Amr Aldaiel - Andrew Kravitz
Katie Noble - Zack Taylor - Alan Yim
Objectives
Preliminary
Goals
Auxiliary
Goals
• Wireless real-time video with
illumination capabilities
• Remote manual operation via computerbased user interface
• Temperature sensor
• Control via keypad and LCD display
 Wireless network control
 Automatic patrol mode
 Smoke detector, CO detector
Block Diagram
Status
• Basic chassis assembly complete
• Preliminary power system schematics
complete
• Basic user interface implemented
• PWM output from PIC
• Preliminary FPGA and peripherals
schematics
Rover Chassis
• Made of 1/8” 5052 Aluminum Alloy
– High strength-to-weight ratio
– Excellent corrosion resistance
– Good forming characteristics
Motor Selection
• ReliaPro DC Reversible Gearhead Motor
– Operating Range: 4.5V-12V
– Speed at 12V: 35 RPM
– 100:1 Gear Ratio
– 2370 g-cm torque
Power Source
• Werker Non-spillable Battery
– 12V
– 7.5 Amp Hours
Power Distribution System
Tasks:
• Design and build a Power Management
Unit (PMU)
• Build switching power converters as
needed for different parts of the eyeBot
• Ensure power is adequately distributed
and efficiently managed
PMU Components
•
•
•
•
1st Stage Step-Down Conversion
2nd Stage Voltage Regulation (5V and 3.3V)
Optocoupling of Incoming PWM Signals
H-bridge Inverters for Motor Driving
PMU (Power Management Unit)
VCC
VCC
Step-Up/Step-Down DC-to-DC Converter
C2
10nF
Front
MOTOR
C1
10nF
V1
12 V
LMD18200
C3
470uF-POL
PWM2
U1
An1 Vcc
Ca1 Vo1
Ca2 Vo2
An2 GND
An1 Vcc
Ca1 Vo1
Ca2 Vo2
An2 GND
HCPL2530
HCPL2530
C4
10nF
U3
C5
10nF
M
U1
GND
Rear
MOTOR
GND
C4
10nF
LMD18200
C6
470uF-POL
U3
BS1
OT1 BS2
Dir OT2
Brk TF
PWM CS
Vs GND
BS1
OT1 BS2
Dir OT2
Brk TF
PWM CS
Vs GND
V2
12 V
Front
MOTOR
LMD18200
C3
470uF-POL
PWM1
C2
10nF
BS1
OT1 BS2
Dir OT2
Brk TF
PWM CS
Vs GND
BS1
OT1 BS2
Dir OT2
Brk TF
PWM CS
Vs GND
V1
12 V
U2
V2
12 V
LMD18200
C6
470uF-POL
C5
10nF
M
U2
M
C1
10nF
M
5V
5V
Rear
MOTOR
Vcc
U1
LM7805CT
LINE
VOLTAGE
Vcco
VREG
COMMON
0.22uF-POL
C10
U3
Vg
Vo
GND
IRU1015-33
C11
R6
R2
5.1k
7V
75k
R1
C1
R8
100k
Battery
1.0k
U4
C8
Pg Bst1
SS
Tg1
Sns+ Sw1
Sns- Vin
Ith ExtV
Vos IntV
Sgnd Bg1
Run Pgnd
FCB Bg2
PLf Sw2
PLin Tg2
Stby Bst2
12 V
100nF
R5
1.0
C7
2.2nF
LTC3780
R3
10k
C9
1.0uF
C3
100uF-POL
Q1
C5
22uF-POL
R7
75k
D2
1N4730A
2SK3233
100nF
L1
2.0uH
Q3
D1
Q4
1N4730A
Q2
2SK3233
2SK3233
2SK3233
D3
1N4730A
R4
20k
C2
1.0uF
D4
1N4730A
C6
100nF
C4
4.7uF-POL
100uF-POL
C12
100uF-POL
Lighting
• High intensity LEDs for area
illumination, mounted on camera
• OPTEK Inc. OVLEW1CB9 (White)
• PIC will control a switch to turn LEDs on
and off
Camera
• Linksys WVC54GC
– Capture Resolution
• 320 x 240
– Interface Type
• IEEE 802.11b/g
• Ethernet 10BaseT/100Base-TX
• Approximately ½
second delay at 20
FPS
User Interface - Concept
• Programmed using Visual Basic
• Will run independently on a PC
• Send and receive information and
commands through RS-232
User Interface – Demo
Interface Protocol
FPGA & Computer to PIC
Bits 7:5
Bits 4:0
Purpose
PIC to FPGA & Computer
Bits 7:5
Bits 4:0
Purpose
000
No OP
000
No OP
001
Left Driver Motor
001
n/a
010
Right Driver Motor
010
n/a
00000
Full Speed Backward
011
n/a
00001 - 01011
Variable Speed Backward
100
Thermometer Low
01100
Stop
01101 - 11000
Variable Speed Forward
11001
Full Speed Forward
011
Camera Servo
00000 - 01111
101
Low order bits of temperature
Thermometer High
00000 - 01111
High order bits of temperature
Temperatures will be attained by concatenating Therm Low
Full Tilt Up
and High and performing a 2's compliment operation to
Variable Tilt Up
obtain the temperature.
Horizontal
110
Variable Tilt Down
???
Full Tilt Down
100
n/a
101
n/a
110
n/a
111
Other Peripherals
00000
Turn LEDs Off
00001
Turn LEDs On
Motor Feedback
Haven't decided yet. Motor
feedback will be an addition
111
n/a
Microcontroller
• PIC18F8722 Microcontroller (80 Pin)
– ECCP1/2 – Left/Right Motor PWM
– ECCP3 – Camera Servo Control
– Programmed Using MPLAB IDE & Microchip ICD2
• Allows stepping/breakpoints for code running on 18F8722
– Communications
• RS-232 through MAX3232CDR RS-232 Driver
– Serial Communication
• FPGA through 10 Bit Parallel Bus
• General I/O Pins for Thermometer, and LED Array Control
– Operation at 10 MHz
Function: pwminit()
void pwminit(void)
{
PR2=0x18; // Sets the Period Register for Timer 2 (100 KHz)
TRISC=0;
// Sets Port C to Output
TRISG=0;
// Sets Port G to Output
TMR2=1;
// Timer 2 Prescaler set to 1 for 100KHz operation
T2CON=0b00000100; // Timer 2 Control Reg,Turns Timer 2 On
CCP1CON=0b00101101;
// Initialize CCP1 (Turn on PWM +2%)
CCP2CON=0b00101101;
// Initialize CCP2
CCP3CON=0b00101101;
// Initialize CCP3
CCPR1L=26/4;
//Sets CCP 1 to 26% Duty Cycle
CCPR2L=50/4;
//Sets CCP 2 to 50% Duty Cycle
CCPR3L=74/4;
//Sets CCP 3 to 74% Duty Cycle
// ALL CCP duty cycles can be controlled to duty%= 4*CCPRxL+2%
// Allows for 25 Speeds for the motors (12 Forward, 12 Back)
// Servo can be controlled to 25 positions
}
PIC 18F8722 Schematic
HPC-Explorer Board
• Cheap Effective PCB
– Built in wire-wrap/solder points for all general I/O
Pins
• Can Easily Build Ribbon Cable Interface for FPGA Bus
– Built In Voltage Regulator for VDD and Ground of
18F8722 through 9-15V input
– ICD 2 Jumper and RS-232 Com port on board.
– Built in Temperature Sensor
– 8 LED’s through Port D, for data checking
– Easily Add on additional components
HPC Explorer Board Schematic
FPGA Overview
• Xilinx XCS10 with XC18V256 EPROM
• Interfaces between PIC, Keypad, LCD
display, and any future peripherals
• Handles chip selection based on three
address bits
• Communicates with PIC
through 10 bit parallel bus
LCD
• Will display:
– temperature
– direction
– eyeBOT status
• 20x4 character display
• Considering:
– HD44780 parallel interface
– HD44780U driver
4x4 Keypad
• Used for on-board eyeBOT control
• Row/Column matrix will be encoded
into 4 data bits by MM74C922
• MM74C922 also offers an interrupt
signal and a keypad available signal
FPGA etc Schematic
Feedback System
• Optical encoders mounted on eyeBOT
wheels
• Quadrature decoders (HCTL2016) will
send data through PIC and straight
back to User Interface
• Two possible encoder setups
– Panel Mount
– Code Wheel
HEDS 5700 series
HEDB-9000 series
Parts List
•
•
•
•
•
•
•
•
•
ReliaPro DC reversible gear-head motor
Werker 12V 7.5 amp-hour battery
Linksys WVC54GC
PIC18F8722 microcontroller
HPC-Explorer board
Xilinx XCS10
XC18V256 EPROM
20x4 character display
MM74C922 encoder
Division of Tasks
• Amr
– Power distribution system
• Andrew
– Microcontroller
• Katie
– FPGA, LCD/Keypad, motor feedback, peripherals
• Zack
– User interface, communication link
• Alan
– Rover assembly & mechanics, motors, FPGA, LCD/Keypad
Milestone 1 Deliverables
• Preliminary Verilog code
• Serial communication between GUI and
PIC
• Power distribution system complete for
main components
• Chassis complete with mounted camera
and multiple levels Plexiglas
• Streaming video in GUI
Milestone 2 Deliverables
• All Primary Goals Accomplished
– Wireless real-time video with illumination
capabilities via computer-based user
interface, keypad, and LCD display
– Temperature sensor
– Completely battery powered
Expo Deliverables
• As many add-ons as possible
– Automatic patrol mode
– Wireless network control
– Additional peripherals
• Smoke detector
• CO detector
Questions?