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G6001

Receive GPS and store in HC12 RAM. Write algorithm. Deliverables ... Determined GPS accuracy. Servo and motor running off HC12. GPS communicated with HC12 ...

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G6001

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Presentation Transcript

    Slide 1:GPS Car

    Final Presentation Kevin Carlson David McLaurin Josiah Ostertag

    Slide 2:Tasks

    Fix chopper circuit Receive GPS and store in HC12 RAM Write algorithm

    Slide 3:Deliverables

    Algorithm Final Gantt Chart Final Budget Finished car (except chopper circuit)

    Slide 4:Problems Encountered

    Servo Power sources HC12 CHOPPER CIRCUIT!!!

    Slide 5:Wall of Lost MOSFETs

    Slide 6:Two Cars Collide

    Our Dead Car Group 3’s Living Car

    Slide 7:Moving The Servo

    Left = 2.56% CorrectLeft2 = 4.0% CorrectLeft1 = 5.5% Center = 7.04% CorrectRight1 = 8.5% CorrectRight2 = 10.0% Right = 11.52%

    Slide 8:Final Algorithm

    Initialize PWM ports Get data for first leg Yes Center servo and start motor Stop Get GPS point No Steering Correction Go Straight Check Boundaries Delay At way line? Turn Left Leg Counter=0? Delay No Yes Run subroutine For current leg Decrement Turn Counter

    Slide 9:Boundaries and Steering

    Compare point to InnerBound1 If outside run CorrectRight1 Compare point to InnerBound2 If outside run CorrectRight2 Compare point to OuterBound1 If outside run CorrectLeft1 Compare point to OuterBound2 If outside run CorrectLeft2 Delay Center servo

    Slide 10:Possible Code Modifications

    Amount of correction Change motor speed Better point averaging

    Slide 11:GPS

    Latitude, 1 min = 1 nmile = 6076 ft .0001 minutes = .6 ft Longitude, 1 min = .8366 nmiles = 5083 ft .0001 minutes = .5 ft 33.2112 degrees N .8366 nmiles

    1.5 Hour Scatter over Single Point

    Slide 13:10 Minute Scatter over Single Point

    Slide 14:Decimal Minute Breakdown

    Max Average Min Std. Deviation, feet Ninety Minutes North .2150 .1510 .0981 .0082 = 49.2 ft West .2184 .1990 .1536 .0070 = 35.0 ft Ten Minutes North .1577 .1489 .1303 .0040 = 24 ft West .2133 .2033 .1998 .0023 = 11.5 ft

    Slide 15:Tunnels

    Corner 1 Corner 4 Corner 3 Corner 2 Center Line Center Line .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003 .0003

    Slide 16:POWER Budget

    Slide 17:Gantt Chart part 1

    Slide 18:Gantt Chart part 2

    Budget

    Slide 20:Overall Accomplishments

    Determined GPS accuracy Servo and motor running off HC12 GPS communicated with HC12 Hardware experience Algorithm experience

    Slide 21:References

    Dr. Bredeson Dr. Giesselmann Moodle (Example Presentations) www.garmin.com/products/gps35 (Garmin 35 Webpage) http://www.trimble.com/gps/what.html http://openmap.bbn.com/mailArchives/openmap-users/2001-11/0404.html

    Slide 22:Questions ?

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