Mechatronics Hydrophobe Josh Pritts – Vice President / EE Team Leader

Robotic Submarine Competition

Hydrophobe Purpose

Why build the Hydrophobe?

Experience & Recognition

XBPi

Raspberry Pi

XBPi - defined XBPi = _ BPi

Raspberry Pi

DARCS No DARCS We will not be implementing the dissimilar redundant system at this time, because the Hydrophobe is a tool to test each XBPi, one at a time.

Cameras

We have 2 on backorder. Earliest shipment date is 03-Jul-2013.

Inertial Measurement Unit

IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN $64.95 (Ordered) Description: This is a simple breakout for the ADXL345 accelerometer and the ITG-3200 gyro. Full 6 degrees of freedom. Communicates over I2C and one INT output pin from each sensor is broken out.

Range Finder (SONAR)

Parallax PING))) Ultrasonic Distance Sensor $29.99 (On hand) Description: SONAR Output is a variable-width pulse that corresponds to the distance to the target. Provides precise, non-contact distance measurements within a 2 cm to 3 m range. Burst indicator LED shows measurement in progress. 20 mA power consumption.

Range Finder (SONAR)

UART Communication Universal Asynchronous Receiver / Transmitter Abbreviated UART is a piece of computer hardware that translates data between parallel and serial forms. Commonly used in conjunction with communication standards such as EIA, RS-232, RS-422 or RS-485.computer hardwareparallelserialEIARS-232RS-422RS-485 The universal designation indicates that the data format and transmission speeds are configurable, by aligning the bauds of all devices. A UART is usually an individual (or part of an) integrated circuit used for serial communications over a computer or peripheral device serial port. UARTs are now commonly included in microcontrollers.integrated circuitserial communicationsserial port A dual UART, or DUART, combines two UARTs into a single chip.

UART Communication Transmitting Device Receiving Device TX RX GND RX TX GND

UART Communication When there is no signal, TX remains HIGH. This condition exists when there is no information needing transmitted or received. Both devices must be set at the same baud rate for proper sampling Transmitting Device (TX pin) Receiving Device (RX pin) HIGH before transmission begins

UART Communication Start Bit 1010 TX goes LOW to inform RX there is information to be passed UART Communication Transmitting Device (TX pin) Receiving Device (RX pin)

UART Communication First bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Second bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Third bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Fourth bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. RX Samples Signal

UART Communication TX and RX remain HIGH, then go LOW to signal a transmission is about to begin Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Fifth bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Sixth bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0. RX Samples Signal

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) RX Samples Signal Final bit transmitted. TX pin goes HIGH or LOW to represent 1 or 0.

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) If the transmitted information was one byte in length, then a stop byte of HIGH is sent. Stop Bit

UART Communication Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) If the transmitted information was one byte in length, then a stop byte of HIGH is sent. Stop Bit

UART Communication If there is no more information to transfer, then TX remains HIGH. RX interprets this as the end of transmission. Start Bit Stop Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin)

UART Communication If there is more information to transfer, then TX goes LOW to signal another Start Bit. Start Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Start Bit Next Byte

UART Communication A way of ensuring the correct information was received is to use a parity bit or a check bit. Parity bit is 1: an even number of ones was transmitted Parity bit is 0: an out number of ones was transmitted Start Bit Parity Bit 1010 UART Communication Transmitting Device (TX pin) Receiving Device (RX pin) Stop Bit Stop Bit

UART Signals We are going to pack as much information into 32 bits or 4 bytes as possible. Action/Information XBPi iCode iFun Situational Report TBD

Choice/Action Codes XBPiBin.Code for 000CBPi 101RBPi 202SBPi 303Action iCodeBin.Code for 00Stop 11Start iFunBinCode for 00000Idle 10001Forward 20010Reverse 30011Up 40100Down 50101Left 60110Right 70111CW 81000CCW 91001Nose up A1010Nose down B1011Claw C1100Torpedo 1 D1101Torpedo 2 E1110Drop F

Situation Report This will be a bit array, 2 bytes in length, containing information updated by the microcontrollers. The situation report will be fed back to the XBPi to correct accidental powering. If detected, it will be turned off quickly in a future transmission loop.

UART Signals Action/Information XBPi iCode iFun Situational Report TBD

UART Communication Loop UART Signal

BlackBerry Pi

SystemDesignationAbbreviationComputer Language "Black Box"BlackBerry PiBBPiPython Data recorder - logs the votes and actions - will assist us in determining malfunctions Command dispatch - forwards commands to microcontrollers

UART Communication Loop

µC performs action and updates XBPi & SitRep

UART Communication Loop

Maneuvering Indication Display

MID

UART Communication Loop

µC performs action and updates XBPi & SitRep

Robotic Claw Operation

µC performs action and updates XBPi & SitRep

Torpedo Launcher

µC performs action and updates XBPi & SitRep

Dropping Mechanism Operation

UART Communication Loop

XBPi passes signal to BBPi for documentation

UART Communication Loop

Power Requirements

Hydrophobe