Watch Your Back!
Team BAKE
Bryan Schoen
Ashish Bablani
Kelby Penney
Evan Schurr
Overview of Presentation
1. Description of Mechanical Design
2. Description of Logic Circuit + Progress
3.Description of Motor,Drivers
4. Memory map, CPLD, Stepper
5. Milestone Targets & Work Distribution
Description
• 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 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
Gears
Gun
Large Gear
Small gear
1 of 2 Support Columns
That Attach to the Platform
Stepper Motor
Servo 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 EXT
•
•
•
•
•
9V input power for electronic trigger
C02 powered
Various modes – single shot, burst, full auto
Trigger controlled by solenoid piston
PROBLEMS!!!
Processor – 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 Schematic
Wire Wrapped HC11/Memory/CPLD
Memory Mapping
• Internal memory
– $0 - $0FFF
• Ram
– $1000 - $7FFF
• Flash
– $8000 - $FFFF
CPLD 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 Schematic
Stepper Motor
A3967 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 Schematic
Wireless 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 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 4pin header to connect to
any micro controller board
that requires serial I/O
Final 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 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 Parts
• The Others
– Base Platform
– Plastic Gear
– “Air powered launcher”
– Wireless Web Cam
– Wireless Router
– Solenoid
– *RF transmitter (HAC-UM)
– **Sensors
Hardware Implementation
44 pin
CPLD
Control signal
Wireless
Web-Cam
Wireless
transmission
Serial
RS-232
Motorola
68HC11K1
Micro-Processor
Driver for
trigger
Paintball gun
- trigger
Rom
DC Motor Drivers
Ram
Computer
1 Stepper
Motor
2 DC Servo Disc Motors
Devices Built, incorporated & tested
Currently in progress
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 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 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 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 Chart
Questions?