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Coordinate Based Tracking System

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Presentation on theme: "Coordinate Based Tracking System"— Presentation transcript:

1 Coordinate Based Tracking System
Group: OX

2 Overview

3 Current Status of Project
CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running

4 Schematics Microcontroller Power Circuit Reset Circuit
Microcontroller Circuit Memory

5 Microcontroller Power Circuit

6 Reset Circuit

7 Micrcontroller Circuit

8 Memory

9 RS232 Interfaces

10 Test Program for HC11

11 Software Flow Sources interrupting Microcontroller
On board serial port Off board UART Nintendo Controller The on board serial port will be interrupted by our monitor program, and will be used to execute programs The Nintendo Controller will be used for controlling the software flow.

12 Software Flow Cont.

13 External Instructions
These external instructions will be received and sent using an off-board UART using RS-232.

14 User Movement

15 Preloaded Sequences Sequences making the motors direct in various shapes such as squares, triangles, ellipses will be generated from the processor and sent to the motor controllers.

16 Polling the Motor Controllers
The motor control IC’s will have to be polled to determine if the motor has reached desired location This will best be implemented by sending the motor X and Y coordinates and waiting for idle state. This will take the major bandwidth of the system.

17 Xilinx XCS10

18 FPGA Progress Memory Map Logic NES Controller Logic

19 Memory Map 32 Kbytes EPROM 32 Kbytes RAM 10 bytes Peripherals LCD
Motor[X] Motor[Y] NES Controller UART ISR Pointer

20 Memory Map Logic

21 Interrupt Service Routine (ISR) Pointer
Problem: Several Devices need external interrupt Only one non-maskable external pin in HC11 Solution: Implement ISR Pointer in FPGA Pointer Register in Memory map Read pointer as it was memory from the FPGA

22 Peripheral Timing NES needs special signals to provide push button mechanism Enable (E) on LCD needs to pulse after LCD address has been put on the Bus.

23 NES Controller Needs special signals provided by FPGA logic
Will be memory mapped to address 0005H Can be read as normal memory

24 NES Controller Timing Diagram

25 NES Controller Logic Logic to Create Pulse and Latch Signals

26 NES Controller Logic Cont.
Logic to read in data from NES Controller

27 Overall Logic

28 The HCTL1000 Why are we using it? Made for the job
Varying control options Closed Feedback loop Easily Programmed

29 Schematic for HCTL1000

30 HCTL Block Diagram

31 Using the HCTL Setup Registers Send Commutator positions (1 reg)
Commutator (5 reg) Control Mode (1 reg) Send Commutator positions (1 reg) Feedback makes sure its in position

32 The Commutator Four phase output Programmable for Half step
Reduced to two phase output Programmable for Half step Run phases with different offset Steps with PWM Pulse time and width programmable for varying mode operation

33 The Schematic (again)

34 Feedback and the Filter
Digital feedback for filter control Accepts distance change, filters PWM 3 Registers for filter parameters Gain, Pole, and Zero Used in position control mode

35 HEDM5605 #J06 The Feedback for the HCTL1000 1024 Counts per rotation
Much higher than required specifications Dual phase output Set register on HCTL to read properly

36 Allegro: 3964 Dual Full-Bridge PWM Motor Driver

37 How an H-Bridge works: Forward mode, switches A and D closed. Reverse mode, switches B and C closed. * H-Bridge is the mechanical equivalent of a DPDT Switch.

38 Functional Block Diagram

39 Motor Control with 3964

40 A Mount for Stepper Motors

41 Added Components

42 Our Mount for Stepper Motors

43 Objective Timeline CDR: Main Board Schematics Obtain Main board parts
Motor board schematics Assemble microcontroller board Get processor running Milestone 1:  Obtain Motor Board Assemble Motor board Finish and test microcontroller hardware Implement Game Pad interface

44 Objective Timeline (Cont)
Milestone 2: Monitor program running Implement interface with motors Real Time Embedded system PC104+ module Expo: Run Demo modes for the laser Receive XY and control laser Calibrate stepper motors for tracking

45 Timeline

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