Amr Aldaiel Andrew Kravitz - PowerPoint PPT Presentation
1 / 34
Title:
Amr Aldaiel Andrew Kravitz
Description:
Linksys WVC54GC. Capture Resolution. 320 x 240. Interface ... Linksys WVC54GC. PIC18F8722 microcontroller. HPC-Explorer board. Xilinx XCS10. XC18V256 EPROM ... – PowerPoint PPT presentation
Number of Views:363
Avg rating:3.0/5.0
Title: Amr Aldaiel Andrew Kravitz
1
- Amr Aldaiel - Andrew Kravitz
- Katie Noble - Zack Taylor - Alan Yim
2
Objectives
- Wireless real-time video with illumination
capabilities - Remote manual operation via computer-based user
interface - Temperature sensor
- Control via keypad and LCD display
Preliminary Goals
- Wireless network control
- Automatic patrol mode
- Smoke detector, CO detector
Auxiliary Goals
3
Block Diagram
4
Status
- Basic chassis assembly complete
- Preliminary power system schematics complete
- Basic user interface implemented
- PWM output from PIC
- Preliminary FPGA and peripherals schematics
5
Rover Chassis
- Made of 1/8 5052 Aluminum Alloy
- High strength-to-weight ratio
- Excellent corrosion resistance
- Good forming characteristics
6
Motor Selection
- ReliaPro DC Reversible Gearhead Motor
- Operating Range 4.5V-12V
- Speed at 12V 35 RPM
- 1001 Gear Ratio
- 2370 g-cm torque
7
Power Source
- Werker Non-spillable Battery
- 12V
- 7.5 Amp Hours
8
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
9
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
10
PMU (Power Management Unit)
11
Step-Up/Step-Down DC-to-DC Converter
12
(No Transcript)
13
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
14
Camera
- Linksys WVC54GC
- Capture Resolution
- 320 x 240
- Interface Type
- IEEE 802.11b/g
- Ethernet 10Base- T/100Base-TX
- Approximately ½ second delay at 20 FPS
15
User Interface - Concept
- Programmed using Visual Basic
- Will run independently on a PC
- Send and receive information and commands through
RS-232
16
User Interface Demo
17
Interface Protocol
18
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
19
Function pwminit()
- void pwminit(void)
- PR20x18 // Sets the Period Register for Timer
2 (100 KHz) - TRISC0 // Sets Port C to Output
- TRISG0 // Sets Port G to Output
- TMR21 // Timer 2 Prescaler set to 1 for
100KHz operation - T2CON0b00000100 // Timer 2 Control Reg,Turns
Timer 2 On - CCP1CON0b00101101 // Initialize CCP1 (Turn on
PWM 2) - CCP2CON0b00101101 // Initialize CCP2
- CCP3CON0b00101101 // Initialize CCP3
- CCPR1L26/4 //Sets CCP 1 to 26 Duty Cycle
- CCPR2L50/4 //Sets CCP 2 to 50 Duty Cycle
- CCPR3L74/4 //Sets CCP 3 to 74 Duty Cycle
- // ALL CCP duty cycles can be controlled to
duty 4CCPRxL2 - // Allows for 25 Speeds for the motors (12
Forward, 12 Back) - // Servo can be controlled to 25 positions
20
PIC 18F8722 Schematic
21
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 LEDs through Port D, for data checking
- Easily Add on additional components
22
HPC Explorer Board Schematic
23
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
24
LCD
- Will display
- temperature
- direction
- eyeBOT status
- 20x4 character display
- Considering
- HD44780 parallel interface
- HD44780U driver
25
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
26
FPGA etc Schematic
27
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
28
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
29
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
30
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
31
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
32
Expo Deliverables
- As many add-ons as possible
- Automatic patrol mode
- Wireless network control
- Additional peripherals
- Smoke detector
- CO detector
33
(No Transcript)
34
Questions?
