1. ECE 192: NATCAR Team (Triton X) Sponsored by IEEE (http://ieee.ucsd.edu) Vincent Bantigue, vbantigu@ucsd.edu vbantigu@ucsd.edu Joseph Formanes, jformane@ucsd.edu jformane@ucsd.edu Henry Kao, hkao@ucsd.edu hkao@ucsd.edu Puneet Khattar, pkhattar@ucsd.edu pkhattar@ucsd.edu Advisor: Dr. Clark Guest Week 8, 2/25/05

2. Agenda: Tasks Accomplished this week MicroController Progress IR Sensors Update Motor Controller Update Upcoming Tasks for next week

3. Tasks Accomplished this week: Continued microcontroller programming Continued sensor algorithm programming on MATLAB Completed motor control circuit Tested motor controller Measured temperature and V P2 P across battery Measured temperature and V P2 P across battery

4. MicroController Progress: Ability to output desired PWM signal Program structure in place: While(1){ While(1){ If (flag = 1){ //flag is set when timer resets execute interrupt //interrupt points to memory //where input capture, algorithms, and output //refresh are in place }}

5. MicroController Progress (Cont’d): Setbacks: For output PWM signal, main clock seems to have changed since the last time I ran the program, so register values that were valid for a 50hz frequency before are not valid next time you test it For output PWM signal, main clock seems to have changed since the last time I ran the program, so register values that were valid for a 50hz frequency before are not valid next time you test it Learning how to use enhanced capture timer (ECT) to synchronize all activity Learning how to use enhanced capture timer (ECT) to synchronize all activity

6. Motor Controller Redesign: Simple circuit with 2 NPN’s, 1 PNP to implement forward and brake PNP not used for forward control more efficient design (lower on resistance) more efficient design (lower on resistance)

8. Motor Control Considerations: Acceleration time PWM Frequency High frequency at low RPM to prevent discontinuous mode operation High frequency at low RPM to prevent discontinuous mode operation Low frequency at high RPM to prevent power loss/heat Low frequency at high RPM to prevent power loss/heat Note: PWM must be off to brake

9. KODAK KAC-9630 128x98 CMOS IMAGE SENSOR with PIC 18F452

10. Completed so far: I 2 C, data collection/storage Use I 2 C to communicate with the CMOS image sensor. This allows full control of integration time, idle time and gain control. Long term: allow integration time and gain control through potentiometers connected to A/D converters. Long term: allow integration time and gain control through potentiometers connected to A/D converters.

11. Camera Data Storage: Read in a row of data (128 8-bit values) Load each value in a set location in RAM memory bank Store only 6 of 100 total rows in memory: Two at top, two in middle and two at the bottom Two at top, two in middle and two at the bottom Long term: output these values to LCD allow real time visualization of gain, integration and threshold values Long term: output these values to LCD allow real time visualization of gain, integration and threshold values

12. Three Rows of Data: With three rows of the image sensor we can determine whether the car is driving a straight line, a straight line with a turn approaching or a turn.

13. Upcoming Tasks for next week: Finish working prototype assemble Motor Controller assemble Motor Controller mount IR sensor array circuit mount IR sensor array circuit assemble DC-DC converter assemble DC-DC converter complete basic programming (control algorithms) complete basic programming (control algorithms) Continue development of CMOS camera Commence testing