S.T.E.V.E. (Speed Trap Enforcement VehiclE) Final Presentation Michael Hattermann April 16, 2002

Description 1.Wait for a speeding car 2.Chase after (follow) the speeding car 3.Pull over the speeding car

Electronics Board HC12 EEL4744 board –CPLD –8k EEPROM –Serial port –4 PWM channels –8 A/D ports –8 Input capture/Output compare ports 24k RAM memory(*) 1 LED output port Output port connected to dual 7-segment display Low battery indicator (*) Not all of it works

Platform Platform Design Goals Big enough to hold electronics board Look like a cop car

Actuation 2 DC gear head motors Motor Driver –National LMD18200 H-bridge –Optically isolated from electronics board

Obstacle Avoidance Sensors Sharp GP2D12 Analog IR detectors (40 kHz) Bump switches Features Smooth motor control Veer from distant objects Randomness

Object Following Features >180° field of vision Object avoidance when lost Speed control algorithm Sensors Hacked LiteOn IR detectors (56kHz)

Speed Detection Sensor Laser break-beam system LiteOn digital IR receivers (56kHz) Features Similar to real speed trap Know direction of passing object

Conclusion HC12 good, 4744 board bad DC motors worth the effort Need to integrate subsystems

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