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Watch Your Back! Team BAKE Bryan Schoen Ashish Bablani Kelby Penney Evan Schurr Overview of Presentation 1. Project Description 2. Project Design 3. Proposed Additional Features 4. Timeline / Labor Distribution 5. Cost / Risk Introduction and Purpose • Watch Your Back! is a wirelessly controlled amphibious vehicle armed with a camera with abilities to perform a wide variety of human tasks – Ability to transport items from one room to another – Can be used to enter hazardous situations, analyze the situation and risks, and perform necessary actions – Eliminates threats to human lives in a battlefield when equipped with a gun – Home/Business Security – Recreational Objectives • Eliminate threats to human life – Will equip the amphibious vehicle with a paintball gun and camera – Will be able to control from a remote location • Have ability to maneuver and fire from remote location – View all data and react in real time Description • Wireless amphibious vehicle equipped with a camera and paintball gun • Sensors may include: motion, video, audio and light • Vehicle can be controlled by 802.11B communication • The data will be transferred back wirelessly to a computer with a controller (keyboard or PS2 controller) • Data can be viewed and controlled in real time by a user interface Mechanical Aspects • Pre-assembled Metal Mobile Platform • Two 8 Inch Wheels • Two 2 Inch Stabilizing Wheels • Vertical motion Gear DC Motors/Gun Trigger • Two 9FGHD Ferrite Series ServoDisc Motors • 0.9 Deg/Step Stepper Motor • Push Type Tubular Solenoid PWM Controlled Motor Drives • Two DC/DC Converters with PWM Input • Input Voltage 12V • Output Voltage 0-15 V • Inverter Switch for Reverse Control M68HC11K1 Microcontroller • • • • 4 MHz Clock 16-bit addressing 84-pin PLCC Package Four 8-bit pulse-width modulation (PWM) outputs • Enhanced asynchronous serial communications interface (SCI) • M68HC11K 84-Pin PLCCC Dual-function I/O lines — Any pins used for the microcontroller’s peripheral functions can be configured as general-purpose I/O lines Memory • RAM – 64 Mb SDRAM • ROM – 64 Mb • 44 Pin - CPLD – Used to store data Wireless, Camera & Controller • 802.11g wireless control • VGA (640x480) quality wireless camera with integrated audio • Sony Playstation controller for horizontal/vertical movement and trigger controls Mandatory/Extra Features • • • • • • • Mandatory Features 360 degree horizontal movement Vertical movement of gun Trigger control Integrated wireless control & video Extra Features Valentine’s Day Massacre (VDM) button Audio output Various sensors (wall, drop-off, etc.) Possible Problems & Risks • TIMING! • Recoil of gun & stability • Weight/friction & current limiting the DC motors • Smooth rotational movement of the motors • Exceeding the motor specifications Hardware Implementation 44 pin CPLD Wireless Web-Cam Wireless transmission Serial RS-232 Motorola 68HC11K1 Micro-Processor Control signal Driver for trigger Paintball gun - trigger Rom Ram Computer DC Motor Drivers 2 DC Servo Disc Motors 1 Stepper Motor Estimated Costs Price # Units Total 9FGHD Ferrite Series Servo Disc Motor (x2) $704.00 2 $1,408.00 68HC11K1 Microcontroller (x2) $20.00 2 $40.00 12V Car Battery $100.00 1 $100.00 LinkSys PTZ Internet Camera $255.00 1 $255.00 Paintball Gun $200.00 1 $200.00 Misc (Resistors, Caps, Inductors, Inductor cores, heat sinks, etc) $100.00 1 $100.00 Stepper Motor $140.00 1 $140.00 PS2 Controller $20.00 1 $20.00 Gear System Parts $50.00 1 $50.00 RAM and ROM $100.00 1 $100.00 Gun supplies (Ammo, CO2, etc) $50 1 $50.00 Total $2,463.00 Work Distribution Ashish •Documentation •Programming the HC11K1 to control the DC motor drivers •Designing and implementing trigger driver for paintball gun Kelby / Evan •Documentation •Designing and implementing DC/DC motor drivers •Designing and implementing stepper motor drivers •Designing a gear system for the stepper motor Brian •Documentation •Setting up the web cam •Programming the HC11K1 to control the DC motor drivers •Designing and implementing trigger driver for paintball gun Gantt Chart References • "Freescale Semiconductor." M68HC11K Family Technical Data HCMOS M68HC11K Family. 2001. Motorola, Inc.. 12 Sep 2006 <http://www.freescale.com/files/microcontroll ers/doc/data_sheet/M68HC11K.pdf>. Questions? / Comments ?