Software Design Team KANG Group 1

Major Components

Considerations General: Specific: Code must fit into 16K Flash Must be fast enough to be practical Switch between manual and automatic modes Specific: Reference position for motors (set at startup) Speed limit for motors (timer interrupts) Limit motion range Option to change camera settings Minimize noise on friendly detection interrupt

Main Infinite loop containing two sub-loops: Manual control Begin Manual/ auto Infinite loop containing two sub-loops: Manual control Auto control Manual mode Auto mode Revert to auto cmd? Got override? No No Yes

Auto Targeting Mode Operation Begin Manual mode Yes Ancillary Detect? Targeting disabled? No Yes Friendly detect interrupt No Camera to appropriate region Video algorithm Manual override interrupt Pan/tilt to acquire target Firing enabled? No Yes Fire weapon

Video Processing Begin Must fit within hardware (memory and speed) limitations Capture and store image Subtract and threshold from base background Received image? No Yes Subtract/thresh by pixel from base Finished? No Yes Find centroid of non-zero region Send coords to motor End

Motor Control (auto mode) Begin Count steps to track current position Must be “accurate enough” in positioning Vary speed according to SLERP Lookup coordinates Runs interlaced to video algorithm Ancillary sense? No Yes Targeting enabled? No Yes Move to region Got coords? No Yes Lookup translate

Motor Control (manual mode) Begin Limit speed to prevent instability Set limits for latitudinal and longitudinal motion Avoid wires being twisted Got move command? No Yes Get curr. pos. At limit? Yes No Move Set curr. pos. End

Ancillary Sensing Motion sensing Friendly remote shutoff May require sending a RESET signal Friendly remote shutoff Operates as interrupt to quickly disable fire control and targeting Begin Begin Input is low Last x reads LOW? No No Yes Yes Send motion detect Toggle targeting End Reset?

Manual Override SCI interrupt can disable automatic control SCI Receive SCI interrupt can disable automatic control Lookup then execute command Wait for command to re-enable Override? No Yes Continue Auto Mode Disable Auto Mode Wait for command Enable Auto Mode switch() lookup Command was revert to auto? Yes No Execute

Status Video Processing User Interface Motor Control Ancillary Sensors Setup interface to external RAM Test correct read with solid-color images User Interface GUI versus terminal Motor Control Basics developed Working out SLERP and lookup table Ancillary Sensors Waiting on two more sensors to determine detection regions

Questions?