Capstone CDR Fall 2005 Team Doki Doki: Paintball Gun IR Sensing and Tracking Team Members: Matt Freeman James Kirby Juan Rivera

Capstone CDR Fall 2005 Presentation Outline Project Overview System Diagram –Input subsystem –Processing subsystem –Output subsystem Schedule Milestones Division of Labor Budget/Parts List

Capstone CDR Fall 2005 Project Overview Design a paintball gun auto-detection and tracking system Implement both manual control and automatic control based on IR sensing Stepper motors control gun movement Linear actuator pulls trigger Spartan-3 provides system control

Capstone CDR Fall 2005 System Diagram IR Sensors User Interface Data ADC /MUX Spartan-3 Data Control Stepper Motors Actuator LCD Gun IR Transmitter

Capstone CDR Fall 2005 System Input IR Sensors User Interface Data ADC /MUX Spartan-3 Data Control Stepper Motors Actuator LCD Gun IR Transmitter

Capstone CDR Fall 2005 IR Sensing IR λ emitted by humans is ~10μm –Requires exotic and expensive detectors Use matched IR detector/emitter pairs –Readily available, inexpensive HgCdTe

Capstone CDR Fall 2005 IR Transmitters Transportable independent target House in self-contained multiple LED flasher –Has different modes of operation Two IR LEDs for transmission and one visible LED for alignment and power confirmation

Capstone CDR Fall 2005 IR Sensors Mount in an array on gun barrel Both fine-tuning and coarse adjustment Shield from light for best results More precise final design

Capstone CDR Fall 2005 MUX One ADC, 8 analog inputs MC74HC4051: 8 to 1 analog switch Will require 8 cycles to refresh all IR readings

Capstone CDR Fall 2005 ADC IR sensors are analog, board input is digital AD7821: 8 bit parallel analog to digital converter V REF +/- allows for fine- tuning of voltage of one LSB

Capstone CDR Fall 2005 IR/MUX/ADC Schematic

Capstone CDR Fall 2005 Manual Control Interface Modified 8-bit NES controller Controls switching between operation modes Controls manual and calibration functioning

Capstone CDR Fall 2005 Manual Control Interface Parallel control hard-wired to MC14021B controller chip Input into board via 40-pin GPIO expansion port

Capstone CDR Fall 2005 System Processing IR Sensors User Interface Data ADC /MUX Spartan-3 Data Control Stepper Motors Actuator LCD Gun IR Transmitter

Capstone CDR Fall 2005 Spartan-3 Breakdown SPARTAN-3 RS-232 FPGA 40-pin GPIO MicroBlaze Serial LCD NES Control IR Data MUX/ADC Motor Drivers State Machine

Capstone CDR Fall 2005 State Machine CalibrationMoveUp MoveRight MoveDown Manual Automatic Fire Reset=1 NESLeft=1 NESSel=1 NESDown=1 NESUp=1 NESRight=1 NESB=1 NESRight=1  Transfer out of all move states and fire state controlled via variable PrevState  Automatic mode ignores all inputs except Reset and NESSel NESUp=1 MoveLeft NESLeft=1 NESSel=1 NESDown=1

Capstone CDR Fall 2005 State Machine Implementation Big switch statement –Registers keep track of both next state and previous state Digital lock prevents unwanted toggling Separate modules for clock division and display

Capstone CDR Fall 2005 Initial Software Testing First used Spartan-3 on-board I/O, then GPIO Successful behavior of state machine observed –Simulated and actual NES inputs all had correct effects –L/R and U/D position each visible on two 7-segment displays –Manual control working in software, yet to send pulses to motors

Capstone CDR Fall 2005 MicroBlaze MicroBlaze is a soft processor core from Xilinx for use in FPGAs Create an RS-232 interface for serial character LCD output Encapsulate Verilog state machine –Cannot directly interface with GPIO ports

Capstone CDR Fall 2005 System Output IR Sensors User Interface Data ADC /MUX Spartan-3 Data Control Stepper Motors Actuator LCD Gun IR Transmitter

Capstone CDR Fall 2005 Stepper Motors Provide gun left/right and up/down movement Chosen stepper motors have lots of torque Allow the system to know the position of sensor

Capstone CDR Fall 2005 Motor Driver Circuit Bipolar Stepper Motor Driver “H-bridge” design Interface between Spartan-3 and motors

Capstone CDR Fall 2005 Motor Driver Schematic

Capstone CDR Fall 2005 Actuator Linear actuator physically pulls trigger Chosen over servo motor for faster reaction –Can fire multiple times per second Mount directly on gun behind trigger –Spring-loaded trigger pulls actuator back out automatically after firing

Capstone CDR Fall 2005 LCD Character LCD chosen for ease of use Serial RS-232 LCD to interface with MicroBlaze Could display lots of different information –Initially: Debugging info –Gun position –Shots remaining –IR signal strength Not system-crucial

Capstone CDR Fall 2005 Paintball Gun Mounted on a Lazy Susan for left/right rotation Will fire “safe” ammunition for indoor testing

Capstone CDR Fall 2005 Updated Project Schedule

Capstone CDR Fall 2005 Milestone 1 Date: October 27 th Goal: Manual operation fully functional –NES Controller properly interfaced –Proper state machine operation –Working motor driver circuits (wire wrap) –Motors control gun movement

Capstone CDR Fall 2005 Milestone 2 Date: November 17 th Goal: Automatic operation functional –IR detector array finalized –Control logic (MUX, ADC) configured –Automatic state on FPGA taking data from IR sensors and sending out appropriate signals to motor drivers

Capstone CDR Fall 2005 Add-Ons for Expo Get serial character LCD configured via RS-232 using MicroBlaze Complete acrylic housing –Ability to see all “guts” of system Mount CMOS video camera on gun barrel

Capstone CDR Fall 2005 Division of Labor Matt – Circuit Design and System Integration James – Data Processing and Software Design Juan – Structure and Circuit Design and Implementation

Capstone CDR Fall 2005 Project Budget/Parts List

Capstone CDR Fall 2005 Questions?