RAVE Remote-Controlled Assault Vehicle Andy Knutsen Scott Helgeson Susan Jordan Johnny Lam Matt McBurney

Overview Project Overview Rover Chassis Communications Turret System Main Board Parts List Milestones Division of Labor Updated Calendar Conclusion

Project Overview Remote Controlled Assault Vehicle Control Via RS-232 RF Wireless Transmitter/ Receiver Java GUI Interface Full Turret and Vehicle Control Semi-Automatic Firing Capability

Rover Chassis Main Components: Steering servo motor Drive motor Control signals Drive motor is analog Servo motor

Servo Control Signals

Communications Overview User Interface Sending Information Packets Devices Receiving

User Interface GUI Using Java swing JBuilder Separate Rover from Turret Easy to use Have a drop box for amount of time Size Limit

Sending Information Send button is pressed Grab Command List Encode using packets Java Communications version 2.0 API

Packets Consist of: Header Instructions about data Destination Payload/Data/Body Padded Trailer Easy to modify

Packets pt. 2: Our Encoding Header 3 bits Start Bit Device Select Body 7 bits Command Signals Device dependent Padded Trailer 2 bits Signifies end of packet

Sequence Diagram User uses GUI to send 2 commands to Rover :RaveGui:RaveEncode:RaveComm addCommand() encodeRMovement() getType() encode() send() getType() encodeTMovement() > RS232 > User sendCommand()

RS232 Devices ATX8/ARX Wireless 400 ft range 418 MHz AM 9 volt snap battery 2400 baud One-Way Communication Plug and Play ARX8 ATX8

Receiving ARX Treat as Interrupt Store command list in memory Allow for separate rover and turret movement.

Communication Baseline Above Baseline Two way communication CRC(Cyclic Redundancy Check) More Robust Commands User Feedback

System Board Overview Power, Reset and Communications Circuit Main System Board Circuit Glue Logic Circuit Parts List Interface Block Diagram

Power, Reset, and Comm. Circuitry

Main System Board

Glue Logic (FPGA) Circuitry

Parts List

Interface Block Diagram MC68HC11 D/A H-Bridge Circuits Turret Stepper Motors Drive and Steering Motors RF Receiver RS-232 Solenoid Firing Trigger

Turret - Gun Parts for the trigger box and turret will have to be machined

Turret

Stepper Motor Mechanics 90 degree phase shift between coils Less than 30 Hz (for the motor we’ve already got) 4-wire bipolar permanent magnet

More on Steppers Control Sequences

Milestones Milestone 1 Communication GUI Completed Gun Parts Machined Turret Motor Interface Turret Hardware Assembled Milestone 2 Communication Packet Design and Encoding Gun Test Firing Mechanism Turret Interface with Board

Division of Labor Main Board – Matt, Johnny Communications – Johnny, Susan Chassis – Scott, Susan, Andy Turret – Susan, Scott, Andy User Docs – All Technical Manual – All

Updated Calendar

Conclusion On schedule Over baseline possible Prototype over budget Possible design issues