Team Doki Doki: Paintball Gun IR Sensing and Tracking - PowerPoint PPT Presentation

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Team Doki Doki: Paintball Gun IR Sensing and Tracking

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Parallel control hard-wired to MC14021B controller chip ... Add-Ons for Expo. Get serial character LCD configured via RS-232 using MicroBlaze ... – PowerPoint PPT presentation

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Title: Team Doki Doki: Paintball Gun IR Sensing and Tracking


1
Team Doki DokiPaintball GunIR Sensing and
Tracking
  • Team Members
  • Matt Freeman
  • James Kirby
  • Juan Rivera

2
Presentation Outline
  • Project Overview
  • System Diagram
  • Input subsystem
  • Processing subsystem
  • Output subsystem
  • Schedule
  • Milestones
  • Division of Labor
  • Budget/Parts List

3
Project Overview
  • Design a paintball gun auto-detection and
    tracking system
  • Implement both manual control and automatic
    control based on IR sensing
  • Stepper motors control gun movement
  • Linear actuator pulls trigger
  • Spartan-3 provides system control

4
System Diagram
Stepper Motors
ADC /MUX
Spartan-3
IR Sensors
Data
Data
Gun
Actuator
Control
User Interface
LCD
IR Transmitter
5
System Input
Stepper Motors
ADC /MUX
Spartan-3
IR Sensors
Data
Data
Gun
Actuator
Control
User Interface
LCD
IR Transmitter
6
IR Sensing
  • IR ? emitted by humans is 10µm
  • Requires exotic and expensive detectors
  • Use matched IR detector/emitter pairs
  • Readily available, inexpensive

HgCdTe
7
IR Transmitters
  • Transportable independent target
  • House in self-contained multiple LED flasher
  • Has different modes of operation
  • Two IR LEDs for transmission and one visible LED
    for alignment and power confirmation

8
IR Sensors
  • Mount in an array on gun barrel
  • Both fine-tuning and coarse adjustment
  • Shield from light for best results
  • More precise final design

9
MUX
  • One ADC, 8 analog inputs
  • MC74HC4051 8 to 1 analog switch
  • Will require 8 cycles to refresh all IR readings

10
ADC
  • IR sensors are analog, board input is digital
  • AD7821 8 bit parallel analog to digital
    converter
  • VREF/- allows for fine-tuning of voltage of one
    LSB

11
IR/MUX/ADC Schematic
12
Manual Control Interface
  • Modified 8-bit NES controller
  • Controls switching between operation modes
  • Controls manual and calibration functioning

13
Manual Control Interface
  • Parallel control hard-wired to MC14021B
    controller chip
  • Input into board via 40-pin GPIO expansion port

14
System Processing
Stepper Motors
ADC /MUX
Spartan-3
IR Sensors
Data
Data
Gun
Actuator
Control
User Interface
LCD
IR Transmitter
15
Spartan-3 Breakdown
SPARTAN-3
IR Data
FPGA
NES Control
State Machine
40-pin GPIO
MUX/ADC
MicroBlaze
RS-232
Serial LCD
Motor Drivers
16
State Machine
  • Transfer out of all move states and fire state
    controlled via variable PrevState
  • Automatic mode ignores all inputs except Reset
    and NESSel

Reset1
NESRight1
Calibration
MoveUp
NESUp1
NESSel1
NESLeft1
NESUp1
MoveRight
Manual
NESRight1
MoveLeft
NESLeft1
NESB1
NESSel1
NESDown1
MoveDown
Fire
Automatic
NESDown1
17
State Machine Implementation
  • Big switch statement
  • Registers keep track of both next state and
    previous state
  • Digital lock prevents unwanted toggling
  • Separate modules for clock division and display

18
Initial Software Testing
  • First used Spartan-3 on-board I/O, then GPIO
  • Successful behavior of state machine observed
  • Simulated and actual NES inputs all had correct
    effects
  • L/R and U/D position each visible on two
    7-segment displays
  • Manual control working in software, yet to send
    pulses to motors

19
MicroBlaze
  • MicroBlaze is a soft processor core from Xilinx
    for use in FPGAs
  • Create an RS-232 interface for serial character
    LCD output
  • Encapsulate Verilog state machine
  • Cannot directly interface with GPIO ports

20
System Output
Stepper Motors
ADC /MUX
Spartan-3
IR Sensors
Data
Data
Gun
Actuator
Control
User Interface
LCD
IR Transmitter
21
Stepper Motors
  • Provide gun left/right and up/down movement
  • Chosen stepper motors have lots of torque
  • Allow the system to know the position of sensor

22
Motor Driver Circuit
  • Bipolar Stepper
  • Motor Driver
  • H-bridge design
  • Interface between
  • Spartan-3 and motors

23
Motor Driver Schematic
24
Actuator
  • Linear actuator physically pulls trigger
  • Chosen over servo motor for faster reaction
  • Can fire multiple times per second
  • Mount directly on gun behind trigger
  • Spring-loaded trigger pulls actuator back out
    automatically after firing

25
LCD
  • Character LCD chosen for ease of use
  • Serial RS-232 LCD to interface with MicroBlaze
  • Could display lots of different information
  • Initially Debugging info
  • Gun position
  • Shots remaining
  • IR signal strength
  • Not system-crucial

26
Paintball Gun
  • Mounted on a Lazy Susan for left/right rotation
  • Will fire safe ammunition for indoor testing

27
Updated Project Schedule
28
Milestone 1
  • Date October 27th
  • Goal Manual operation fully functional
  • NES Controller properly interfaced
  • Proper state machine operation
  • Working motor driver circuits (wire wrap)
  • Motors control gun movement

29
Milestone 2
  • Date November 17th
  • Goal Automatic operation functional
  • IR detector array finalized
  • Control logic (MUX, ADC) configured
  • Automatic state on FPGA taking data from IR
    sensors and sending out appropriate signals to
    motor drivers

30
Add-Ons for Expo
  • Get serial character LCD configured via RS-232
    using MicroBlaze
  • Complete acrylic housing
  • Ability to see all guts of system
  • Mount CMOS video camera on gun barrel

31
Division of Labor
  • Matt Circuit Design and System Integration
  • James Data Processing and Software Design
  • Juan Structure and Circuit Design and
    Implementation

32
Project Budget/Parts List
33
Questions?
?
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