2004 CAPSTONE CDR Team SAFE Members Anders Fornberg Alejandro Henriquez Shannon Lahr Aaron Lyons Sean Groves Shannon

Presentation Overview Project Overview System Specification Subsystem Design Processor & FPGA Power & Structures Sensors & Motors Current Status and Project Goals Shannon

Project Description Modified RC car that can sense an accident threat and take corrective action Detects and Prevents multiple accidents Head on Collisions Merging into blind spots Backing into Stationary Objects Shannon

Modes of Operation 3 Modes of operation 1) User has complete control of the RC car. 2) Primary: SAFE System provides audible warning when an accident is immanent. If corrective action is not taken than Safe System takes control. 3) When accident is immanent, SAFE System takes immediate action and assumes control from the user. Shannon

System Overview Aaron

Interface Specification Aaron

Interrupt Type Aaron

Current Speed Aaron

Speed Action Aaron

Turn Action Aaron

Core Microprocessor MC68HC11E0 Basic Functionality Manager Memory access Data execution FPGA IRQ requests Sensors LCD control 20x4 DMC-20434N RS232 Communication Downloading Data Alex

FPGA XCS10 Basic Functionality Work Horse Read Sensors Chip Select Send Interrupts (XIRQ) Provide HC11 with: Interrupt reg. Speed reg. Distance reg. Receive Data from HC11 Speed Action reg. Turn Action reg. Interrupt car control Speed Controller Steering Controller Alex

Memory Map Alex

Power Shannon

Power Continued 20ft tether to power car during testing 3 9V batteries in parallel for expo 150mAh/battery = 450mAh Expected mAh of project: Board = 100mA 6 Sensors = 180 mA LCD Screen = 4.5mA Total = Approximately 300mA Shannon

Structures Shannon

Structures Continued Shannon

Structures Continued Shannon

Structures Continued Shannon

Drive/Steering Motor Control Anders

Steering Motor Waveform Pulse Steering Motor Motor Burst Rate20ms Forward Pulse Width1.5ms Max Left1ms Max Right2ms Slight Left1.4ms Slight Right1.6ms Anders

Pulse Drive Motor Burst Rate20ms Neutral PW1.5ms Max Forward PW1ms Max Reverse PW2ms Vmax4.125 Drive Motor Waveform Anders

Sensor Package Problems Encountered Voltage level would drift for various reason Highly Dependent on surface tilt and material Non linear output at large distances “Sort of” reliable at < 40 inches Needed use of op-amp, AC to DC, and A-D converter Anders

Sensor Package SRF04 Voltage5v Current30mA Typ. 50mA Max Maximum Range3 m Minimum Range3 cm DensitivityDetect a 3cm diameter stick at >2 m Size1.75”w x.625”h x.5” d Anders

Sensor Data Equation For Linear Section t=.1461*d Anders

Sensor Field Anders

Current Status Processor and Memory Sean

Processor and Memory Wired and tested Runs Code from EPROM Fully functional RAM Serial Port Construction New clock Sean

Current Status FPGA and EPROM Sean

FPGA and EPROM Sean

Problems Encountered Learning Curve Wire-wrap Issues B-scan for FPGA Xilinx project navigator link to Impact Power-Ground Short Inaccurate Part Specifications Labeling Sean

Division of Labor Aaron Lyons Software Development Core Microprocessor RC Car Test & Modification Alex Henriquez Core Microprocessor Software Development Sensors Anders Fornberg Sensors RC Car Test Motor Control Sean Groves Power Core Microprocessor Motor Control Shannon Lahr Motor Control Power RC Car Test Everyone Documentation Project/Deadline Management Lead for the task Sean

Milestone 1 FPGA control of drive/steering and Chip Select Sampling from Sensors Interrupt Controller Dip Switches RS232 Communication Sean

Milestone 2 Boot Monitor LCD Implementation Mounting Specifications LED/Audio Integration Subsystem Integration Multiple Mode Operation Sean

Future Concerns Physical limitations that software can not cope with Tracking Speed of Sensors Board integrity during testing Low Speed Response Sean

Project Scheduale Project Schedule Sean

Parts List/Cost Estimate Sean

QUESTIONS???