2004 CAPSTONE CDR

1
2004 CAPSTONE CDR

• Team SAFE Members
• Anders Fornberg
• Alejandro Henriquez
• Shannon Lahr
• Aaron Lyons
• Sean Groves

Shannon
2
Presentation Overview

• Project Overview
• System Specification
• Subsystem Design
• Processor FPGA
• Power Structures
• Sensors Motors
• Current Status and Project Goals

Shannon
3
Project Description

• Modified RC car that can sense an accident threat
  and take corrective action
• Detects and Prevents multiple accidents
• Head on Collisions
• Merging into blind spots
• Backing into Stationary Objects

Shannon
4
Modes of Operation

• 3 Modes of operation
• 1) User has complete control of the RC car.
• 2) Primary SAFE System provides audible warning
  when an accident is immanent. If corrective
  action is not taken than Safe System takes
  control.
• 3) When accident is immanent, SAFE System takes
  immediate action and assumes control from the
  user.

Shannon
5
System Overview
Aaron
6
Interface Specification
Aaron
7
Interrupt Type
Aaron
8
Current Speed
Aaron
9
Speed Action
Aaron
10
Turn Action
Aaron
11
Core Microprocessor

• MC68HC11E0
• Basic Functionality
• Manager
• Memory access
• Data execution
• FPGA IRQ requests
• Sensors
• LCD control
• 20x4 DMC-20434N
• RS232 Communication
• Downloading Data

Alex
12
FPGA

• XCS10
• Basic Functionality
• Work Horse
• Read Sensors
• Chip Select
• Send Interrupts (XIRQ)
• Provide HC11 with
• Interrupt reg.
• Speed reg.
• Distance reg.
• Receive Data from HC11
• Speed Action reg.
• Turn Action reg.
• Interrupt car control
• Speed Controller
• Steering Controller

Alex
13
Alex
14
Memory Map
Alex
15
Power
Shannon
16
Power Continued

• 20ft tether to power car during testing
• 3 9V batteries in parallel for expo
• 150mAh/battery 450mAh
• Expected mAh of project
• Board 100mA
• 6 Sensors 180 mA
• LCD Screen 4.5mA
• Total Approximately 300mA

Shannon
17
Structures
Shannon
18
Structures Continued
Shannon
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Structures Continued
Shannon
20
Structures Continued
Shannon
21
Drive/Steering Motor Control
Anders
22
Steering Motor Waveform
Pulse Steering Motor Motor Pulse Steering Motor Motor
Burst Rate 20ms
Forward Pulse Width 1.5ms
Max Left 1ms
Max Right 2ms
Slight Left 1.4ms
Slight Right 1.6ms
Anders
23
Drive Motor Waveform
Pulse Drive Motor Pulse Drive Motor
Burst Rate 20ms
Neutral PW 1.5ms
Max Forward PW 1ms
Max Reverse PW 2ms
Vmax 4.125
Anders
24
Sensor Package

• Problems Encountered
• Voltage level would drift for various reason
• Highly Dependent on surface tilt and material
• Non linear output at large distances
• Sort of reliable at lt 40 inches
• Needed use of op-amp, AC to DC, and A-D converter

Anders
25
Sensor Package SRF04
Voltage 5v
Current 30mA Typ. 50mA Max
Maximum Range 3 m
Minimum Range 3 cm
Densitivity Detect a 3cm diameter stick at gt2 m
Size 1.75w x .625h x .5 d
Anders
26
Sensor Data
Equation For Linear Section
t.1461d.0144
Anders
27
Sensor Field
Anders
28
Current Status

• Processor and Memory

Sean
29
Processor and Memory

• Wired and tested
• Runs Code from EPROM
• Fully functional RAM
• Serial Port Construction
• New clock

Sean
30
Current Status

• FPGA and EPROM

Sean
31
FPGA and EPROM
1
1
1
0
0
1
Sean
32
Problems Encountered

• Learning Curve
• Wire-wrap Issues
• B-scan for FPGA
• Xilinx project navigator link to Impact
• Power-Ground Short
• Inaccurate Part Specifications
• Labeling

Sean
33
Division of Labor

• Aaron Lyons
• Software Development
• Core Microprocessor
• RC Car Test Modification
• Alex Henriquez
• Core Microprocessor
• Software Development
• Sensors
• Anders Fornberg
• Sensors
• RC Car Test
• Motor Control

• Sean Groves
• Power
• Core Microprocessor
• Motor Control
• Shannon Lahr
• Motor Control
• Power
• RC Car Test
• Everyone
• Documentation
• Project/Deadline Management
• Lead for the task

Sean
34
Milestone 1

• FPGA control of drive/steering and Chip Select
• Sampling from Sensors
• Interrupt Controller
• Dip Switches
• RS232 Communication

Sean
35
Milestone 2

• Boot Monitor
• LCD Implementation
• Mounting Specifications
• LED/Audio Integration
• Subsystem Integration
• Multiple Mode Operation

Sean
36
Future Concerns

• Physical limitations that software can not cope
  with
• Tracking Speed of Sensors
• Board integrity during testing
• Low Speed Response

Sean
37
Project Scheduale
Project Schedule
Sean
38
Parts List/Cost Estimate
Sean
39
QUESTIONS???