1. Liz Lyons Mike Scherban Oscar Orihuela

2. What Is Knightro Kart? An interactive, Android controlled vehicle race system consisting of two independent cars and controllers. Vehicles are controlled by Android powered mobile devices or tablets Consists of two independent vehicles, a track utilizing infrared, and two independent remote controls

3. System Block Diagram

4. System Specifications Bluetooth Communication Range<30 m Vehicle Speed20 MPH max Battery Life>1 hr Number of Users2

5. Remote Control Mobile device will be used in landscape mode. It will utilize hardware level sensor data, and interpret them to tell the MSP430 how to direct the vehicle.

6. Why Android? Essentially Free – No new hardware costs, free SDK, familiar languages Open source platform, easy to learn Programming Language Devices Readily Available? FamiliarityCost to Develop AndroidJava/XMLYesHighFree iOSObjective-CNoMedium$99/year Windows Phone.NET framework/ Visual C++/XNA NoLowFree

7. Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market

9. Remote Control Requirements Android Device Must: Have Bluetooth Capability Contain Accelerometer Sensors Have Touch Screen Run Android 2.3.3 Gingerbread or newer OS

10. Handling Accelerometers Accelerometers are seen by the devices relative to an imagined coordinate system. We will be using the Y (left/right) and Z (forward/back) axis values to control the cars.

11. Handling Accelerometers Must apply low-pass filter to isolate gravity, and then a high-pass filter to remove gravity from the readings. Also helps to smooth out values.

12. Wireless Communication Choices Bluetooth (Class 2) Wi-Fi DirectWi-Fi (traditional) ProtocolLMP, L2CAP, SDPIEEE 802.11 a/g/nIEEE 802.11 Communication Distance Radio dependent, ≈ 10 meters min 200 meters MAX Speed3 Mbps MAX250 Mbps MAX API Requirement5 or higher14 or higher1 or higher Power2.5 mWVariesVaries, may be 40x Bluetooth ISM Band2.4 to 2.485 GHz2.4 GHz or 5 GHz DifficultyLowHigh

13. Connecting Android devices will be able to connect to one and only one car. Will use received values from the MSP430 to enhance UI with more info such as vehicle speed and current lap.

14. Bluetooth Remote control application sends information to the MSP 430 via Bluetooth. Sends one byte at a time, byte value depends on accelerometer values Ascii ValueDirectionAccelerometer Values YForwardZ > 1.5 RBackZ < 0

15. Bluetooth Module Roving Networks RN-41 Minimal configuration Baud rate Built in antenna Automatically pushes data via UART RX/TX pins Runs own Bluetooth stack Low power 30 mA connected 3.3V 100m range

16. Microcontroller MSP430G2553Atmega168 w/ Arduino 3.3V5V 16KB flash C, Assembly 16MHz UART & PWM support 2.75”

17. Microcontroller MSP430G2553 3.3V 16KB flash C, Assembly 16MHz UART & PWM support Same voltage as Bluetooth module More feature rich IDE No special bootloaders required

18. Microcontroller MSP430G2553 (28 pin TSSOP) Surface mount package Function# of Pins UART2 Infrared1 LEDs5 Motors4 Misc.2

19. Programming and Debugging JTAG used to take advantage of viewable registers and memory locations, and disassembly Connect through TI USB FET device

20. Motor Signals Takes advantage of MSP430 hardware PWM support PWM used to add variable speed Slow Fast!

21. Microcontroller Comm. 9600 Baudrate RX/TX between BT and MSP430 crossed Interrupts will be used for phone  MSP430 and infrared signal

22. Low Power Mode Bluetooth Module separate from MSP430 Allows BT pairing while MSP430 is asleep MSP430 goes to sleep at power on and when not in race mode Turns off clocks Button on the car or command from phone will wake the car for use

23. MSP430 Software Flowchart

24. Printed Circuit Board Most components will be on a custom printed circuit board designed in Eagle

25. Printed Circuit Board LEDs MSP430 JTAG BT Module and status LEDs Power

26. Track Race car will contain an IR phototransistor Biased by IR light At the START line for the Race Track, there will be a line of IR LEDs that will set off IR phototransistor By setting off the IR phototransistor on the car, it will allow user to know how many laps the car has travelled during the race

27. Race Car 9v power supply required Potential to travel 20 mph 2 D.C motors 1 st Motor controlling FWD & REV motion 2 nd Motor controlling turning Left & Right 17 inches Long 7 inches Wide 8 Inches Tall

28. H-Bridge Serves as mediator between MSP430 & Race car motors MSP430 will receive commands from Mobile Application and send high / low signals to the H- bridge connected to the motors causing the motors to spin in a certain direction EX: Clockwise / Counter-clockwise / Stand Still

29. H-Bridge - Typical Typical H-Bridge configuration Inner Circle = Motor Switches represent Transistors Motor is at a stand still

30. H-Bridge - Clockwise Due to the directional flow of the circuit, the H-bridge is causing the D.C Motor connected to it to spin clockwise

31. H-Bridge – counter clockwise Due to the directional flow of the circuit, the H-bridge is causing the D.C Motor connected to it to spin counter-clockwise

32. SN754410 H-Bridge Designed to drive inductive loads such as DC Motors Chosen for its capability to manage both D.C Motors in a single chip Manufacturer: Texas Instruments Cost: $2.16 1 Chip per car needed.

33. SN754410 Layout

34. D.C Motor VS Servo Motor Race car will require 2 motors 1 st Motor controls – FWD & REV motion – D.C Motor 2 nd Motor Controls – turning capabilities For the purpose of Knightro Kart, D.C motors will be sufficient as well as better for our wallets & Handbag D.C MotorServo Motor Less ExpensiveMore Expensive Requires Less Voltage to function Requires Higher Voltage to function Slower Reaction TimeFaster Reaction Time

35. Power Supply Voltage Regulator SN7544109V5V Race Car9VDoes Not Require MSP4309V3.3V

36. Desirables Speedometer Phone to Phone Communication Race Standing Notifications

37. Speedometer (optional)

38. Magnetic Reed Switch Switch opens at close proximity of a magnet Sends PWM signal back to MSP430 Switch will be attached to axel of Race car Low power magnet will be attached to rim or inner wheel of the race car

39. Budget and Financing to Date Total Cost To Date: $364.60

40. Current Progress

41. Plans For Completion Complete Soldering Complete Code Assemble Vehicles Test Construct IR Start Line