1. MSD P07302End of Project Review1 Motor Controller Subsystem MSD P07302 Project Sponsor: KGCOE Project Members: D. ShenoyProject Manager S. TallauSoftware Design M. OesterlingHardware Design L. DeSnotsSignal Conditioning A. KaraniHardware Layout R. GuptaPower Design R. CooperHardware Design

2. MSD P07302End of Project Review2 Outline:  Overview  Customer Needs  Design  Project Strengths/Weaknesses  Future Improvements  Q & A

3. MSD P07302End of Project Review3 Project Description: - An open source motor controller that is Scalable - Scalable: support for various vehicle platforms Reusable - Reusable: modular design Programmable - Programmable: reconfigurable functionality Reliable - Reliable - Must be able to sense, control and drive several motors using the CAN protocol.

4. MSD P07302End of Project Review4 Project Applications: - Foundation for future MSD projects - US First Robotics Competition - www.usfirst.orgwww.usfirst.org - Component in other research projects

5. MSD P07302End of Project Review5 Product Specifications: - PC104 form factor - Maximum CPU usage of 25% - 12V DC power supply - One hour run-time - Scalable motor controller - 10, 100, 1000 kg platforms 90 mm 96 mm

6. MSD P07302End of Project Review6 Design: Contains the power circuitry to provide the PC104 with the required power to operate. communicate CAN Contains the necessary components required to communicate with the motors using the CAN protocol. software Runs the main motor controller software system. The PC104 system operates using a “minimal” Linux operating system. PC104 Power PCBMotor Controller PCB PC104 system

7. MSD P07302End of Project Review7 Design: P07302: Motor Controller Subsystem Motor Controller and Power PCB can stack vertically on the PC104 platform All boards conform to the specified PC104 form factor Standard Connectivity (DB9 CAN connection)

8. MSD P07302End of Project Review8 Design: PC104  Contains C Program to issue motor commands CPLD  VHDL code implementing ISA and SPI. Handles Communication and Data between the PC104 and CAN. CAN Controller  IC that handles CAN Data CAN Transceiver  Sends and Receives CAN packets PC104 CAN Controller CPLD ISA bus SPI bus CAN Transceiver Rx Tx Motor Controller Data Flow:

9. MSD P07302End of Project Review9 Design: End of Design Software System –Instruction-Set Implementation –Menu-based Interface –Polling-based I/O –CPU Usage < 10%

10. MSD P07302End of Project Review10 Design: End of Design Hardware System –Protocol Functionality ISA Bus SPI Controller (CPLD) CAN Controller/Transceiver –Optional PWM Generator

11. MSD P07302End of Project Review11 Design: End of Design Cost Controller PCB Cost –$166.50 each for prototype –$75.60 each for ten –$27.41 each for fifty

12. MSD P07302End of Project Review12 Design: End of Design Cost Power Board PCB Cost (Estimated) –$130 each for prototype –$50 each for ten –$20 each for fifty IC Cost (for both boards) –$570 for prototype

13. MSD P07302End of Project Review13 PC104 Constraint Number of Protocols –ISA  SPI  CAN Concurrent Project Development –Inter-Project Dependence High Level of VHDL Complexity Design Weaknesses

14. MSD P07302End of Project Review14 Design Strengths Future Development Potential –Modular Design –Extensible Software –Easily Reconfigurable –Open Source

15. MSD P07302End of Project Review15 Design Strengths Hardware –Reconfigurable and Programmable CPLD –Open Source –CAN Controller and CPLD Allow for Added Functionality

16. MSD P07302End of Project Review16 Future Improvements Interrupt Handling Integration of Battery Power Real-time Control and Feedback –User Input –Application Interface Control and Drive Several Types of Vehicles

17. MSD P07302End of Project Review17 Questions?