XIRQ
interrupt when card
 Reads from FPGA
leaves card reader
interrupt register
 Stores serial card
 Reads card
data into shift
information and
register as card is
location from card
swiped
data shift register
RS-232
 Receives
and sends debugging
commands to the microcontroller.
High level microcontroller
processes
 Priority
queuing
 Priority interrupt control
 Processing orders
 Processing path following algorithm
 Processing card reader information
Interface Circuits
 Pump
Control Circuit
 Motor Control Circuit
 Line Follower Sensors
 Keypad Interface
 LCD Interface
Motor Control Circuit
 Uses
L293D Motor Driver
 DC Gear Motors
 Input 2x PWM signal (square wave,
~1kHz, duty cycle->speed).
 Input 2x direction signal.
 Provide motor power (12VDC, 400mA).
 FPGA provides PWM, direction.
Motor Control Circuit
+5V
VCC
C24
Cap
.056uF
+12_UNREG
U11
2
7
10
15
U10A
DIR_LEFT
2
1
MM74HC14N
U10B
DIR_RIGHT
DIR_RIGHT
3
4
MM74HC14N
PWM_LEFT
PWM_RIGHT
1
9
4
5
12
13
IN1
IN2
IN3
IN4
EN1
EN2
GND
GND
GND
GND
VCC
VC
OUT1
OUT2
OUT3
OUT4
VCC
16
8
P1
3
6
11
14
LEFT_MOTOR_RED
LEFT_MOTOR_BLACK
RIGHT_MOTOR_RED
RIGHT_MOTOR_BLACK
1
2
3
4
Screw Terminals
VCC
L293D
C25
Cap
.056uF
Pump Control Circuit
 TTL compatible
(FPGA).
 P-channel Power MOSFET dissipates
190mW.
 6N138 Darlington Optoisolator (CTR 2000%)
Pump Current Monitor
• 0.05 Ohm Current-Sense resistor, common for all
high-power (> 1W) applications.
• LM6462 Rail-to-rail OpAmp->Current Reference
• 6N135 Analog Optoisolator (CTR ~20%)
Pump Control Circuit
U21
PUMP1_ON
VF+
Res1
3.3K
NC
7
2
6
VF4
VB
VO
NC
5
8
U23A
LMC6462AIN
2
1
3
UNREG_RTN
R16
Res Adj1 VCC
U22
430
VCC
8
R14
Res1
910
VB
VO
B1
NC
7
2
3
GND
M 12VDC, 1.8A Fluid Pump
1
+12_UNREG
VF+
6
4
uP ADC 1
1
Rds(on) = 0.06 Ohm
P(on)=1.8^2*Rds(on)=190mW
GND
6N138
VCC
Q6
IRF5210
I(on)=2mA
3
VCC
R12
Res1
6.8k
5
NC
VF4
+12_UNREG
UNREG_RTN
4
R13
+12_UNREG
VCC
6N135
Q7
2N3904
7
U23B
LMC6462AIN
5
2
6
8
1
I(on)=1mA
+12_UNREG
8
UNREG_RTN
R17
607HR050-ND
0.05
R15
Res1
7.5
UNREG_RTN
UNREG_RTN
Line Follower

LED current adjustable, >= 1mA
 LED on/off controlled by FET, TTL/CMOS
compatible.
 Phototransistor senses light level, believe
~1mA peak current.
 Will add OpAmp to expand signal if needed.
 Uses 4 channels of CD4051 Analog
Multiplexer, select controlled by FPGA.
Line Follower
VCC
R5
Res1
2K
Q1
L14G1
Res1
VCC R6 1K
VCC
R7
To FPGA
Res1
2K
Q2
L14G1
VCC
U20
6
11
10
9
13
14
15
12
1
5
2
4
VCC
R8
R11
Res Adj1
1K
8
Res1
2K
DS2
LED0
DS3
LED0
DS4
LED0
VCC
R9
Res1
2K
PATH_LED_ON
R10
Res1
100
Q5
ZVN4206A
X0
X1
X2
X3
X4
X5
X6
X7
GND
CD4051BCN
Q3
L14G1
DS1
LED0
EN
A
B
C
Q4
L14G1
VCC
X
VEE
VCC
16
3
7
uP ADC 2
Magnetic Card Reader
3
Mag Card Readers
 Outputs “Card Inserted” signal – used to
enable the FPGA shift register
 Outputs “Data Clock” – used to clock
the data into the FPGA shift register
 Outputs “Data” – the data.
Magnetic Card Reader
VCC
U16
2
3
VCC
CLS
CLS_1
CSV
RCP
1
4
GND
RDP
5
6
RCP_1
RDP_1
V3A
U17
2
3
VCC
CLS
CLS_2
CSV
RCP
1
4
GND
RDP
5
6
RCP_2
RDP_2
V3A
VCC
U18
2
3
VCC
CLS
CLS_3
CSV
RCP
1
4
GND
V3A
RDP
5
6
RCP_3
RDP_3
To FPGA
VCC
Keypad
 MM74C922
decodes Row/Column
Keypad into 4 bits data.
 Double buffer register.
 Debounce capacitor.
 Data available signal.
Keypad
U19
1
2
3
4
1
2
3
4
ROW 1
1
2
3
A
ROW 2
4
5
6
B
ROW 3
7
8
9
C
ROW 4
*
0
#
D
X1
KP_16
5
8
COL 4
7
COL 3
6
COL 2
COL 1
5
11
10
8
7
6
C26
Cap
0.1u
C27
Cap
0.1u
9
ROW
ROW
ROW
ROW
Y1
Y2
Y3
Y4
COL X1
COL X2
COL X3
COL X4
OSC
KB_MASK
GND
MM74C922
D0
D1
D2
D3
OE
D AVAIL
17
16
15
14
13
12
DATA BUS
KEYPAD_CS
KP D AVAIL
FPGA
LCD Interface
 CrystalFontz
CFAH-2004A-RMC-JP
 20x4 Character Display, parallel
interface, red backlight
LCD Interface
Power and Contrast
VCC
X1
R19
Res Tap
15K
3
1
VDD
VO
15
Res1
130
A
K
6
5
4
LCD CS
R/W
LCD D/I
LCD CS: FPGA Decoder
R/W : from Microcontroller
LCD D/I: Microcontroller GPIO
Parallel
7
8
9
10
11
12
13
14
16
20x4 Red Backlit
Character LCD
VSS
VCC
R18
CE
R/W
D/I
DB0
DB1
DB2
DB3
DB4
DB5
DB6
DB7
2
Backlight Power
DATA BUS
CFAH2004A-RMC-JP
Power Supply
Julie Lam
Power Supply Tech

From ~110VAC Wall outlet, fused.
 One transformer from ~110VAC to 12VDC
 Using a bridge rectifier, diode and large cap
for the circuit.
 Using a pre-assembled 110VA to 5VDC @
1.8A power supply for Logic devices (with +/15 for Analog).
 Using an unregulated power supply for
peripherals such as motor and pumps
(~12VDC, > 2A).
Milestone 1
 1st
PCB rev completed and ordered
 Complete and working setup for motor,
pumps and other hardware
 Communication between microcontroller
and FPGA
 Initial integration of motor, pumps and
software controls
Milestone 2
 All
software coded
 Completed integration of design
 Begin testing full system
Timeline
Parts and Costs
Part Number Description
Package Qty. Cost Line Cost
MC68HC11E0CFN2
MM74HC373
MM74HC245AN
TC74HC14AP
1N914
TC74HC08AP
MXO45-8.0000
X28HC256P-90
CY62260L-70PC
MAX233CPP
APS16AMT
4-01-6016
KBPC804
FR306
52 PLCC
20 DIP
20 DIP
14 DIP
Axial
14 DIP
Microcontroller, 8 Bit HC11, ROMless
Octal Latch, Tri-state, 74HC
Octal Transceiver, Tri-state, 74HC
Hex Schmitt Trigger Inverter, 74HC
Diode, Signal
Quad 2-Input AND, 74HC
Oscillator Clock, 8MHz, CMOS/TTL
EEPROM, Parallel 8x32k, 90ns
SRAM, Parallel 8x32k, 70nS
RS-232 Transceiver x 2
AC Line to +15, -15, +5 VDC Supply
24VA AC Line Transformer, 10V secondary
10A Bridge Rectifier
10A Rectifier
6800uF Electrolytic Capacitor
LM317T
3-Terminal 1.5A Adjustable Regulator
ZVN4206
N-Channel MOSFET, 1A
L14G1
Phototransistor
CD4051BCN
Analog Multiplexer, 8 Channel
LEDs, Path Finder, ~50mA
6N138
Optoisolator, Darlington, 2000% CTR
6N135
Optoisolator, High Bandwidth 19% CTR
LMC6462AIN
Dual Micropower Rail-to-Rail OpAmp, 0.5mV offset
2N3904
NPN BJT, 200mA
IRF5210
P-channel Power MOSFET, Rds=0.06, Id=40A
607HR050
0.05 Ohm Current Sense Resistor, 1%
NAPA 60-300
NAPA Universal Windshield Washer Pump
3/8" ID Flex Tubing, per foot
Max '97 Robot Base and DC Gear Motors
V3A
Magnetic Card Reader
CFAH2004A-RMC-JP 20x4 Red Backlit Character LCD, Parallel
Total
28 DIP
28 DIP
20 DIP
TO-220
SOT-223
TO-18
16 DIP
8 DIP
8 DIP
8 DIP
TO-92
TO-220
Axial
1
$9.96
1
$0.60
2
$0.55
1
$0.39
10
$0.20
1
$0.49
1
$2.78
1 $16.13
1
$3.40
1
$7.45
1
$0.00
1
$3.50
1
$4.00
1
1
1
$0.65
1
$1.21
4
$1.72
1
$0.72
4
8
$0.90
1
$1.20
2
$3.10
1
$0.16
8
$1.91
1
$0.42
8 $18.59
100
$0.55
1 $159.95
3 $26.10
1 $26.53
$9.96
$0.60
$1.10
$0.39
$2.00
$0.49
$2.78
$16.13
$3.40
$7.45
$0.00
$3.50
$4.00
$0.00
$0.00
$0.65
$1.21
$6.88
$0.72
$0.00
$7.20
$1.20
$6.20
$0.16
$15.28
$0.42
$148.72
$55.00
$159.95
$78.30
$26.53
$560.22
Show and Tell
Division of Labor
 Kevin
Chang and Julie Lam
 FPGA
pump control, motor control
interfacing and Programming
 Jason
Smith and Andrew Jenkins
 Microcontroller
Programming
and motor interfacing and