1. Liter Liquid Tending Robot Julie Lam Kevin Chang Jason Smith Andrew Jenkins

2. Overview  Introduction, Purpose, and Features  Block Diagram  Microcontroller  FPGA  Peripheral Interfaces  Power Supply  Timeline  Risks and Contingency Plan

3. Purpose  Proposed project is an interesting prototype.  Dispensing chemicals not safe/desireable for human interaction.  Dispensing in an environment dangerous to human operators.

4. Objectives  Move using tracks and motor  Receive order by using Keypad and LCD  Delivering an assortment of drink through controlled valves  Read customer information (tab, name, preferences) through magstripe reader.  Follow route using sensors.  Pre-recorded voice prompts. Core Goals Extensions

5. Block Diagram

6. Microcontroller Jason Smith

7. Microcontroller Overview  Software ‘brains’ on a 68HC11  Manages memory-mapped ‘smart’ peripherals (LCD, Keypad, Audio)  Reads keypad state  Creates images for menu user interface on LCD.  Controls robot path following, with FPGA.  Debugging information out RS-232.

8. FPGA Kevin Chang

9. FPGA Overview  XCS10 FPGA device  Interface between microcontroller and ‘dumb’ peripheral devices.  Chip selection based on address bus  Registers for valve controls and motor controls.  Interrupt detector and interrupt controller.

10. Chip Selection  Reserve a portion of the address space to specify chip needed  Use a multiplexer to determine the appropriate chip from the address bus  Enable the appropriate chip

11. Interrupt Controllers  The HC11 only has two interrupt inputs  The FPGA must have an interrupt controller because we had so many devices  It lets the microcontroller know that an interrupt has occurred, and allows the HC11 to determine the specific device  Allows masking to disable certain interrupts

12. Registers for Motor and Valve Controls  FPGA contains registers to control the motor controls and valve controls.  Registers will contain information pertaining to the device and duration.  Valve controller - # of the valve.  Motor controller – revolutions to execute, direction, speed.

13. Peripherals Andrew Jenkins

14. Peripheral Devices Overview  Motor Controller for mobility.  Valve Controllers for liquid dispensing.  Graphic LCD Display for user’s menu.  Keypad for user’s selection.  Audio IC for voice prompts.  Sensor for path finding.  Magstripe readers for account balance, identifying information, queueing.

15. Valves  Considering: Lawn Sprinkler valves, medical equipment valves.  Relay, SSR or Power FET driven  Flow control by managing open time in FPGA

16. Motor Driver  Planned robotic base includes motors and matching H-Bridges.  Probable upgrade to stepper motors.  Purchase ASAP, so we can upgrade if necessary (weight).  Interface circuit to match FPGA drive characteristics, prevent damage to FPGA.

17. Power Supply Julie Lam

18. Power Supply Overview  From ~110VAC Wall outlet, fused.  Dual transformers (24V- Valve, LV Logic).  Bridge rectifier, linear regulators, filter capacitors.  Decoupling capacitance.  Must meet weight requirements of motor & base.

19. Timeline

20. Risks and Contingency  Inadequate funding  Remove robotic motion, emphasize on user interface.  Inadequate time to implement  Scale back – the design is modular.  Pre-determined path or simpler path following.  Eliminate problematic peripherals.  Errors on PCB  Early PCB Rev. 1, portions can be wirewrapped.

21. Budget

22. Conclusion