1. Scientific Superviser: Prof. Dr. Eng. Aurel GONTEAN Author: Horia Octavian SABU “POLITEHNICA” UNIVERSITY OF TIMIŞOARA ELECTRONICS AND TELECOMUNICATIONS FACULTY DEPARTMENT OF APPLIED ELECTRONICS Timişoara 2010

2.  DC Motors  H-Bridge  FPGA Board  Bluetooth Module  LabVIEW programs  VHDL code  Conclusions 2/13 Horia Octavian SABU

3. 3/13 This is how a DC motor looks on the inside:

4. Horia Octavian SABU 4/13 S1S2S3S4Result 1001Motor moves right 0110Motor moves left 0000Motor free runs 0101Motor brakes 1010

5. Horia Octavian SABU 5/13 The PCB Layout: The board in action:

6. Horia Octavian SABU 6/13 This is where all the magic happens: 6V input from the battery pack Bluetooth and H-bridge connections Duty cycle display PWM adjustment using buttons Switches control direction, PWM generation and manual override

7. Horia Octavian SABU 7/13 Class 1 Bluetooth Radio Modem Transmission distance: 100m Low power consumption: 25mA avg Frequency: 2.4~2.524 GHz Operating Voltage: 3.3V-6V Serial communications: 2400-115200bps Built-in antenna Small dimensions: 51.5x15.8x5.6mm

8. Horia Octavian SABU 8/13 W, A, S, D keys or arrow keys are used to control direction Slider modifies the duty cycle What keys are being pressed ASCII code sent via bluetooth Binary representation of the code being sent

9. Horia Octavian SABU 9/14 Bluetooth connection Keyboard input PWM generation Forward, back, left and right assesment Conversion to ASCII codes Sending the commands via bluetooth

10. Horia Octavian SABU 10/13 PWM generation Direcion controls The very user-friendly interface:

11. Horia Octavian SABU 11/13

12. Horia Octavian SABU 12/13  LabVIEW provides a great environment to control the rover, either on the PC or on the smartphone  The Nexys2 FPGA board permits further improvement of the design without the need to replace existing hardware  A very challenging and complex project (but at the same time – fun!)

13. Horia Octavian SABU 13/13