1. NETWORK RC CAR © James Crosetto BS (Computer Science and Computer Engineering) Jeremy Ellison BS (Computer Engineering) Seth Schwiethale BS (Computer Science)

2. Member Bio’s James Crosetto Computer Science and Computer Engineering Little Caesar’s Pizza Guru Seth Schwiethale Computer Science Music Diversity Contributor Jeremy Ellison Computer Engineering Anti-Coldplay

3. Advisor Bios Tosh Kakar Group Advisor Work Enforcer Dr. Hauser Capstone Advisor

4. Presentation Outline Objectives Goal Setting Innovate & Design Requirements Necessary Equipment Implementation Code Review Future Development Where to go from here

5. Objectives Goal Setting Project Overview Functional Objectives Learning Objectives Innovative development Radio Frequency vs. Internet Internet vs. Network Computer vs. IP Camera Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products

6. Project Overview Expanding the range of a remote control car Control car over network, similar to a printer Be able to have first person view of car’s location Build something cool Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Objectives Goal Setting

7. Functional Objectives Establish connection between RC car and driver’s computer Get real time visual feed Control RC car User friendly GUI Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Objectives Goal Setting

8. Learning Objectives Understand Wireless Communication Efficient methods of sending and receiving data Embedded Systems Microprocessors Assembly Language Linux / C R/C car design and functionality Servos Pulse Width Modulation Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Objectives Goal Setting

9. Radio Frequency 350-400ft Line-of-sight Object interference Internet Network Advanced Range Non-line-of-sight Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Objectives Innovative Development

10. Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Objectives Animated Design Progression

11. Requirements Necessary Components Car Camera Microprocessor User’s PC

12. Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements The Car

13. 3 Leads: Ground V cc Pulse width modulation Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements The Car

14. Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements The Car

15. Square Pulse wave of 1.0-2.0ms repeats every ~20ms Width of pulse determines the position of the servo with 1.5ms as the normal center The amplitude of the pulse is from the reference level to the V cc V cc = 4.6-6.0V Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements The Car

16. Power: 5.1 V DC, max 3.5 W Alarm output (motion, audio, external) Open API for software integration CPU, video processing and compression; Ram: 32MB Flash: 8MB Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements IP Camera

17. Receives and translates signals from the transistor output of the IP camera Sends translated signals to steering box and speed control Programmed with C and Assembly Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements Microprocessor DragonFly12

18. Processing Can communicate directly to RTSP server on camera Have an instance of a client Goal SettingInnovative DevelopmentDesign DevelopmentResearch Products Requirements Functional GUI SETH HAS NEW UPDATED SLIDE TO PLACE HERE

19. Unexpected outcome of design… Swarmed with applications to be our advisor:

20. Project Costs: Camera One time Purchase: $275 Little Caesars Hot-N-Ready: $600 annual cost Traveling Costs Seminar in Hawaii - $800/member Still pending department approval…

21. Implementation

22. PARTYING? How to accomplish our goals?

23. NO!!!

24. STUDYING?

25. YES!

26. Implementation 3 Major Lines of Communication PC  Camera Camera  Microprocessor Microprocessor  Car

27. 1. PC to Camera 2. Camera to Microprocessor 3. Microprocessor to Car PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Animated Diagram

28. This slide and those following will discuss the code from the pc to the camera Code Screen shots GUI Screen shots Discuss Issues PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Code Review – Part I

29. 1. PC to Camera 2. Camera to Microprocessor 3. Microprocessor to Car PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Animated Diagram

30. Using a microprocessor Initial coding/design on Dragon12 development board (MC9S12DP256) has a bus speed of 24MHz has registers for a Pulse Width Modulator and an Enhanced Capture Timer Transferred to DragonFly12 (on the car) Bus speed 48MHz Fewer ports PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Code Review – Part II

31. Design: Camera to Microprocessor Camera’s alarm output can be activated about every 10 ms Initially 10-120 ms speed and 130-240 ms steering in increments of 10 ms (alternating) Problems encountered: Camera couldn’t be activated this fast when using the camera’s program for activating the output Slowed to around 0.1 second when streaming video Very inconsistent signal

32. Design: Camera to Microprocessor Changed to four bit signal in the form XXXX Still takes on the order of 250 ms to send signal Solved using hexdump, Google, and beagle SpeedSteering

33. Design: Camera to Microprocessor Solution: Using ioctl system call, output can be activated in less than 1 ms Number of signals sent (0-14) determine speed and direction of car Longer signal sent to mark end of signal sequence

34. Design: Camera to Microprocessor Still needed End of signal

35. Implementation Code Review – Part II

36. PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Amplifier

37. 1. PC to Camera 2. Camera to Microprocessor 3. Microprocessor to Car PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Animated Diagram

38. Talk about microprocessor code Dragon12 Screen Shot of Code EmbeddedGNU Screen Shot of Program DragonFly12 Screen Shot of Revised Code Issues – Issues – Issues PC  CameraCamera  MicroprocessorMicroprocessor  Car Implementation Code Review – Part III

40. Problems we encountered…. Getting camera feed displayed on GUI Axis not being any help whatsoever Many emails, one helpful reply Setting up a cross compiler for the camera Tried six distributions of Ubuntu Create cross compiler with build root and uclibc Creating cross compiler using gcc Broken Ubuntu installations Fixing Axis cross compiler Tried creating our own cross compiler Used build root and Triggering camera alarm fast enough Output activation took around 0.1 seconds using program on camera Solved using hexdump, Google, and Beagle Putting code onto DragonFly12 Can’t download from CodeWarrior directly CodeWarrior s19 file has to be converted for the DragonFly12 Camera not cooperating

41. Future Development What could we do if we had more time? Put everything on a separate car with reverse (maybe need to explain why we’re using this car with no reverse in the first place) With above ability, apply backtracking idea? (application of a stack storing commands of steering and compliments of speed) Wireless strength monitor?

42. Sales and Marketing You can place order for yours TODAY! $700…. Next year capstone students? Cash and Visa No Checks w/o valid drivers license

43. Special Thanks George Hauser Ph.D., University of Rochester Tosh Kakar Ph.D., Washington State University Wayne Chu Frank Wornle Make-a-wish foundation Little Caesars Delivery guys who deliver straight to Morken 212a Ourselves