1. Team Ocho Cinco Raymond Chen Zhuo Jing Brian Pentz Kjell Peterson Steven Pham

2. Minimum: Design a vehicle controlled remotely by drawing a path on a handheld touch-screen computer. Target: Include obstacle avoidance feature with minimal path deviation. Utilize Bluetooth to provide real-time stats to touch-screen Optimal: Implement terrain and obstacle mapping capabilities updating the map in real- time. Updated Objectives

3. Project Status Completed –Basic chassis assembly –Hardware design In Progress –RPS Pixel Tracking Software –FPGA/Picoblaze Firmware –Touchpad Software

4. Vehicle Chassis Tracked –180 degree turns Runs on 7.2V Ni-Cd Batteries –10 minute full throttle battery life

5. Servo Control Throttle and Steering Servos Takes a pulse every 20ms Linear time to angle relationship

6. Servo Control Level Shifters from TTL to Logic –FPGA outputs 3.3V TTL –Servos take 5V logic –CD4504 TI LS Buffered Heading s Buffered Distance Servo Controller Steering Servo Pulse Length Number of Pulses

7. Digilent FPGA Development Board -Spartan-3 XC3S200: 200k gates -3x32 open 3.3V I/O ports -Pre-configured power sequence -RS232 serial output -On-board SSDs for testing

8. 256 Inputs, 256 Outputs –Supports numerous combinational sub- routines Low Deployment Cost –Occupies only 96 slices, ~3% of XC3S200 Processor Behavior –Simplifies control and state-machine applications

10. Digital Compass -I2C Interface -Continuous Measurement to 1/10 th of a degree

11. IR Sensors Interfaces with FPGA via A/D converter 8 bit A/D conversion gives 1cm resolution at 50-60cm (worst case)

12. Bluetooth DIP Module Connects directly to the FPGA (3.3V logic) Uses the RS232 protocol –Instantiate a UART on the FPGA

13. Connector Schematic

14. BT, Servo, and Compass Sch.

15. IR Sensor Array Schematic

16. Nothing Works Without Communication Necessary Communication Lines: RPS to TSC: Location TSC to OCM: Path Data TSC to OCM: Location OCM to TSC: Obstacle Information OCM to TSC: Heading OCM to TSC: Battery Voltage Communication

17. Communication Protocol BReturns one 8-bit digital voltage reading Request Battery voltage Command (ASCII)Ensuing DataDescription C--Clear Path S# of instructions (0 – FF) 16-bit instructions Send Path L16-bit location (in inches)Send Location OReturns six 8-bit distances (in inches), one for each sensor Request Obstacle data HReturns one 9-bit number (in two bytes) with heading (0 o – 359 o ) Request Heading

18. Takes Input of an array of Touch-Screen Coordinates –Simple Algorithm to Determine Heading (H) and Distance (D) to Reach Next Point Path Calculation Code Block (FPGA) StartEnd Input Stylus Coordinate s Compare Consecutive Points Determine Heading and Distance Buffer Instructions Send to Servo P1P1 P0P0 D ) H

19. Takes Input of Socket Name, Address, obtained through IOCTL_BLUETOOTH_GET_PEER_DEVICE –Connects to Socket, sends all Path Coordinates –While still connected, makes sure that the data was received, then returns. Path Transmission via Bluetooth StartEnd Input Socket and Path Data Connect to Socket Listen for Confirmation of Transmission Send Path Data Retur n True Retur n False Confirmation Received Confirmation Not Received

20. Uses same Socket for the Vehicle Transceiver as used in Transmission –Connects to Socket, receives Data, according to Communication Protocol –Sends Confirmation back to the Vehicle. –After each piece of data has been successfully received, program will return a structure containing all data to be processed and displayed. Obtaining Data from the Vehicle StartEnd Input Socket and Path Data Connect to Socket Send Confirmatio n Receiv e Data Generate OCM_Data Structure

21. Start Webcam Capture Send Coords to TSC Center Pixel Pt Map Abs Coords @ De st? End Yes No Determine OCM Location –Take live pictures of field –Color pixel tracking (OCM color coded) –Map field coordinates –Send to TSC Regional Positioning System

22. RPS Field of Vision 22 ft 19 ft 55° Capstone lab open space –Maximum depth: 22 ft iPaq Bluetooth range: 30 ft Webcam viewing angle: 55° Top-Down View 7 ft 6 ft22 ft Side View Dead-zoneActive-Zone

23. Microsoft Lifecam VX-3000 –1.3 MP capture (1280 x 1024) –USB connectivity Webcam Capture OCM OCM in the Field –Specially color coded –Unique color for detection –Shaped spherically

24. Image/Pixel Detection –Scan for specified color –Calculate average pixel location –Unique color → Center of OCM (pixelwise) Color Pixel Tracking OCM Location –Algorithm: Pixel → Field Coordinates

25. Battery Li-Ion Battery 7V, 2AH Weight: 3.5 oz Dimension: W1.35x H0.6 x L2.5 (inch)

26. Battery Tracker Li-Ion Battery Tracker 5 Bars(represents battery’s life at 100%, 80%, 60%, 40%...etc) Experiment –1. Charge up battery to max capacity –2. Discharge battery with light bulb, measure the battery voltage every 5min till the battery is empty.

27. Power Distribution

28. Parts List Spartan-3 FPGA HMC6352 Digital Compass Kyosho Blizzard EV, Futaba S3003 Servos MS Lifecam VX-3000 7.2V, 2Ah Battery Bluetooth transceiver and Dongle Regulators, capacitors

29. Responsibilities Kjell Peterson –Touchscreen Controller, Microcontroller Brian Pentz –FPGA, Picoblaze, Bluetooth Steven Pham –RPS, Bluetooth, CDS Zhuo Jing –Power Distribution, Servo Control Raymond Chen –Servo Control, CDS, FPGA

30. Project Timeline

31. Goals for Milestone 1 Power/Battery interfacing Simple RPS tracking capabilities GUI complete Basic Bluetooth interfacing complete PCB layout, ready for fabrication FPGA layout (completed)

32. Goals for Milestone 2 PCB complete and fabricated Servo controller and path calculation complete Car follows given path RPS Fully Functional FPGA subsystem logic completed

33. Goals for Expo Subsystems fully integrated via FPGA Obstacle avoidance capable Obstacle mapping capable Time permitting: Inclinometer/terrain mapping

34. Questions?