ECE 477 Design Review Group 1  Fall 2005 Paste a photo of team members here, annotated with names of team members. Kwun Fung Yau Chad Carrie Zubin Rupawala Manoj Jacob

Outline Project overviewProject overview Project-specific success criteriaProject-specific success criteria Block diagramBlock diagram Component selection rationaleComponent selection rationale Packaging designPackaging design Schematic and theory of operationSchematic and theory of operation PCB layoutPCB layout Software design/development statusSoftware design/development status Project completion timelineProject completion timeline Questions / discussionQuestions / discussion

Project Overview Remote Controlled vehicle with a water cannon mounted on a pan/tilt turret along with a cameraRemote Controlled vehicle with a water cannon mounted on a pan/tilt turret along with a camera Controller by a remote user at a PC via b Wireless and navigated by the video cameraController by a remote user at a PC via b Wireless and navigated by the video camera Intuitive PC interface (designed to be controlled like an FPS game – Mouse + WASD)Intuitive PC interface (designed to be controlled like an FPS game – Mouse + WASD) Sensors mounted on vehicle for obstacle avoidance and possible target detectionSensors mounted on vehicle for obstacle avoidance and possible target detection

Project-Specific Success Criteria 1.Ability to steer and drive the vehicle remotely 2.Ability to use a TCP stream over Ethernet to control the vehicle using a PC (keyboard & mouse) 3.Ability to control the aiming of the water cannon on two axes of movement using a real-time video feed 4.Ability to shoot the water cannon using a diaphragm pump 5.Ability to detect and avoid obstacles using onboard sensors

Block Diagram Collision Sensors (4 Sensors) Turret Servos (2 Servo) Turret Servos (2 Servo) Turret stepper Controller Turret stepper Controller Water Cannon Pump Control Water Cannon Pump Control Water Cannon Pump Microcontroller Personal Computer Ethernet + Wireless Bridge b WIFI Drive Train Controller Drive Train Motor Webcam

Component Selection Rationale Microcontroller – Freescale MC9S12NE64CPVMicrocontroller – Freescale MC9S12NE64CPV –CodeWarrior – reliable IDE –80 pins –Built in Ethernet interface –ATD (for sensors) –PWM (for motors) Other choices – Rabbit RCM3000 ? No! No ATD!

Webcam – Linksys WVC11BWebcam – Linksys WVC11B –Wireless-B Video Camera (Built in WEB server)(Built in WEB server) Water pump – Hargraves Advanced Fluidic Solutions LTC W diaphragm pumpWater pump – Hargraves Advanced Fluidic Solutions LTC W diaphragm pump –30 PSI (5 to 7 feet) (w/o nozzle) Pan / Tilt servo – Devantech SRF0XPan / Tilt servo – Devantech SRF0X Component Selection Rationale

SensorsSensors –Analog – Sharp GP2Y0A02YK (20cm to 150cm) –Digital – LynxMotion IRPD Ver 2.0 (4” to 26”) directional output (L / R / C )directional output (L / R / C ) BatteryBattery –19.2V battery pack from Hummer H2 (Steering servo) –Sanyo KR1400AC +12VDC Battery (All components)

Component Selection Rationale Vehicle Platform - 1:6 R/C Full-Function "Tricked" HummerVehicle Platform - 1:6 R/C Full-Function "Tricked" Hummer –Nice Plastic Shell –Include battery pack –Huge Size

Packaging Design

Similar Commercial Product -Adventure Cam

Schematic/Theory of Operation THE MICROCONTROLLER CIRCUIT

Ethernet Crystal Schematic Created following the recommended FreeScale SchematicCreated following the recommended FreeScale Schematic

IR Sensors2 and Servos IR Sensors2 (Front and Rear) have an analog output so they’re connected to the ATDIR Sensors2 (Front and Rear) have an analog output so they’re connected to the ATD Servos are connected to the TIM channels which can be used as simple PWM’sServos are connected to the TIM channels which can be used as simple PWM’s Servos are 3.3V logic capableServos are 3.3V logic capable 0.1uF capacitors were added as bypass capacitors to the IR Sensor2’s0.1uF capacitors were added as bypass capacitors to the IR Sensor2’s

IR Sensors (Digital) IR Sensors are Digital sensors that require 2 control signals and 1 status signal to the microcontrolle rIR Sensors are Digital sensors that require 2 control signals and 1 status signal to the microcontrolle r 0.01uF capacitors were added as bypass capacitors0.01uF capacitors were added as bypass capacitors

Power Options and Optional LED’s “Power Options” were added to allow for expandability“Power Options” were added to allow for expandability Each power option allows for a 5V 1A loadEach power option allows for a 5V 1A load The schematics for the Power Options were built using the Vishay Si1865DL application notesThe schematics for the Power Options were built using the Vishay Si1865DL application notes Both require 1 pin to turn on or off the switchBoth require 1 pin to turn on or off the switch

Power Supply Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max)Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max) Each of the two 5V regulators have a Shutdown control which is isolated internally from the outputEach of the two 5V regulators have a Shutdown control which is isolated internally from the output The 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all timesThe 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all times The Master Power Switch will disconnect both the 19.2V battery and the 12V batteryThe Master Power Switch will disconnect both the 19.2V battery and the 12V battery The capacitors on the 5V regulators were given as an example in an application note for the regulatorsThe capacitors on the 5V regulators were given as an example in an application note for the regulators Overkill on the input and output capacitors was decided to be better than underkillOverkill on the input and output capacitors was decided to be better than underkill

RJ45 Circuit This schematic was recommende d in the FreeScale datasheetThis schematic was recommende d in the FreeScale datasheet

Water Pump The switch is a SUD50N02-06 Vishay Power MOSFETThe switch is a SUD50N02-06 Vishay Power MOSFET The gate of the MOSFET is controlled by the microcontroller to turn it on and offThe gate of the MOSFET is controlled by the microcontroller to turn it on and off The MOSFET also has a built in flyback diode rated at 30AThe MOSFET also has a built in flyback diode rated at 30A The water pump is a 12V motorThe water pump is a 12V motor

PCB Layout

Layout – Top Right Webcam (1A) and Wireless Bridge (1A)Webcam (1A) and Wireless Bridge (1A) IR Sensor2 (Analog) (0.2A)IR Sensor2 (Analog) (0.2A) RJ-45 jackRJ-45 jack Microcontroll er and its capacitorsMicrocontroll er and its capacitors Power MOSFET (0.5A) for the Water PumpPower MOSFET (0.5A) for the Water Pump Servos (0.75A )Servos (0.75A )

Layout – Bottom Right Ethernet LED’sEthernet LED’s Debug 3x2 HeaderDebug 3x2 Header Light LED HeadersLight LED Headers Ethernet CrystalEthernet Crystal

Layout – Top Left Power Traces (215mils, 7A & 180mils, 5A)Power Traces (215mils, 7A & 180mils, 5A) 3.3V Regulator (.5A)3.3V Regulator (.5A) Intelligent PWM H-Bridge (1A)Intelligent PWM H-Bridge (1A) IR Sensor (Digital) (0.2A)IR Sensor (Digital) (0.2A) Master Power Switch DPDTMaster Power Switch DPDT 33uH inductor for 3.3V Regulator33uH inductor for 3.3V Regulator

Layout – Bottom Left 5V Regulators (2.5A each)5V Regulators (2.5A each) Power Option Load Switches (1A each)Power Option Load Switches (1A each) 2x1000uF input capacitors on each 5V Regulator2x1000uF input capacitors on each 5V Regulator

Software Design/Development Status Two PartsTwo Parts –PC Interface (VS.NET 2003 C#) Kbd / MouseKbd / Mouse TCP ClientTCP Client –Microcontroller Subroutines (Codewarrior C) Servo controller subroutinesServo controller subroutines TCP interface (server) routinesTCP interface (server) routines Development StatusDevelopment Status –PC Interface Specs, TCP communication, input captureSpecs, TCP communication, input capture –Microcontroller Rudimentery TCP server (OpenTCP Stack)Rudimentery TCP server (OpenTCP Stack) Logic for servo controllers designedLogic for servo controllers designed

Project Completion Timeline

Questions / Discussion