1. Coordinate Based Tracking System
Group: OX

2. Overview

3. Current Status of Project
CDR:
Main Board Schematics
Obtain Main board parts
Motor board schematics
Assemble microcontroller board
Get processor running

4. Schematics Microcontroller Power Circuit Reset Circuit
Microcontroller Circuit
Memory

5. Microcontroller Power Circuit

6. Reset Circuit

7. Micrcontroller Circuit

8. Memory

9. RS232 Interfaces

10. Test Program for HC11

11. Software Flow Sources interrupting Microcontroller
On board serial port
Off board UART
Nintendo Controller
The on board serial port will be interrupted by our monitor program, and will be used to execute programs
The Nintendo Controller will be used for controlling the software flow.

12. Software Flow Cont.

13. External Instructions
These external instructions will be received and sent using an off-board UART using RS-232.

14. User Movement

15. Preloaded Sequences
Sequences making the motors direct in various shapes such as squares, triangles, ellipses will be generated from the processor and sent to the motor controllers.

16. Polling the Motor Controllers
The motor control IC’s will have to be polled to determine if the motor has reached desired location
This will best be implemented by sending the motor X and Y coordinates and waiting for idle state.
This will take the major bandwidth of the system.

17. Xilinx XCS10

18. FPGA Progress
Memory Map Logic
NES Controller Logic

19. Memory Map 32 Kbytes EPROM 32 Kbytes RAM 10 bytes Peripherals LCD
Motor[X]
Motor[Y]
NES Controller
UART
ISR Pointer

20. Memory Map Logic

21. Interrupt Service Routine (ISR) Pointer
Problem:
Several Devices need external interrupt
Only one non-maskable external pin in HC11
Solution:
Implement ISR Pointer in FPGA
Pointer Register in Memory map
Read pointer as it was memory from the FPGA

22. Peripheral Timing
NES needs special signals to provide push button mechanism
Enable (E) on LCD needs to pulse after LCD address has been put on the Bus.

23. NES Controller Needs special signals provided by FPGA logic
Will be memory mapped to address 0005H
Can be read as normal memory

24. NES Controller Timing Diagram

25. NES Controller Logic
Logic to Create Pulse and Latch Signals

26. NES Controller Logic Cont.
Logic to read in data from NES Controller

27. Overall Logic

28. The HCTL1000 Why are we using it? Made for the job
Varying control options
Closed Feedback loop
Easily Programmed

29. Schematic for HCTL1000

30. HCTL Block Diagram

31. Using the HCTL Setup Registers Send Commutator positions (1 reg)
Commutator (5 reg)
Control Mode (1 reg)
Send Commutator positions (1 reg)
Feedback makes sure its in position

32. The Commutator Four phase output Programmable for Half step
Reduced to two phase output
Programmable for Half step
Run phases with different offset
Steps with PWM
Pulse time and width programmable for varying mode operation

33. The Schematic (again)

34. Feedback and the Filter
Digital feedback for filter control
Accepts distance change, filters PWM
3 Registers for filter parameters
Gain, Pole, and Zero
Used in position control mode

35. HEDM5605 #J06 The Feedback for the HCTL1000 1024 Counts per rotation
Much higher than required specifications
Dual phase output
Set register on HCTL to read properly

36. Allegro: 3964 Dual Full-Bridge PWM Motor Driver

37. How an H-Bridge works:
Forward mode, switches A and D closed. Reverse mode, switches B and C closed. * H-Bridge is the mechanical equivalent of a DPDT Switch.

38. Functional Block Diagram

39. Motor Control with 3964

40. A Mount for Stepper Motors

41. Added Components

42. Our Mount for Stepper Motors

43. Objective Timeline CDR: Main Board Schematics Obtain Main board parts
Motor board schematics
Assemble microcontroller board
Get processor running
Milestone 1: 
Obtain Motor Board
Assemble Motor board
Finish and test microcontroller hardware
Implement Game Pad interface

44. Objective Timeline (Cont)
Milestone 2:
Monitor program running
Implement interface with motors
Real Time Embedded system PC104+ module
Expo:
Run Demo modes for the laser
Receive XY and control laser
Calibrate stepper motors for tracking

45. Timeline