1. PROJECT HEAD CASE Dan Klowden Jon Burns cse477 Spring 2000

2. PROJECT RECAP Head Control Unit Communication Robot Head Control Unit Mindstorm Robot Communication

3. HEAD CONTROL UNIT Accelerometer Interface – Transition From LED Control to Motor Level Setting Camera Interface – Thresholding Eye Pattern Detection

4. COMMUNICATION Mindstorm Infrared Tower RS-232 Serial Communication – Lego Defined Protocol

5. THE ROBOT Complete: –Traction Tread Base – Four Joint Arm – Not Quite C Programs

6. SYSTEM BLOCK DIAGRAM Accelerometer Interface Camera Interface 8051 Atmel Microprocessor FPGA IR Robot HCUXS-40 Communication

7. ACCELEROMETER INTERFACE Similar to lab #2 – Calibration Feature – Degree of Tilt Detection

8. CAMERA INTERFACE RC-1 Camera Used – Modifications of Given Project Required Thresholding Eye Pattern Detection – Initial Calibration With Eye Closed – Data Compared to Thresh Value Before Being Written to Memory – # Black Pixels Counted and Compared Each CameraFrame – Pattern Detect Module Required to Scan 2 Secs

9. XILINX CAMERA INTERFACE

10. 8051 MICROCONTROLLER Handles All Incoming Signals – Polling Camera Signal (Switch Control) – Base Control – Raise / Lower Arm – Wrist / Hand Control – Interrupts Accelerometer Signals – X and Y Signals Serial Communication – Limited: 1/10,000 Loops – Disable Accelerometer

11. SERIAL COMMUNICATION Signals Sent to IR Tower – RS-232 Serial Port, Timer 2 – 9 bit UART / 2400 Baud / Even Parity Bit Calculation / NRZ (-10 to +10V) – Works Well! Issues – “Stanford Sucks!” – Even Parity Bit, Not Odd! – Speed – Assignment of 9 th Bit

12. MINDSTORM PROTOCOL 9 Bit Packets – Header (55 ff 00) – Command (2 Bytes) – Variables (6 Bytes) – Check Sum (2 Bytes) Set Variable Command

13. CURRENT – FUTURE PLANS Integrate All Components – Pin Conflicts? – External/Internal Memory Issue? XS-40 Board Mounted on Helmet? Robot Stress Testing Motor Sensitivity / Control Issues? Old Football Helmet??