1. Team BAKE Bryan Schoen Ashish Bablani Kelby Penney Evan Schurr
Watch Your Back!
Team BAKE
Bryan Schoen
Ashish Bablani
Kelby Penney
Evan Schurr

2. Overview of Presentation
Description of Mechanical Design
2. Description of Logic Circuit + Progress
3.Description of Motor,Drivers
4. Memory map, CPLD, Stepper
5. Milestone Targets & Work Distribution

3. Description
Wireless autonomous vehicle equipped with a camera and paintball gun
Sensors may include: motion, video, audio and light
Vehicle can be controlled by B communication
The data will be transferred back wirelessly to a computer with a controller (keyboard)
Data can be viewed and controlled in real time by a user interface

4. Gear System Created in Solid Works via Gear Trax 2 Spur Gears
Small gear will be attached to the shaft of the stepper motor and will displace the larger gear
Larger gear will have gun attached to it
Gear system will be
attached to the top of
this unit

5. Gears Gun Large Gear Small gear 1 of 2 Support Columns Stepper Motor
That Attach to the Platform
Stepper Motor

6. Servo Motor Driver LMD18200 Delivers up to 3A continuous output
3A H-Bridge motor
Bipolar circuitry
Accomodates peak output currents up to 6A
Delivers up to 3A continuous output
Operates at supply voltages up to 55V

7. PMI Piranha EFORCE EXT 9V input power for electronic trigger
C02 powered
Various modes – single shot, burst, full auto
Trigger controlled by solenoid piston
PROBLEMS!!!

8. Processor – Motorola HC11K1
16 bit address
8 bit data
8 MHz clock
4 PWM outputs for motor drivers
Memory map to the right
Uses accumulator A & B for data registers
Read and write data and address on
falling edge of E clock (1 MHz)

9. HC11/Memory/CPLD Schematic

10. Wire Wrapped HC11/Memory/CPLD

11. Memory Mapping Internal memory Ram Flash $0 - $0FFF $1000 - $7FFF

12. CPLD Logic Input Pins Output Pins Top 4 MSB address bits
Chip select to Ram when address bits are $1 - $7
Chip select to Flash when address bits are $8 - $F
Future chip select to DC servo motor drivers and Stepper motor driver
Add 2 more address bits

13. CPLD Schematic

14. Stepper Motor

15. A3967 Stepper Motor Driver Controlled by PWM output of microcontroller
Can microstep up to 1/8 of 1.8 degrees
Output current limit – 750 mA
Sleep function to minimize power loss
Thermal shutdown temperature of 165 degrees C

16. Stepper Motor Driver Schematic

17. Wireless Web Cam & Router
The WebCam
-Plug and play
-Great Resolution (640*480)
-Control of Movement
-Remote Management
The Router
-helps communicate between PC & WebCam
-helps in sending control signals to the WebCam

18. RS232 connection Max233A -Driver for the rs232 interface
-Dual transceiver and has internal capacitors (saves space on board)
The Adapter
-One end (DB9) connects to a PC or any other terminal.
-The other end provides a 4-pin header to connect to any micro controller board that requires serial I/O

19. Final Parts The Brain Clock – 8MHZ Data and address buffers -
Microprocessor – Motorola MC68HC11K1
CPLD – 44PIN -XC9572
Flash RAM
Rom - EEPROM
Test Pins
Power Strips
RS232 ports - MAX233A

20. Final Parts The Motor Servo Driver Chips , National Instruments
Stepper Driver Chips, Allegro A3967
Servo Motors, DC servo disc motors
Stepper Motor , Sure-Step
Power Strips

21. Final Parts The Others Base Platform Plastic Gear
“Air powered launcher”
Wireless Web Cam
Wireless Router
Solenoid
*RF transmitter (HAC-UM)
**Sensors

22. Hardware Implementation
44 pin
CPLD
Wireless
Web-Cam
Control signal
Serial
RS-232
Motorola
68HC11K1
Micro-Processor
Paintball gun
- trigger
Wireless transmission
Driver for
trigger
Rom
DC Motor Drivers
Ram
1 Stepper
Motor
Computer
2 DC Servo Disc Motors
Devices Built, incorporated & tested
Currently in progress

23. Timeline Status By Milestone 1 - We should have the following:
The servos motors – should be able to move as we expect it to, giving it the control signals from the computers keyboard it should move smoothly and in the appropriate direction.
The stepper motor – should also move up and down as required and also making sure that it also does this very smoothly (using the driver for this motor will allow us to take 1/8th of a single step 1.8Degrees / 8 = Degrees / Step)
The RS232 – making sure that giving the instructions from the computer is interpreted as required
Connection between our brain circuit with the motor circuit – this will enable us to use the brain part of the circuit to control the functions of the motor drivers which then will control the movement of all the motors.
Testing everything for basic functionality

24. Timeline Status By Milestone 2 - We should have the following:
More complex functions for our system – such as automated functions like the Valentines Day Massacre
Incorporate the RF device (HAC-UM) from SPARKFUN

25. By EXPO - We anticipate to have the following:
Timeline Status
By EXPO - We anticipate to have the following:
Have complete desired functionality of our system including
Complex Logic
Wireless Control
Ability to sense objects (to avoid crashes)
Smooth operation of all our motors
Smooth operation of our overall system

26. Distribution of Work Kelby Evan Bryan Ashish
-Setting up the stepper motor and driver
-Setting up the microprocessor + Ram + ROM + Buffers & CPLD
Evan
-Designing the Gear mechanism to hold the gun
-setting up the Servo motors and drivers
-Wireless Web-Cam setup + UI
Bryan
-Programming the CPLD
Ashish
Programming the microprocessor
Setting up the Servo Motors and drivers
RS232 Interface (between PC and board) + UI

27. Gantt Chart

28. Questions?