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Team Doki Doki: Paintball Gun IR Sensing and Tracking. Team Members: Matt Freeman James Kirby Juan Rivera. Presentation Outline. Project Overview System Diagram Input subsystem Processing subsystem Output subsystem Schedule Milestones Division of Labor Budget/Parts List.

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team doki doki paintball gun ir sensing and tracking

Team Doki Doki:Paintball GunIR Sensing and Tracking

Team Members:

Matt Freeman

James Kirby

Juan Rivera

Capstone CDR Fall 2005

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

Capstone CDR Fall 2005

project overview
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

Capstone CDR Fall 2005

system diagram
System Diagram

Stepper

Motors

ADC

/MUX

Spartan-3

IR Sensors

Data

Data

Gun

Actuator

Control

User Interface

LCD

IR

Transmitter

Capstone CDR Fall 2005

system input
System Input

Stepper

Motors

ADC

/MUX

Spartan-3

IR Sensors

Data

Data

Gun

Actuator

Control

User Interface

LCD

IR

Transmitter

Capstone CDR Fall 2005

ir sensing
IR λ emitted by humans is ~10μm

Requires exotic and expensive detectors

Use matched IR detector/emitter pairs

Readily available, inexpensive

IR Sensing

HgCdTe

Capstone CDR Fall 2005

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

IR Transmitters

Capstone CDR Fall 2005

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

IR Sensors

Capstone CDR Fall 2005

slide9
MUX
  • One ADC, 8 analog inputs
  • MC74HC4051: 8 to 1 analog switch
  • Will require 8 cycles to refresh all IR readings

Capstone CDR Fall 2005

slide10
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

Capstone CDR Fall 2005

ir mux adc schematic
IR/MUX/ADC Schematic

Capstone CDR Fall 2005

manual control interface
Manual Control Interface
  • Modified 8-bit NES controller
  • Controls switching between operation modes
  • Controls manual and calibration functioning

Capstone CDR Fall 2005

manual control interface13
Manual Control Interface
  • Parallel control hard-wired to MC14021B controller chip
  • Input into board via 40-pin GPIO expansion port

Capstone CDR Fall 2005

system processing
System Processing

Stepper

Motors

ADC

/MUX

Spartan-3

IR Sensors

Data

Data

Gun

Actuator

Control

User Interface

LCD

IR

Transmitter

Capstone CDR Fall 2005

spartan 3 breakdown
Spartan-3 Breakdown

SPARTAN-3

IR Data

FPGA

NES Control

State Machine

40-pin

GPIO

MUX/ADC

MicroBlaze

RS-232

Serial LCD

Motor Drivers

Capstone CDR Fall 2005

state machine
State Machine
  • Transfer out of all move states and fire state controlled via variable PrevState
  • Automatic mode ignores all inputs except Reset and NESSel

Reset=1

NESRight=1

Calibration

MoveUp

NESUp=1

NESSel=1

NESLeft=1

NESUp=1

MoveLeft

Manual

NESRight=1

MoveRight

NESLeft=1

NESB=1

NESSel=1

NESDown=1

MoveDown

Fire

Automatic

NESDown=1

Capstone CDR Fall 2005

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

State Machine Implementation

Capstone CDR Fall 2005

initial software testing
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

Capstone CDR Fall 2005

microblaze
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

Capstone CDR Fall 2005

system output
System Output

Stepper

Motors

ADC

/MUX

Spartan-3

IR Sensors

Data

Data

Gun

Actuator

Control

User Interface

LCD

IR

Transmitter

Capstone CDR Fall 2005

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

Stepper Motors

Capstone CDR Fall 2005

motor driver circuit
Bipolar Stepper

Motor Driver

“H-bridge” design

Interface between

Spartan-3 and motors

Motor Driver Circuit

Capstone CDR Fall 2005

motor driver schematic
Motor Driver Schematic

Capstone CDR Fall 2005

actuator
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

Capstone CDR Fall 2005

slide25
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

LCD

Capstone CDR Fall 2005

paintball gun
Paintball Gun
  • Mounted on a Lazy Susan for left/right rotation
  • Will fire “safe” ammunition for indoor testing

Capstone CDR Fall 2005

updated project schedule
Updated Project Schedule

Capstone CDR Fall 2005

milestone 1
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

Capstone CDR Fall 2005

milestone 2
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

Capstone CDR Fall 2005

add ons for expo
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

Capstone CDR Fall 2005

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

Capstone CDR Fall 2005

project budget parts list
Project Budget/Parts List

Capstone CDR Fall 2005

questions
Questions?

?

Capstone CDR Fall 2005

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