Amr Aldaiel Andrew Kravitz

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• Amr Aldaiel - Andrew Kravitz
• Katie Noble - Zack Taylor - Alan Yim

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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
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Block Diagram
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Status

• Basic chassis assembly complete
• Preliminary power system schematics complete
• Basic user interface implemented
• PWM output from PIC
• Preliminary FPGA and peripherals schematics

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Rover Chassis

• Made of 1/8 5052 Aluminum Alloy
• High strength-to-weight ratio
• Excellent corrosion resistance
• Good forming characteristics

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Motor Selection

• ReliaPro DC Reversible Gearhead Motor
• Operating Range 4.5V-12V
• Speed at 12V 35 RPM
• 1001 Gear Ratio
• 2370 g-cm torque

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Power Source

• Werker Non-spillable Battery
• 12V
• 7.5 Amp Hours

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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
  

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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

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PMU (Power Management Unit)
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Step-Up/Step-Down DC-to-DC Converter
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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

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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

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User Interface - Concept

• Programmed using Visual Basic
• Will run independently on a PC
• Send and receive information and commands through
  RS-232

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User Interface Demo
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Interface Protocol
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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

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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

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PIC 18F8722 Schematic
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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

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HPC Explorer Board Schematic
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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

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LCD

• Will display
• temperature
• direction
• eyeBOT status
• 20x4 character display
• Considering
• HD44780 parallel interface
• HD44780U driver

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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

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FPGA etc Schematic
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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
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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

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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

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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

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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

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Expo Deliverables

• As many add-ons as possible
• Automatic patrol mode
• Wireless network control
• Additional peripherals
• Smoke detector
• CO detector

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Questions?