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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.
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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
M68HC11K1Microcontroller • 4 MHz Clock • 16-bit addressing • 84-pin PLCC Package • Four 8-bit pulse-width modulation (PWM) outputs • Enhanced asynchronous serial communications interface (SCI) • Dual-function I/O lines — Any pins used for the microcontroller’s peripheral functions can be configured as general-purpose I/O lines M68HC11K 84-Pin PLCCC
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 Wireless Web-Cam 44 pin CPLD Control signal Motorola 68HC11K1 Micro-Processor Serial RS-232 Paintball gun - trigger Wireless transmission Driver for trigger Rom DC Motor Drivers Ram 1 Stepper Motor Computer 2 DC Servo Disc Motors
Work Distribution Brian Ashish Kelby / Evan • Documentation • Documentation • Documentation • Setting up the web cam • Programming the HC11K1 to control the DC motor drivers • Designing and implementing DC/DC motor drivers • Programming the HC11K1 to control the DC motor drivers • Designing and implementing stepper motor drivers • Designing and implementing trigger driver for paintball gun • Designing and implementing trigger driver for paintball gun • Designing a gear system for the stepper motor
References • "Freescale Semiconductor." M68HC11K Family Technical Data HCMOS M68HC11K Family. 2001. Motorola, Inc.. 12 Sep 2006 <http://www.freescale.com/files/microcontrollers/doc/data_sheet/M68HC11K.pdf>.