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Knightro Kart. Liz Lyons Mike Scherban Oscar Orihuela. What Is Knightro Kart?. An interactive, Android controlled vehicle race system consisting of two independent cars and controllers. Vehicles are controlled by Android powered mobile devices or tablets

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Knightro kart

Knightro Kart

Liz Lyons

Mike Scherban

Oscar Orihuela


What is knightro kart
What Is Knightro Kart?

An interactive, Android controlled vehicle race system consisting of two independent cars and controllers.

  • Vehicles are controlled by Android powered mobile devices or tablets

  • Consists of two independent vehicles, a track utilizing infrared, and two independent remote controls




Remote control
Remote Control

Mobile device will be used in landscape mode. It will utilize hardware level sensor data, and interpret them to tell the MSP430 how to direct the vehicle.


Why android
Why Android?

  • Essentially Free – No new hardware costs, free SDK, familiar languages

  • Open source platform, easy to learn


Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market


Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market


Remote control requirements
Remote Control Requirements approximately 88.2% of Android market

Android Device Must:

  • Have Bluetooth Capability

  • Contain Accelerometer Sensors

  • Have Touch Screen

  • Run Android 2.3.3 Gingerbread or newer OS


Handling accelerometers
Handling Accelerometers approximately 88.2% of Android market

Accelerometers are seen by the devices relative to an imagined coordinate system.

  • We will be using the Y (left/right) and Z (forward/back) axis values to control the cars.


Handling accelerometers1
Handling Accelerometers approximately 88.2% of Android market

Must apply low-pass filter to isolate gravity, and then a high-pass filter to remove gravity from the readings. Also helps to smooth out values.


Wireless communication choices
Wireless Communication Choices approximately 88.2% of Android market


Connecting
Connecting approximately 88.2% of Android market

Android devices will be able to connect to one and only one car.

  • Will use received values from the MSP430 to enhance UI with more info such as vehicle speed and current lap.


Bluetooth
Bluetooth approximately 88.2% of Android market

Remote control application sends information to the MSP 430 via Bluetooth.

  • Sends one byte at a time, byte value depends on accelerometer values


Bluetooth module
Bluetooth Module approximately 88.2% of Android market

  • Roving Networks RN-41

    • Minimal configuration

      • Baud rate

    • Built in antenna

    • Automatically pushes data via UART RX/TX pins

    • Runs own Bluetooth stack

    • Low power

    • 30 mA connected

    • 3.3V

    • 100m range


Microcontroller
Microcontroller approximately 88.2% of Android market

2.75”

2.75”


Microcontroller1
Microcontroller approximately 88.2% of Android market

  • Same voltage as Bluetooth module

  • More feature rich IDE

  • No special bootloaders required


Microcontroller2
Microcontroller approximately 88.2% of Android market


Programming and debugging
Programming and Debugging approximately 88.2% of Android market

  • JTAG used to take advantage of viewable registers and memory locations, and disassembly

  • Connect through TI USB FET device


Motor signals
Motor Signals approximately 88.2% of Android market

  • Takes advantage of MSP430 hardware PWM support

  • PWM used to add variable speed

Slow

Fast!


Microcontroller comm
Microcontroller Comm. approximately 88.2% of Android market

  • 9600 Baudrate

  • RX/TX between BT and MSP430 crossed

  • Interrupts will be used for phone  MSP430 and infrared signal


Low power mode
Low Power Mode approximately 88.2% of Android market

  • Bluetooth Module separate from MSP430

    • Allows BT pairing while MSP430 is asleep

  • MSP430 goes to sleep at power on and when not in race mode

    • Turns off clocks

  • Button on the car or command from phone will wake the car for use


Msp430 software flowchart
MSP430 Software Flowchart approximately 88.2% of Android market


Printed circuit board
Printed Circuit Board approximately 88.2% of Android market

  • Most components will be on a custom printed circuit board designed in Eagle


Printed circuit board1
Printed Circuit Board approximately 88.2% of Android market

BT Module and status LEDs

LEDs

JTAG

Power

MSP430


Track
Track approximately 88.2% of Android market

  • Race car will contain an IR phototransistor

    • Biased by IR light

  • At the START line for the Race Track, there will be a line of IR LEDs that will set off IR phototransistor

  • By setting off the IR phototransistor on the car, it will allow user to know how many laps the car has travelled during the race


Race car
Race Car approximately 88.2% of Android market

  • 9v power supplyrequired

  • Potential to travel20 mph

  • 2 D.C motors

  • 1st Motor controlling FWD & REV motion

  • 2nd Motor controlling turning Left & Right

  • 17 inches Long

  • 7 inches Wide

  • 8 Inches Tall


H bridge
H-Bridge approximately 88.2% of Android market

  • Serves as mediator between MSP430 & Race car motors

  • MSP430 will receive commands from Mobile Application and send high / low signals to the H-bridge connected to the motors causing the motors to spin in a certain direction

  • EX: Clockwise / Counter-clockwise / Stand Still


H bridge typical
H-Bridge - Typical approximately 88.2% of Android market

  • Typical H-Bridge configuration

  • Inner Circle = Motor

  • Switches represent Transistors

  • Motor is at a stand still


H bridge clockwise
H-Bridge - Clockwise approximately 88.2% of Android market

  • Due to the directional flowof the circuit, the H-bridgeis causing the D.C Motor connected to it to spinclockwise


H bridge counter clockwise
H-Bridge – counter clockwise approximately 88.2% of Android market

  • Due to the directional flowof the circuit, the H-bridgeis causing the D.C Motor connected to it to spincounter-clockwise


Sn754410
SN754410 approximately 88.2% of Android market

  • H-Bridge Designed to drive inductive loads such as DC Motors

  • Chosen for its capability to manageboth D.C Motors in a single chip

  • Manufacturer: Texas Instruments

  • Cost: $2.16

  • 1 Chip per car needed

  • .

  • .


Sn754410 layout
SN754410 Layout approximately 88.2% of Android market


D c motor vs servo motor
D.C Motor VS Servo Motor approximately 88.2% of Android market

  • Race car will require 2 motors

  • 1st Motor controls – FWD & REV motion – D.C Motor

  • 2nd Motor Controls – turning capabilities

  • For the purpose of Knightro Kart, D.C motors will be sufficient as well as better for our wallets & Handbag


Power supply
Power Supply approximately 88.2% of Android market


Desirables
Desirables approximately 88.2% of Android market

  • Speedometer

  • Phone to Phone Communication

    • Race Standing Notifications


Speedometer optional
Speedometer (optional) approximately 88.2% of Android market


Magnetic reed switch
Magnetic Reed Switch approximately 88.2% of Android market

  • Switch opens at close proximityof a magnet

  • Sends PWM signal back to MSP430

  • Switch will be attached to axelof Race car

  • Low power magnet will be attached to rim or inner wheel of the race car


Budget and financing to date
Budget and Financing to Date approximately 88.2% of Android market

Total Cost To Date:

$364.60


Current progress
Current Progress approximately 88.2% of Android market


Plans for completion
Plans For Completion approximately 88.2% of Android market

  • Complete Soldering

  • Complete Code

  • Assemble Vehicles

  • Test

  • Construct IR Start Line


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