Single Player Foosball Table with an Autonomous Opponent ECE 4007 Senior Design Team FIFA Dr. James Hamblen Michael Aeberhard Shane Connelly Evan Tarr Nardis Walker Preliminary Design Review October 16 th, 2007

ECE 4007 Team FIFA School of Electrical and Computer Engineering Project Overview Develop an automated human vs. machine foosball table  Low-cost  Competitive play Prototype is a modification of a normal foosball table Player assumes one side, a computer controls the other side Source: Gauselmann

ECE 4007 Team FIFA School of Electrical and Computer Engineering System Overview Servo Control Board Image Processing PC Webcam Foosball Table Servos USB 2.0 RS-232 Physical Bi-directional UART and PWM

ECE 4007 Team FIFA School of Electrical and Computer Engineering Image Processing Use webcam for image input  SPC-900NC chosen for 90FPS  USB 2.0 allows 480Mbit/s Use PC for image processing  Java Media Framework used for software processing Allows easy acquisition using a single command As fast as C for media processing: up to 250FPS  Localization and prediction performed in real time

ECE 4007 Team FIFA School of Electrical and Computer Engineering Image Processing Acquire new frame from webcam Scan all pixels for yellow ball Ball found? Kalman Filter Acquire new frame from webcam Search localized area for yellow ball Store current position Predict position at next frame Yes No

ECE 4007 Team FIFA School of Electrical and Computer Engineering Servo Controller A controller board is used to control the servo motors  Servo motors interact mechanically with the handles of the foosball table  Microchip PIC18F4520 microcontroller Software for microcontroller written in C AX-12 servos used for the lateral motion of handles PWM servos used for the rotational kicking motion

ECE 4007 Team FIFA School of Electrical and Computer Engineering AX-12 servos controlled by a bi-directional UART data bus  Each servo identified by a unique ID  AX-12 communications protocol  Read, write, write all, status instructions used to control and obtain information from the servos AX-12 powered by a separate 9.6V source  Typical servo current draw: 1A each  Prevents power overload from microcontroller Each PWM servo controlled by a pulse-width- modulated signal from the microcontroller Servo Communication

ECE 4007 Team FIFA School of Electrical and Computer Engineering AX-12 Servo Communication Source: Robotis AX-12 User Manual

ECE 4007 Team FIFA School of Electrical and Computer Engineering SPI Module kBit/s RS-232UART kBit/s Servo Control Block Diagram PIC18F4520 Microcontroller MAX3100 UART MAX232 Transceiver SPI 10 MBit/s PC EPWM Module EUSART Module AX-12 Servo AX-12 Servo AX-12 Servo AX-12 Servo UART 1 MBit/s PWM Servo Lateral Motion Kicking Motion PWM Signals

ECE 4007 Team FIFA School of Electrical and Computer Engineering PC-Controller Communication RS-232 physical interface from PC to microcontroller UART data communication between PC and microcontroller at kBit/s Custom communication protocol Data bits for communication message 0-1: Always [ 1, 0 ] 2: Control Bit (1 = special command, 0 = servo control) 3: Servo Type Select (0 = AX-12, 1 = PWM) 4-5: Servo Addressing (00 = 1, 01 = 2, 10 = 3, 11 = 4) 6-15: Positional Value

ECE 4007 Team FIFA School of Electrical and Computer Engineering Mechanical Assembly Top-Down View PWM Servo (Rotational) AX-12 Servo (Lateral) Nylon Track Nylon Gear (Attached to Servo) Nylon Gear Nylon Track Foosball Table Side View

ECE 4007 Team FIFA School of Electrical and Computer Engineering Current Status Mechanical assembly  Goalie handle assembly complete  Currently testing the design Servo control board  Successful AX-12 communication/control  Successful PC communication Image processing  Preliminary tracking software completed  Processing successfully at over 200FPS

ECE 4007 Team FIFA School of Electrical and Computer Engineering Goals and Issues Need to successfully test mechanical operation  Once completed, duplication of design is easy  Critical item – needs to be completed to continue development Implement and test PC-microcontroller communication Webcam acquisition rate is low  Currently at 10 FPS  Goal: at least 60 FPS Begin developing gameplay AI