1. Software Design
Team KANG
Group 1

2. Major Components

3. Considerations General: Specific: Code must fit into 16K Flash
Must be fast enough to be practical
Switch between manual and automatic modes
Specific:
Reference position for motors (set at startup)
Speed limit for motors (timer interrupts)
Limit motion range
Option to change camera settings
Minimize noise on friendly detection interrupt

4. Main Infinite loop containing two sub-loops: Manual control
Begin
Manual/
auto
Infinite loop containing two sub-loops:
Manual control
Auto control
Manual
mode
Auto
mode
Revert to
auto cmd?
Got
override? No No
Yes

5. Auto Targeting Mode Operation
Begin
Manual mode
Yes
Ancillary
Detect?
Targeting
disabled? No
Yes
Friendly
detect
interrupt No
Camera to
appropriate
region
Video
algorithm
Manual
override
interrupt
Pan/tilt
to acquire
target
Firing
enabled? No
Yes
Fire weapon

6. Video Processing
Begin
Must fit within hardware (memory and speed) limitations
Capture and store image
Subtract and threshold from base background
Received
image? No
Yes
Subtract/thresh by
pixel from base
Finished? No
Yes
Find centroid
of non-zero region
Send coords
to motor
End

7. Motor Control (auto mode)
Begin
Count steps to track current position
Must be “accurate enough” in positioning
Vary speed according to SLERP
Lookup coordinates
Runs interlaced to video algorithm
Ancillary
sense? No
Yes
Targeting
enabled? No
Yes
Move to region
Got
coords? No
Yes
Lookup
translate

8. Motor Control (manual mode)
Begin
Limit speed to prevent instability
Set limits for latitudinal and longitudinal motion
Avoid wires being twisted
Got move
command? No
Yes
Get curr. pos.
At limit?
Yes No
Move
Set curr. pos.
End

9. Ancillary Sensing Motion sensing Friendly remote shutoff
May require sending a RESET signal
Friendly remote shutoff
Operates as interrupt to quickly disable fire control and targeting
Begin
Begin
Input is low
Last x
reads
LOW? No No
Yes
Yes
Send
motion detect
Toggle
targeting
End
Reset?

10. Manual Override SCI interrupt can disable automatic control
SCI Receive
SCI interrupt can disable automatic control
Lookup then execute command
Wait for command to re-enable
Override? No
Yes
Continue
Auto Mode
Disable
Auto Mode
Wait for
command
Enable
Auto Mode
switch()
lookup
Command
was revert
to auto?
Yes No
Execute

11. Status Video Processing User Interface Motor Control Ancillary Sensors
Setup interface to external RAM
Test correct read with solid-color images
User Interface
GUI versus terminal
Motor Control
Basics developed
Working out SLERP and lookup table
Ancillary Sensors
Waiting on two more sensors to determine detection regions

12. Questions?