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Knight Brawlers

Knight Brawlers

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Knight Brawlers

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  1. Knight Brawlers Group 1 Allen DavillaCarlos Davilla Will Allen Josh Thames

  2. Motivation • Create a fun gaming system that all group members would enjoy building • Include streaming video into the project • Build something that would provide a first person experience from the vehicles • Create something where all members of the group can keep a functional piece of the project

  3. Goals • 4 RC cars controlled by 4 users by their mobile device’s accelerometer • On board cameras mounted to the cars that would provide a live first person view from the RC cars • A competition mode that would provide a competitive game where the cars would fight each other • An app that would create a friendly user interface

  4. Specifications

  5. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Motor Start Game! RGB LEDs indicating “Health” Bumpers Control Car End Game and Report Scores

  6. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  7. Hit Locations USER • Sensors on the rear, right, and left sides • Triggered by collisions

  8. Sensors Piezo Disks Vs. Microswitches

  9. Microswitches • Lever Microswitch for added surface area for impact • No debounce circuit needed • Reverse connection for component reduction

  10. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  11. Scoring System Full Health One Hit Two Hits

  12. LEDs for Scoring Visualization • RGB’s for added color range • Mounted to roof for easy view • LED Drivers for controlling power to LED • TLC5940 • Current sink to eliminate need for resistors and reduce components

  13. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  14. Camera OmniVision 9655 Pros • Delivers 30 fps at 640x480 VGA Video • Supports Compressed YCbCr 4:2:2 Format • Microcontroller Compatible • Fully configurable • Some Factory Support (STM) 3.6cm 2.7cm

  15. Compression? • Real-Time JPEG is optional (RTJPEG) • Light-weight but low compression ratio • Must write in native code • Likely will not be worth the effort • MJPEG, MPEG-4 etc. not optional with our current microcontroller • Instead, we are opting for subsampled images

  16. Purpose of Wi-Fi • Communicate user input from Android app to car • Communicate “car health” and streaming video to the Android App

  17. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera Motor H-Bridge Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  18. Wi-Fi Module Requirements TI CC3000 • Ti’s “SimpleLink” Technology • $35 for Dev Board • TI’s “World Class Customer Support” • Greater Data Rate than Bluetooth @54Mbps 802.11 b/g Protocol • Greater Range Than Bluetooth • Simple Configuration • Low Cost • Good Documentation • Modest Data Rate • Modest Range • Low Power

  19. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  20. Motor Control • DC motors already available on RC car will be used to reduce project cost. • 2 DC motors: 1 for steering and 1 for forward/reverse control. • Forward/Reverse and Steering motor will be combined with H-Bridge for function.

  21. DVR8833 H-Bridge Driver • Two motors per driver. • Max current output 1.5 A, Max temperature 185 degrees Fahrenheit. • Pulse Width Modulation (PWM) input interface controls forward/reverse control and right/left steering. • Low Power Sleep mode and internal shutdown functions for over temperature protection.

  22. PWM Control Using H-Bridge • H-Bridge driver will use two PWM signals from the STM32 to generate Fwd/Rev and Steering function of the DC motors.

  23. Remote Control • Landscape mode • Direct the RC Car • Compatible the newest version of Android Phones and older

  24. Remote Control Requirements Android Device Must: • Have Wi-Fi Capability • Contain Accelerometer Sensors • Have Touch Screen • Run Android Android 2.2(Froyo) or higher

  25. Motor Control Using Accelerometer • RC car will be controlled by Y and Z coordinates. • Z direction(into out of page) will control Fwd/Rev motor function. • Y direction will control left and right steer.

  26. Handling Accelerometers Y Axis Calibration Z Axis Calibration -Axis’ must be calibrated so that the user can view the device at an optimal angle. Accelerometers must consider effect due to gravity, linear acceleration = acceleration - acceleration due to gravity.

  27. Smartphone Operating System • Android • Free – No new hardware costs, free SDK, familiar languages • Open source platform, easy to learn

  28. Target APIs 8 (Android 2.2 Froyo and higher), approximately 99.9% of Android market

  29. Power Supply

  30. Power Supply • Rechargeable Batteries • Nickel Metal Hydride

  31. Remote Control Car • 18.8 inches Long • 5.76 inches Wide • 4.8 Inches Tall • Top speed of 12 mph

  32. System Block Diagram App User Input Load Profile Create Profile Wi-Fi Host Game Join Game Bumpers Choose Game Mode Microcontroller Camera H-Bridge Motor Sync Car Steering Servo Start Game! Bumpers RGB LEDs indicating “Health” Control Car End Game and Report Scores

  33. Microcontroller

  34. STM32F407VGT6 • ARM 32 bit Cortex M4F • PWM for motor control and Plenty of GPIO available (82) • Low power modes • Serial Wire and JTAG interfaces for debugging • Digital Camera Interface (DCMI) • External Interrupt/Event Controller

  35. ST-Link/V2 Debugger & Programmer • In circuit debugger and programmer for the STM32 • Supports JTAG/Serial Wire Interface • USB 2.0

  36. Schematic Design In Eagle CAD Wi-Fi JTAG/ST Link Power Supply Camera H-Bridge LED Network

  37. Division of Labor All members will lend a hand in any area that may need additional assistance

  38. Budget and Finances

  39. Progress

  40. Issues • Senioritis • Difficult Camera Interface • Tweaking Android App • Heat From H-bridge Drivers

  41. Any Questions?