Earl Grey and The Boston Tea Party

1
Earl Grey and The Boston Tea Party

• Present
• The Entourage

2
Team Members

• Casey Gold
• Ellen Prommersberger
• Nathan Winder
• Steven Anderson
• Tom Monikowski

Ellen
3
Purpose

• Ease tedium of stop-and-go traffic
• Improve safety of rush hour driving

Ellen
4
Objectives

• Use sensors to determine position of car relative
  to other vehicles
• Control acceleration and breaking based on
  distance away from leading vehicle
• Control steering to follow lead car
• Demonstrate concept on RC vehicle

Ellen
5
Concept
Ellen
6
Turning the Car
Ellen
7
System Overview
Casey
8
System Architecture
Casey
9
M68HC11E Microcontroller

• Availability
• Features
• Built in RAM and ROM
• Serial communications interface (SCI)
• Synchronous serial peripheral interface (SPI)
• 8-channel, 8-bit analog-to-digital (A/D)
  converter
• Plenty of I/O

Casey
10
Sensors

• Ultrasonic
• Range 1 10 50
• Accuracy 99.5
• Beam width 5

Tom
11
RC Car Interface

• Steering
• Incremental adjustment system
• D/A circuitry
• Speed Control
• Maintain following distance relative to speed
• Constantly monitor speed of vehicle
• Manual Override
• Disengages with driver input
• ENGAGE/DISENGAGE button

Tom
12
User Warning Output

• Status light on electronics box
• Green LED
• Status light on RC car
• Blue LED
• Warning light on RC car
• Yellow LED
• Audio warning on RC car
• Audio circuit
• Amplifier

Tom
13
Software

• Accept values from sensors
• Interpret as distances or hits/misses
• Conditionally determine the course of action
• Speed and turning
• Handle user warnings

Tom
14
Power System

• Battery power
• Sensors
• System
• RC car
• Choppers
• Step up/Step down
• Ensure proper voltages and currents

Steve
15
Schedule
Steve
16
Division of Labor

• Casey FPGA/Processor Setup, Programming
• Ellen Controls, Sensors, Quality Control
• Nathan Controls, Sensors, Construction
• Steven Power, Construction, Circuit Design
• Tom Math, Power, Programming

Steve
17
Risks and Contingency Plan

• RISKS
• Sensors
• May not work as anticipated
• Steering
• RC car operation
• Reaction speed
• Signal processing
• Software/Hardware interaction

• CONTINGENCY PLAN
• Sensors
• Add focusing beam deflector
• Steering
• Manual override of steering in difficult
  situations
• RC car operation
• Modify car
• Reaction speed
• Use fewer sensors
• More efficient code

Nathan
18
Materials

• RC Escalades (2)
• CPU
• FPGA
• Ultrasonic Sensors (7)
• RAM
• Flash ROM
• Prototyping materials
• Battery

Nathan
19
Possible Additions

• Extra sensors
• Programming for highway driving (higher speeds)
• More accurate sensing for nonstandard vehicles

• NOS
• Wet or dry shot?
• Five 10 LCD screens
• Streetglow
• Blue
• Blinking?

Nathan