Jason Holmes Matt Wickesberg Michael Piercy Matt Guenette Team 12 – Super Tank February 15, 2012

 Long Range Vehicle Control in collaboration with HKUST  Semi-autonomous tank  Controller – Android application  Video wirelessly transmitted from vehicle to controller  Using the Pandaboard

 An ability to send/receive/decode commands from a controller wirelessly  An ability to control direction/firing capability of a vehicle  An ability to autonomously avoid obstacles encountered by the tank  An ability to provide sensor feedback to a wireless controller  An ability to monitor a battery and prevent unexpected signal loss by alerting operator

 Power Sourcing and Distribution  Motor Driver Circuitry  Proximity Sensing Array  Serial Communication

 Everything powered by a 12v drill battery  Main motors run off of 10-12v  Efficient DC/DC switching regulators to drop 12v down to 5v and 3.3v  Microcontroller runs on 3.3v  Pandaboard runs on 5v  Coulomb counter used for battery monitoring

 L298 H-Bridge IC used for two main drive motors and turret motor  Require large heatsinks and channels must be tied due to current draw  Power MOSFET used for airsoft firing mechanism

 Infrared sensors distributed around the perimeter of the tank  Long Range sensors (20-150cm) used for object detection  Short Range sensors (3-40cm) used for ledge detection  Algorithm to handle object detection in software

 Used for all communication between the microcontroller and the Pandaboard  Commands received from controller  Status messages and sensor data sent to controller  ST3232 level translator used to interface with microcontroller UART

 Package – 64 pin LQFP  This package makes ports A, B, and C available  Main on-chip peripherals used are UART, PWM, ADC, and several GPIO

PinUseDescription PA0USART2_CTSUART to Pandaboard through level translator PA1USART2_RTSUART to Pandaboard through level translator PA2USART2_TXUART to Pandaboard through level translator PA3USART2_RXUART to Pandaboard through level translator PA4ADC12_IN4IR Extra – if blind spots are found with current configuration PA5ADC12_IN5IR Extra – if blind spots are found with current configuration PA6ADC12_IN6IR Extra – if blind spots are found with current configuration PA7ADC12_IN7IR Extra – if blind spots are found with current configuration PA8GPIO/PWMDrive Motor A – Enable PA9GPIO/PWMDrive Motor A - IN1 PA10GPIO/PWMDrive Motor A - IN2 PA11GPIOFiring Enable PA12 PA13ProgrammerTo JTAG Programmer PA14ProgrammerTo JTAG Programmer PA15ProgrammerTo JTAG Programmer

PinUseDescription PB0ADC12_IN8IR Sensor Input - Rear Left PB1ADC_IN9IR Sensor Input - Rear Right PB2 PB3ProgrammerTo JTAG Programmer PB4ProgrammerTo JTAG Programmer PB5ExtraPort out for extra (I2C) PB6ExtraPort out for extra (I2C) PB7ExtraPort out for extra (I2C) PB8TIM4_CH3PWM to 5V Regulator PB9TIM4_CH4PWM to 3.3V Regulator PB10 PB11 PB12ExtraPort out for extra PB13GPIO/PWMDrive Motor B – Enable PB14GPIO/PWMDrive Motor B - IN1 PB15GPIO/PWMDrive Motor B - IN2

PinUseDescription PC0ADC123_IN10IR Sensor Input - Front Ledge Detect PC1ADC123_IN11IR Sensor Input - Rear Ledge Detect PC2ADC123_IN12IR Sensor Input - Front Forward PC3ADC123_IN13IR Sensor Input - Front Right PC4ADC12_IN14IR Sensor Input - Front Left PC5ADC12_IN15IR Sensor Input - Rear Backward PC6GPIOTurret Motor – Enable PC7GPIOTurret Motor - IN1 PC8GPIOTurret Motor - IN2 PC9ExtraPort out for Extra (GPIO/Timer) PC10GPIOCoulomb Counter HDQ – main communication interface PC11GPIOCoulomb Counter RBI PC12