1. Long Range Vehicle Control (Super Tank) Jason Holmes Matt Wickesberg Matt Guenette Michael Piercy

2. Project Overview “Battery Powered” “Remote Controlled” “Super Tank” Tank to be controlled wirelessly over the internet Major constraints: Power, real-time video

3. PSSC An ability to send/receive/decode commands from a controller wirelessly An ability to control direction/firing capability of a vehicle An ability to autonomously avoid obstacles encountered by the tank An ability to provide sensor feedback to a wireless controller An ability to monitor a battery and prevent signal disconnection due to power loss.

4. Hardware Diagram

5. System Diagram LRVC Server Controller 1Controller 2Controller N Vehicle 1Vehicle 2Vehicle M FIRE Android Tablet – “Virtual” Controller Feedback/Error Text Box Live Video Stream Common GUI Components Common LRVC Protocol Provides Services for Android Controller App. Specific Vehicle Protocols All communications (Vehicle and/or LRVC Protocols) are made with TCP off of a TCP/IP stack through WIFI.

6. Tank Diagram Fig. 1 – Vision Front Back Fig. 2 – Drop Off DetectionFig. 3 – Wall Detection Front Back Front Back Short Range IR Sensors Long Range IR Sensors attached to Stepper Motors For 180 degree rotation. USB Camera Sensor Placement Sensors

7. Computation Requirements Obstacle avoidance algorithm – Stepper/IR coordination – IR voltage translation Battery management algorithm Real-time video transmission

8. Peripherals and GPIO GPIO : – 8 (2 drive motors, 1 stepper, one firing) Peripherals – 4 channels of 10 bit ATD (IR sensors) – 3 channels of PWM (Switching Regs., Stepper) – 1 channel UART (RS232 connection)

9. Power Constraints Power CalculationVoltage (V)Current (mA)Power (W) Pandaboard58004 STM32F103ZGT63.3500.165 Drive Motors A12110013.2 Drive Motor B12110013.2 Stepper Motor123303.96 Turret Motor62001.2 Total358035.725 Total with 10% loss39.2975

10. Parts Choices PartPart # Full-Bridge Motor Driver Dual - L298NCOM-09479 IC Stepper Motor Controller 20 DIP497-1394-5-ND Stepper Motor with CableROB-09238 Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00FSEN-08959 Infrared Proximity Sensor Long Range - Sharp GP2Y0A02YK0FSEN-08958 DC/DC Converters & RegulatorsAPXW005A0X3-SRZ Coulomb CounterBQ26231 Ryobi 12v drill - 2 batteries and chargerHJP002K Logitech Quick CamQuickCam Pro 9000 PandaboardUEVM4460G-02-01-00

11. Microcontroller Choice STMicroelectronics STM32F103ZG – ARM 32-bit Cortex-M3 – 72MHz – 1MB Flash – 4 16-bit Timers with PWM – 2 I2C – 5 USART – 3 12-bit 16-ch A/D Converter – Plethora of GPIO