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Knight Brawlers

Knight Brawlers

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Knight Brawlers

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  1. Knight Brawlers Group 1 Allen Davila Carlos Davila 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 could keep a functional piece of the project

  3. Goals • 2RC cars controlled by 2users 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. User Input App System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  6. User Input App System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  7. Hit Locations • 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. User Input App System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  11. Scoring System Full Health One Hit Two Hits

  12. LEDs • Super Bright LED headlights for extra visibility working at 7000 mcd • Bright Red LEDs that activate when the car is idle and turn off when in forward or reverse motion • Red, yellow, and green high brightness for top

  13. User Input App System Block Diagram System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  14. Camera – Previous 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) 36 mm 27 mm

  15. Camera – Current OmniVision 5642 Pros • Supports MJPEG and H.264 hardware compression • Raspberry Pi Compatible • Factory Support for stills and video • Max 5 MP, 30fps • Size: 25mm x 20mm x 9mm • Weight: 3g

  16. Compression? Yes! Previous Current • Real-Time JPEG is optional (RTJPEG) • Must write in native code • Effort > value • MJPEG, MPEG-4 etc. not optional • Sub sampled RAW images • MJPEG Supported with hardware acceleration • Instead, we are opting for subsampled images • Software support

  17. User Input App System Block Diagram System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  18. Wi-Fi Module Requirements EW – 7811Un • EZmax support • $20 • WPS, WPA2 • 150 Mbps 802.11 b/g/n • Greater Range Than Bluetooth • Raspberry Pi compatible • Simple Configuration • Low Cost • Good Documentation • Modest Data Rate • Modest Range • Low Power

  19. User Input App System Block Diagram System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  20. Bluetooth MATE Silver

  21. Bluetooth MATE Silver • Roving Networks Class 2 RN-42 • Bluetooth v2.0+EDR • 26uA Sleep, 3mA connected, 30 mA transmit • UART data connection to MC • 115200 bps

  22. User Input App System Block Diagram System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  23. 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.

  24. H - Bridge Considerations

  25. L293D H-Bridge Driver • Two motors per driver. • Max current output 1.2 A, Max temperature 70 C 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.

  26. 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.

  27. Motor Control Characters

  28. Remote Control • Landscape mode • Direct the RC Car • Compatible with the newest version of Android phones and older

  29. Remote Control Requirements Android Device Must: • Have Bluetooth Capability • Contain Accelerometer Sensors • Have Touch Screen • Run Android Android 2.2(Froyo) or higher

  30. 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. • Sent Through Bluetooth

  31. 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.

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

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

  34. Knight Brawlers App

  35. Power Supply

  36. Power Supply • Rechargeable Batteries • Nickel Metal Hydride

  37. Remote Control Car • 18.8 inches Long • 5.76 inches Wide • 4.8 Inches Tall • Top speed of 2 mph

  38. User Input App System Block Diagram Wifi Load Profile Create Profile Raspberry Pi Camera Sync Car Bluetooth Start Game! Bumpers Control Car Microcontroller H-Bridge Motor End Game and Report Scores Steering Motor LEDs indicating “Health” Bumpers

  39. Microcontroller

  40. 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 • External Interrupt/Event Controller

  41. ST-Link/V2 Debugger & Programmer • In circuit debugger and programmer for the STM32 available on Dev. Board • Supports JTAG/Serial Wire Interface

  42. Schematic Design In Eagle CAD

  43. PCB

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

  45. Budget and Finances

  46. Progress

  47. Issues • Connectivity • Consistency • Soldering • Video Quality

  48. Any Questions?