1. James Crosetto BS (Computer Science and Computer Engineering) Jeremy Ellison BS (Computer Science and Computer Engineering) Seth Schwiethale BS (Computer Science)

2.  project objectives  requirements/specifications  design issues/technology

3.  expanding the range of a remote control car  control car over network, similar to a printer  be able to have first person view of car’s location

5.  establish connection between rc car and driver’s computer  get real time visual feed  control rc car  user friendly GUI  backtracking (retracing to reacquire lost signal)

6. learning objectives 1. Understand Wireless Communication -Detecting availability of network -Efficient methods of sending and receiving data 2. Embedded Systems -Microprocessors -Assembly Language -C 3. R/C car design and functionality -What’s the controlling units -How do they work

7.  between rc car and user’s computer  TCP/IP protocol suite ◦ connection oriented ◦ reliable  sockets ◦ what are they?

8.  IP camera ◦ video stream ◦ wireless interface ◦ linux kernel  Axis® RTSP ◦ control protocol for media server ◦ “play” and “pause” type of commands ◦ control of media stream properties (bit rate, res, etc…)

9.  Power: 5.1 V DC, max 3.5 W  Alarm output (motion, audio, external)  Open API for software integration  CPU, video processing and compression; ◦ Ram: 32 MB ◦ Flash: 8 MB IP Camera

11. RTSP/RTP

12.  commands sent from user’s computer to camera  camera relays signal to microprocessor  microprocessor sends translated signal to car

13.  client/server  single connection  server on camera – C  client on user’s computer – Java

14.  create socket  bind socket to port  listen for connections  accept connection  send/receive data from connection

16.  since directions from client will be rapid ◦ don’t want to have to wait for acknowledgment

17.  since directions from client will be rapid ◦ don’t want to have to wait for acknowledgment  use non-blocking sockets ◦ allow communication between applications without blocking the processes using the sockets ◦ for example: java uses Selector and keys

19.  3 Leads: ◦ Ground ◦ V cc ◦ Pulse width modulation

21.  Square Pulse wave of 1.0-2.0ms repeats every ~20ms  Width of pulse determines the position of the servo with 1.5ms as the normal center  The amplitude of the pulse is from the reference level to the V cc  V cc = 4.6-6.0V

22.  4-pin I/O terminal ◦ 1 transistor output  Max load of 100mA  Max voltage of 24V DC ◦ 1 digital input  Can be activated or left floating ◦ Auxiliary power and GND  Max 5V DC, 2.5W  Connector for main power  Power to auxiliary equip, Max 50mA

23.  The output of the camera can be activated every 1/100 th of a second  Car steering box and speed control require differences of less than 1ms

24. RTSP/RTP

25. rtsp/rtp

26.  Receives and translates signals from the transistor output of the IP camera ◦ Camera signals are 100-185ms for steering and 200-285ms for speed control  Sends translated signals to steering box and speed control  Programmed with C and Assembly  Written, debugged, tested using CodeWarrior and a Dragon12 development board

28.  Every time the IP camera receives a command, it stores the command in memory  If a connection is lost, the camera sends signals to the car to make it backtrack  If a connection is reestablished, backtracking stops

29.  processing  can communicate directly to RTSP server on camera  have an instance of a client

32.  project objectives  requirements/specifications  design issues/technology