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Preliminary Design Review
By:
Alireza Veiseh
Anh-Thu Thai
Luai Abou-Emara
Peter Tsang
Introduction
• Goal:
–To allow students to learn basic programming concepts by
controlling movements of a toy tank via a set of instructions.
Overview
• Parts List
• Design Scheme
• Modules:
–
–
–
–
–
–
–
Electronic Compass
Radio Frequency Module
Oscillator
Sonar Ranging Module
XSV-300
Remote Control
User Interface
• Design Issues
• Current Status
Parts List
Part Name
Tank
Manufacturer
Part #
Supplier
Cost
Hobby Zone
2050
CSE lab
$99.95
Compass
Precision Navigation
V2X
CSE lab
$49.95
Virtual Wire Development Kit
RF Monolithic
DR1004-DK
CSE lab
No
Sonar Ranging Kit
Polaroid
R11-6500
CSE lab
No
XSV-300 Board
Xilinx
XSV300
CSE lab
No
PIC
Micro-Chip
PIC16F876
CSE lab
No
Oscillator
FOX
F1100E
CSE lab
No
Transistors
Radio Shack
276-1617
Self-Supl.
$2.69
Resistors
Unknown
Unknown
CSE lab
No
Capacitor
Unknown
Unknown
CSE lab
No
PC
Dell
Unknown
CSE lab
No
Batteries
Unknown
Unknown
CSE lab
No
Design Scheme
Electronic Compass Vector 2X
• Purpose:
– to measure the rotation angle of the Etank
• Requirements:
– Power consumption: 5V (+/- 0.25V)
– Maximum data frequency: 1 MHz
• Data interpretation in binary mode:
Header
MSB
…
LSB
0000000
0
1010110
0
0
1
0
1
0
1 1 0 0
256
128
64
32
16
8 4 2 1
128
+
32
+ 8+4
= 172 °
Compass – PIC Interface
Compass:
– Operates in slave mode
– Performs I/O in binary
format
PIC:
– Provides the clock for the
compass
– Receive interrupt from EOC
– Reads data from SDO
– Resets compass
– Polls data periodically from
the compass
RF Transceiver
• Purpose:
– To provide a communication channel between the remote and the central
component of the Etank
• Requirements:
– Power Consumption: 2.7V - 3.5V
– Operation Frequency: Internal clock with 916.5 MHz radio
frequency
– RS232 serial communication port with 19200 bps
• RF Packet format:
Packet
Format
To/From
Mess. ID
Mess. Size
SOT
Mess. Type
Mess. Body
EOT
Number
of Bytes
1
1
1
1
1
1-31
1
Range of
Value
h32
h01-h07
h01-h32
h02
Sonar: h31
Compass: h32
…
h03
RF Transceiver – PIC Interface
RF Transceiver:
– Communicates using RS232
protocol with peripheral
devices (PIC and XSV-300)
PIC:
– Periodically retrieves data
from the compass and the
sonar
– Encodes them separately
into specific format that RF
requires
– Sends them to RF for
transmission
Oscillator – PIC Interface
Oscillator:
– Provides the clock for PIC
(20 MHz)
Sonar Ranging Kit
• Purpose:
– To measure the distance of objects from 6 inches to 35 feet away. The
accuracy is +/-1% of the reading over the entire range
• Components:
– Polaroid 6500 Ranging Module
– Transducer
– Cable
• Requirement:
– Power Consumption: 4.5V – 6.8V
– Operation Frequency: 49.4 KHz
Sonar-PIC Interface
Sonar:
– Operates in single-echo
mode.
– Transmits sound wave
and gets the echo
reflected off of the
border.
PIC:
– Triggers the input signal
of the sonar module and
turn on its timer at the
same time.
– Receives the interrupt
from sonar and turns off
the timer.
– Calculates the distance
of Etank to the border
using the response
delay.
XSV-300 board
• Purpose:
– Central component that arbitrates the system
• Requirements:
– Power Consumption: 9.0V
– Operation Frequency: 25 MHz
– I/O Pin voltage level: 5.0 V
XSV-300 Operation
• Receives a destination from the user as a (command, units)
pair
– A command can be move forward, turn right or turn left.
– Destination units are specified as turn angles or distance units.
•
When a new destination is received, XSV will decode data
from Etank and determine how to control the tank.
– If it was commanded to move forward, the units are interpreted
as distance units
– If it was commanded to turn, the units are interpreted as turning
angles.
• Receives (distance, direction) pair information from Etank at a
constant rate.
RF Transceiver – XSV-300 Board
XSV-300 board:
– Receives data from Etank
through the RF serial port.
– Serial Signal is +/- 12 V, but
XSV operates at 0-5 V
– To make the serial signal
operate in the positive range,
we use the signal to switch a
transistor which is connected
across the remote control’s 9V
battery.
– We reduce the 9V to 5V with a
voltage divider.
PC -- XSV-300 -- Remote Control Interface
PC:
– Sends to XSV-300 board
one set of instructions at
a time:
• Forward, distance
• Backward, distance
• Left, angle
• Right, angle
XSV-300 board:
– Processes the data
received from the remote
component
- Controls the remote
control using four pins
Etank’s Remote Control Channels
Channels:
- Four output bits control the
channel
- Each bit controls a channel
as shown below:
Command
LB
RB
LF
RF
Move Forward
0
0
1
1
Move Backward
1
1
0
0
Turn Left
1
0
0
1
Turn Right
0
1
1
0
User Interface
• Will be a GUI application that allows a user to send instruction
to Etank
• Will be programmed in C++
• Will communicate through the parallel port using the
DLportIO.lib and DLportIO.dll interfaces, which we studied in
CSE467
Design Issue
• Tank:
– The compass determines position at the rate of 5Hz, which is too
slow comparing to the speed of the tank
• Between XSV-300 board and RF Transceiver:
– A glitch appears in the beginning of the RF packet
Current Status
Completed:
Protocol to control the Compass using the PIC
Protocol to control the Sonar using the PIC
Protocol to control the RF using the PIC
Protocol to move/turn the Etank using XSV-300 and the remote control
Protocol to communicate with XSV-300 via serial and parallel interfaces
Integrating RF with the XSV-300
To be completed:
Integrating compass, sonar and RF protocols
Implementing a user interface application for the Etank
Interfacing the remote and the central components via RF
Debugging the system and finalizing the design
Ordering caps and gowns for the graduation party!!!
Summary
• Parts list
• Implementation
– Remote components
o
o
o
o
Electronic Compass
Radio Frequency Module
Oscillator
Sonar Ranging Module
– Central Components
o XSV-300
o Remote Control
o User Interface
• Design Issues
• Current Status