Team Ninja

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Team Ninja
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Introduction/Overview

• Implementation of Subsystems
• MCU board
• Chassis/Motor/Motor Driver
• Sensor
• Parts List
• Schedule
• Division of Labor

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MCU Board
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(No Transcript)
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MCU Board Block Diagram
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MCU Pinout
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MC68711K4 Microprocessor

• Features
• 8-bit opcodes and data
• 16-bit addressing
• 8 A/D Converters
• 4 PWM signal generators
• Non-multiplexed address and data lines

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Timing Diagram
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XC95108 CPLD

• Implementation
• Chip select device
• All other on board logic
• CPLD vs FPGA
• Simpler

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ECS-2200B Clock

• Clock for the microprocessor
• 8 MHz speed

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Reset Button

• Input that resets our microprocessor
• Inverters de-bounce signal

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AT29C256 EPROM

• Features
• Fast read access time 70ns
• Fast program time
• 64 byte program time 10 ms
• Chip erase time 10 ms
• Typical Endurance 10,000 cycles

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EPROM Timing Diagrams
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Samsung 428 SRAM

• Features
• Organization 32K x 8
• Low Data Retention Voltage

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Power System

• MC7805 Voltage Regulator
• Outputs Steady 5V
• Large Input Voltage Range (7.5V 18V)
• Power Busses
• Bypass Capacitors (0.1uF)

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Infrared Sensors

• Using Sharp GP2D120 IR sensors
• Max of 8 sensors (high cost)
• Above, below, and forward sensors
• Analog Output
• Consistent voltage curve vs distance
• Low power consumption
• 150 mW / sensor max

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IR Sensor limitations

• High Cost per unit (15)
• Unfeasible to be covered on all sides
• Need to ensure unit always looks forward before
  driving
• Up to 8 sensors on front side
• Positioned to see
• Directly forward
• 45 deg angle upward of directly forward
• 45 deg angle below directly forward

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Infrared Sensors
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Infrared SensorsOutput Characteristic
0-15 cm to right 0-50cm below
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A/D Conversion

• HC711K4 provides 8 multiplexed inputs to an A/D
  converter
• Continuously sample inputs
• IR sensor directly connected to multiplexed MCU
  input

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A/D Conversion

• Provides 8 bits of resolution
• Output of A/D converter is 00-FF stored in
  register
• VRH controls maximum voltage seen
• Will use VRH 3.0 V
• Sampled Voltage VRH
• Data stored FF
• VRL controls minimum voltage seen
• Will use VRL 0.8 V
• Sampled Voltage
• Data stored 00
• Linearly scaled in between 00 - FF
• 8.5 mV resolution using above VRH and VRL

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A/D Reconstruction

• Convert Voltage-Distance table to 00-FF format
  for easy lookup
• 00 15 cm01 15 cmFE 3cmFF 3cm
• Constraint Need to know how close to wall start
  position is
• Fix always start more than 5cm away from wall

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A/D Reconstruction7-Segment LED

• 7-segment LED displays current position
• 1 display per sensor
• Hex display
• 3-9 cm displayed as 3-9
• 10-15 cm displayed as A F
• Assistance in debugging movement
• Why did it turn when it wasnt even near a wall?

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A/D Reconstruction7-Segment LED Implementation

• Encode distance measurement into signal
  displayable by 7-segment LED
• Write result to 2000-2FFF
• Reserved for LED latches by CS CPLD
• Latch this data using 8-bit latch
• Connect to display with pull-up resistors
• 3-F displayed on 7-segment LED

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Battery PowerConstraints

• MCU board requirements
• 8V - 30V
• Voltage regulator limits to 5V, 1A
• Max of 1000mAh
• Motor requirements
• 2000mAh / motor
• Step-up voltage to 10V
• Monitor battery charge to prevent going below 10
  charge

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Battery PowerSolution Tether

• 5000mAh batteries expensive, heavy, and/or
  difficult to recharge
• Tethered approach 1 or 2 cables attached to
  exterior power supply
• Too complicated to complete on time
• Focus of project intelligent movement of device

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ProgrammingOverview
Always
No objects detected
Move Forward
IR Check
Object detected
Check for obstacle
Turn, Change Direction
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ProgrammingMoving Forward
No Object Detected
Set internal Latch
Move Forward
Always
Moving N/S
Turn On PWM
Both Motor Driver
Count Steps N/S
Moving E/W
PWM 200Hz
Step the Motor
Count Steps E/W
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Programming IR Check
Always
IR sensors A/D conversion Result register
Initialize A/D
Compare to Voltage- Distance table
Distance Estimation Calculation
7-seg LED latch
Threshold i.e. 4 cm
7-seg LED
Objected Detected?
Object Detected
No Object Detected
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ProgrammingTurning(Always Turn Left)
Object detected (straight ahead)
Set R wheel latch
R wheel forward
R Wheel Motor Driver
Check for obstacle
PWM 200 Hz
Done Turning
L Wheel Motor Driver
Clear L wheel latch
L wheel backward
Rotate Direction 45deg
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STP-MTR-17048 Bipolar Motor

• Stepper Motor
• 1.8 degrees/step
• Lightweight
• 6.0 lbs Maximum Load
• 2.0A Rated Current
• 0.59Nm Maximum Holding Torque
• Motor/Driver Works Best Above 200Hz
• Motor Needs at Least 16W of Power

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Bipolar Stepper Motor Driver

• One Driver for Each Stepper Motor
• Powered at 8-30V
• Direction
• Step
• Optoisolation
• Dual H-Bridge

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Chassis Assembly

• 1.65ft Diameter
• Round
• Plexiglas
• Swivel Wheels

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Vacuum

• 14.4 V
• 30 Watts
• 7.2V Rechargeable Battery

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Parts List

• STP-MTR-17048 Bipolar Motors (2)
• Quasar 3158 Bipolar Stepper Motor Driver (2)
• 3x13/16 Wheels (2)
• Swivel Wheels (2)
• Sensors (8)
• Plexiglas Chassis
• HC711K4 Microprocessor
• XC95108 CPLD

• ECS-2200B Clock
• AT29C256 ROM
• Samsung K6x0808C1D-DF70 RAM
• MC7805 Voltage Regulator
• 7-Segment LEDs (8)
• Vacuum (Black and Decker Cyclone)

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Schedule
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Status

• Connects Motor With U-Bolts
• Done With Chassis Assembly
• Done With Sensors
• MCU Board connected and running
• CPLD Programmed
• Processor Resetting Correctly
• ROM connected

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Plan of Attack

• Milestone 1
• MCU board completely done
• Sensor input to MCU
• MCU output to motor drivers
• Basic vehicle movement
• Milestone 2
• Intelligent movement based on sensor input
• Integration of vacuum
• User interface

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Division of Labor

• Kevin
• Microcontroller Programming
• MCU board
• Communication Between Devices
• Tim
• Peripheral Sensors
• MCU board
• Sensor Logic
• Simone
• Mobility Functions
• Chassis
• Mobility Logic
• Track Distance/Make Internal Map
• Vacuum Integration

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Conclusion

• Implementation of Subsystems
• MCU board
• Chassis/Motor/Motor Driver
• Sensor
• Parts List
• Schedule
• Division of Labor

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Questions?

• Simone.Shen_at_gmail.com
• Timothy.Palagi_at_gmail.com
• Kevin.Riegner_at_gmail.com