RED ROVERRED ROVER

Team CPNECrossen DavisPeter Ramer

Nancy RobinsonEric Rodriguez

Red Rover SystemRed Rover System

Camera w/audio

Temperaturesensor

UltrasonicTransducer (2)

Accelerometer

LCD

Base Station SystemBase Station System

MC68HC11

CLOCK

AddressBus

Driver

AddressBus

Driver

1 21 2

Reset Circuit

DataBus

Driver

RAM

EPROM

SerialDataFrom

Computer

Transmitterto

Vehicle

Receiverfrom

vehicle

Reset

Power distributed to all chips

CLK

8 Data

8-14 Address

Vdd Vss

Vehicle Processor SystemVehicle Processor System

MC68HC11

CLOCK

AddressBus

Driver

AddressBus

Driver

1 21 2

Reset Circuit

DataBus

Driver

RAM

EPROM

decoder

SerialDataFrom

Computer

Transmitterto

Base station

Receiverfrom

Base station

Reset

Power distributed to all chips / Separate Power for motors

CLK

8 Data

8-14 Address

Vdd Vss

Camera w/audio

Temperaturesensor

Accelerometer

LCDUltrasonicTransducer

receiver

UltrasonicTransducertransmitter

4motors

PWM

H-bridge

M68HC11 ProcessorM68HC11 Processor

8 bit data and 16 bit address16 bit timer system8 bit pulse accumulatorReal time interrupt7 8 bit registersInterfaces to both local and remote peripherals

Processor circuit diagramProcessor circuit diagram

Reset & Voltage RegulatorReset & Voltage Regulator

Lynxmotion Robot ChassisLynxmotion Robot Chassis

4 7.2V motor chassisRoom inside for additional

electronicsCan carry 5lb load

Able to stack decks on topLow or high clearance

Micro-Motor ControllerDecoder

1 for each motor

Micro Dual Serial Motor Micro Dual Serial Motor ControllerController

Contains 2 parallel H-bridges

They allow for bi-directional control of 2

motors127 different speedsMaximum current 2A

PWM frequency of 750Hz

-

+

m0p

o

Gnd Vc

c

m0n

o

SCI

Mot

or B

atte

ry

m1p

o

m1n

o

Res

et4.

7k

2

1

Vdc

FPGA

Motor

Input is made with 4 bytes of infoStart byte is most significant bit

devicetype=0x00

start byte0x80

motor#, direction

motorspeed

4 bytes input to SCI

……Input to Serial Control InputInput to Serial Control InputoInput of 4 byteso non-inverted logico 8 bits at a time, no start bit, 1 stop bito MSB read first and last bit must be clearo To configure: need to send 3 byte packet

start byte = 0x80 change configuration = 0x02 new settings, 0x00-0x7F

6 5 4 3 2 1

0 x x x x x x x

bit 7 bit 0 Bit 6: = # of motors, so in our case, =1Bits 0-5: motor #, in our case, 1-4

After configurations set: programming protocol:4 bytes

start byte = 0x80 device type = 0x00 motor # and direction motor speed

Bit 0: direction (1 forward, 0 backward)Bits 1-6: motor numberBit 7: always 0

Bit 7: always 0Remaining: 0x00 turns off motor 0x7F turns fully on f0 in reverse brakes

TransceiverTransceiver•433Mhz Multi-Channel RS-232 Serial RF Transceiver

•10 selectable channels

•Three baud rates: 9600, 19200, and 38400 bps

•-104dBm sensitivity

Camera and AudioCamera and AudioMiniature and

Lightweight1.2 GHz

Needs 8-9V power supply

RC connection for receiver

Resolution 380 linesRotates w/ horizontal

motorMotor movement

controlled by PWM for slow movement and

limited angleConnected directly to

monitor

Digital Temperature SensorDigital Temperature SensorDS18S20DS18S20Gives 9 bit centigrade temperature

Upper and lower programmable trigger points

1-wire bus/ LSB first-55°C to 125°C

Accuracy within .5CCan power from data line or Vcc

Data stored in 16-bit sign-extended two’s complement number in its own

temperature register

VehicleMicroprocessor

DS18S20

Gnd DQ Vdd

1-wire bus

Vpu

4.7k

Ultrasonic 25kHz TransducersUltrasonic 25kHz TransducersExcited by 25kHz square waveFilters out signals outside 24-

26kHz bandTransmitter transducer driven by 10 cycle square waves and receiver transducer receives

echoTimer on HC11 counts time for

the return echo Speed of sound 1100ft/s

So object (1100 x t)ft away

VehicleMicroprocessor

Receiver

Transmitter

Burst of sound waves to object

Corresponding echo

Timer

start

stopAmplifier

Accelerometer Breakout Accelerometer Breakout Board - ADXL E8 SeriesBoard - ADXL E8 Series

2 axis acceleration and tilt sensorLow power <.6mADirect interface to microcontrollers via duty cycle modulation (DCM)Duty cycle=pulse width/periodDCM measured by counter/timer to determine accelerationAcceleration = (T1/T2-.5)12.5%T2

T1

T2=Rset/125Mohms

HC11Counter/timer

ADXL202E

YPXP

GND

VDD

YA

XAVdd

Vdd

LP Filters

LCDLCD

16x4 character displayHD44780 parallel

interfaceUses HD44780U LCD

Driver

Vss Vcc Vee Rs R/W E DB0-7

LCD

Vcc

VehicleMicroprocessor

SoftwareSoftware

Microprocessor data manipulation and peripheral interface in assembly and C++

User interface programming in C++

Using Tera Term for monitor program

Considering FPGA programmed using Verilog

Done so far…Done so far…

Most of the processor done and awaiting testing.

Will be done with both processor boards with testing by Monday

Started ordering parts

Parts listParts list

•Base Station Processor Board, w/ M68HC11, EPROM, RAM,,…

•Vehicle Processor Board, w/ same components Pololu Robot Chassis

•Digital Temperature Sensor•Accelerometer•2 Transceivers•Graphic LCD

•Camera w/ audio•2 Ultrasonic Transducers

ScheduleSchedule

Division of labor and Division of labor and responsibilitiesresponsibilities

Crossen: Vehicle processor, Code, Chassis & Motors, Temp Sensors

Peter: Vehicle processor, Code, LCD, Accelerometer

Nancy: Base station, Code, Transducers, User’s Manual

Eric: Base station, Code, Transceiver, Video

Questions/Comments