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Amr Aldaiel - Andrew Kravitz Katie Noble - Zack Taylor - Alan Yim. Objectives. Wireless real-time video with illumination capabilities Remote manual operation via computer-based user interface Temperature sensor Control via keypad and LCD display. Preliminary Goals.

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amr aldaiel andrew kravitz katie noble zack taylor alan yim
Amr Aldaiel - Andrew Kravitz

Katie Noble - Zack Taylor - Alan Yim

objectives
Objectives
  • Wireless real-time video with illumination capabilities
  • Remote manual operation via computer-based user interface
  • Temperature sensor
  • Control via keypad and LCD display

Preliminary

Goals

  • Wireless network control
  • Automatic patrol mode
  • Smoke detector, CO detector

Auxiliary

Goals

status
Status
  • Basic chassis assembly complete
  • Preliminary power system schematics complete
  • Basic user interface implemented
  • PWM output from PIC
  • Preliminary FPGA and peripherals schematics
rover chassis
Rover Chassis
  • Made of 1/8” 5052 Aluminum Alloy
    • High strength-to-weight ratio
    • Excellent corrosion resistance
    • Good forming characteristics
motor selection
Motor Selection
  • ReliaPro DC Reversible Gearhead Motor
    • Operating Range: 4.5V-12V
    • Speed at 12V: 35 RPM
    • 100:1 Gear Ratio
    • 2370 g-cm torque
power source
Power Source
  • Werker Non-spillable Battery
    • 12V
    • 7.5 Amp Hours
power distribution system
Power Distribution System

Tasks:

  • Design and build a Power Management Unit (PMU)
  • Build switching power converters as needed for different parts of the eyeBot
  • Ensure power is adequately distributed and efficiently managed
pmu components
PMU Components
  • 1st Stage Step-Down Conversion
  • 2nd Stage Voltage Regulation (5V and 3.3V)
  • Optocoupling of Incoming PWM Signals
  • H-bridge Inverters for Motor Driving
lighting
Lighting
  • High intensity LEDs for area illumination, mounted on camera
  • OPTEK Inc. OVLEW1CB9 (White)
  • PIC will control a switch to turn LEDs on and off
camera
Camera
  • Linksys WVC54GC
    • Capture Resolution
      • 320 x 240
    • Interface Type
      • IEEE 802.11b/g
      • Ethernet 10Base- T/100Base-TX
      • Approximately ½ second delay at 20 FPS
user interface concept
User Interface - Concept
  • Programmed using Visual Basic
  • Will run independently on a PC
  • Send and receive information and commands through RS-232
microcontroller
Microcontroller
  • PIC18F8722 Microcontroller (80 Pin)
    • ECCP1/2 – Left/Right Motor PWM
    • ECCP3 – Camera Servo Control
    • Programmed Using MPLAB IDE & Microchip ICD2
      • Allows stepping/breakpoints for code running on 18F8722
    • Communications
      • RS-232 through MAX3232CDR RS-232 Driver
        • Serial Communication
      • FPGA through 10 Bit Parallel Bus
      • General I/O Pins for Thermometer, and LED Array Control
    • Operation at 10 MHz
function pwminit
Function: pwminit()

void pwminit(void)

{

PR2=0x18; // Sets the Period Register for Timer 2 (100 KHz)

TRISC=0; // Sets Port C to Output

TRISG=0; // Sets Port G to Output

TMR2=1; // Timer 2 Prescaler set to 1 for 100KHz operation

T2CON=0b00000100; // Timer 2 Control Reg,Turns Timer 2 On

CCP1CON=0b00101101; // Initialize CCP1 (Turn on PWM +2%)

CCP2CON=0b00101101; // Initialize CCP2

CCP3CON=0b00101101; // Initialize CCP3

CCPR1L=26/4; //Sets CCP 1 to 26% Duty Cycle

CCPR2L=50/4; //Sets CCP 2 to 50% Duty Cycle

CCPR3L=74/4; //Sets CCP 3 to 74% Duty Cycle

// ALL CCP duty cycles can be controlled to duty%= 4*CCPRxL+2%

// Allows for 25 Speeds for the motors (12 Forward, 12 Back)

// Servo can be controlled to 25 positions

}

hpc explorer board
HPC-Explorer Board
  • Cheap Effective PCB
    • Built in wire-wrap/solder points for all general I/O Pins
      • Can Easily Build Ribbon Cable Interface for FPGA Bus
    • Built In Voltage Regulator for VDD and Ground of 18F8722 through 9-15V input
    • ICD 2 Jumper and RS-232 Com port on board.
    • Built in Temperature Sensor
    • 8 LED’s through Port D, for data checking
    • Easily Add on additional components
fpga overview
FPGA Overview
  • Xilinx XCS10 with XC18V256 EPROM
  • Interfaces between PIC, Keypad, LCD display, and any future peripherals
  • Handles chip selection based on three address bits
  • Communicates with PIC through 10 bit parallel bus
slide24
LCD
  • Will display:
    • temperature
    • direction
    • eyeBOT status
  • 20x4 character display
  • Considering:
    • HD44780 parallel interface
    • HD44780U driver
4x4 keypad
4x4 Keypad
  • Used for on-board eyeBOT control
  • Row/Column matrix will be encoded into 4 data bits by MM74C922
  • MM74C922 also offers an interrupt signal and a keypad available signal
feedback system
Feedback System
  • Optical encoders mounted on eyeBOT wheels
  • Quadrature decoders (HCTL2016) will send data through PIC and straight back to User Interface
  • Two possible encoder setups
    • Panel Mount
    • Code Wheel

HEDS 5700 series

HEDB-9000 series

parts list
Parts List
  • ReliaPro DC reversible gear-head motor
  • Werker 12V 7.5 amp-hour battery
  • Linksys WVC54GC
  • PIC18F8722 microcontroller
  • HPC-Explorer board
  • Xilinx XCS10
  • XC18V256 EPROM
  • 20x4 character display
  • MM74C922 encoder
division of tasks
Division of Tasks
  • Amr
    • Power distribution system
  • Andrew
    • Microcontroller
  • Katie
    • FPGA, LCD/Keypad, motor feedback, peripherals
  • Zack
    • User interface, communication link
  • Alan
    • Rover assembly & mechanics, motors, FPGA, LCD/Keypad
milestone 1 deliverables
Milestone 1 Deliverables
  • Preliminary Verilog code
  • Serial communication between GUI and PIC
  • Power distribution system complete for main components
  • Chassis complete with mounted camera and multiple levels Plexiglas
  • Streaming video in GUI
milestone 2 deliverables
Milestone 2 Deliverables
  • All Primary Goals Accomplished
    • Wireless real-time video with illumination capabilities via computer-based user interface, keypad, and LCD display
    • Temperature sensor
    • Completely battery powered
expo deliverables
Expo Deliverables
  • As many add-ons as possible
    • Automatic patrol mode
    • Wireless network control
    • Additional peripherals
      • Smoke detector
      • CO detector