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Coordinate Based Tracking System

Coordinate Based Tracking System. Group: OX. Overview. Current Status of Project. CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running. Schematics. Microcontroller Power Circuit

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Coordinate Based Tracking System

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  1. Coordinate Based Tracking System Group: OX

  2. Overview

  3. Current Status of Project • CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running

  4. Schematics • Microcontroller Power Circuit • Reset Circuit • Microcontroller Circuit • Memory

  5. Microcontroller Power Circuit

  6. Reset Circuit

  7. Micrcontroller Circuit

  8. Memory

  9. RS232 Interfaces

  10. Test Program for HC11

  11. Software Flow • Sources interrupting Microcontroller • On board serial port • Off board UART • Nintendo Controller The on board serial port will be interrupted by our monitor program, and will be used to execute programs The Nintendo Controller will be used for controlling the software flow.

  12. Software Flow Cont.

  13. External Instructions • These external instructions will be received and sent using an off-board UART using RS-232.

  14. User Movement

  15. Preloaded Sequences • Sequences making the motors direct in various shapes such as squares, triangles, ellipses will be generated from the processor and sent to the motor controllers.

  16. Polling the Motor Controllers • The motor control IC’s will have to be polled to determine if the motor has reached desired location • This will best be implemented by sending the motor X and Y coordinates and waiting for idle state. • This will take the major bandwidth of the system.

  17. Xilinx XCS10

  18. FPGA Progress • Memory Map Logic • NES Controller Logic

  19. Memory Map • 32 Kbytes EPROM • 32 Kbytes RAM • 10 bytes Peripherals • LCD • Motor[X] • Motor[Y] • NES Controller • UART • ISR Pointer

  20. Memory Map Logic

  21. Interrupt Service Routine (ISR) Pointer Problem: • Several Devices need external interrupt • Only one non-maskable external pin in HC11 Solution: • Implement ISR Pointer in FPGA • Pointer Register in Memory map • Read pointer as it was memory from the FPGA

  22. Peripheral Timing • NES needs special signals to provide push button mechanism • Enable (E) on LCD needs to pulse after LCD address has been put on the Bus.

  23. NES Controller • Needs special signals provided by FPGA logic • Will be memory mapped to address 0005H • Can be read as normal memory

  24. NES Controller Timing Diagram

  25. NES Controller Logic Logic to Create Pulse and Latch Signals

  26. NES Controller Logic Cont. Logic to read in data from NES Controller

  27. Overall Logic

  28. The HCTL1000 • Why are we using it? • Made for the job • Varying control options • Closed Feedback loop • Easily Programmed

  29. Schematic for HCTL1000

  30. HCTL Block Diagram

  31. Using the HCTL • Setup Registers • Commutator (5 reg) • Control Mode (1 reg) • Send Commutator positions (1 reg) • Feedback makes sure its in position

  32. The Commutator • Four phase output • Reduced to two phase output • Programmable for Half step • Run phases with different offset • Steps with PWM • Pulse time and width programmable for varying mode operation

  33. The Schematic (again)

  34. Feedback and the Filter • Digital feedback for filter control • Accepts distance change, filters PWM • 3 Registers for filter parameters • Gain, Pole, and Zero • Used in position control mode

  35. HEDM5605 #J06 • The Feedback for the HCTL1000 • 1024 Counts per rotation • Much higher than required specifications • Dual phase output • Set register on HCTL to read properly

  36. Allegro: 3964 Dual Full-Bridge PWM Motor Driver

  37. How an H-Bridge works: Forward mode, switches A and D closed. Reverse mode, switches B and C closed. * H-Bridge is the mechanical equivalent of a DPDT Switch.

  38. Functional Block Diagram

  39. Motor Control with 3964

  40. A Mount for Stepper Motors

  41. Added Components

  42. Our Mount for Stepper Motors

  43. Objective Timeline • CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running • Milestone 1:  Obtain Motor Board Assemble Motor board Finish and test microcontroller hardware Implement Game Pad interface

  44. Objective Timeline (Cont) • Milestone 2: Monitor program running Implement interface with motors Real Time Embedded system PC104+ module • Expo: Run Demo modes for the laser Receive XY and control laser Calibrate stepper motors for tracking

  45. Timeline

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