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Preliminary Schematic and Hardware Design

Jason Holmes Matt Wickesberg Michael Piercy Matt Guenette Team 12 – Super Tank February 15, 2012. Preliminary Schematic and Hardware Design. Project Overview. Long Range Vehicle Control in collaboration with HKUST Semi-autonomous tank Controller – Android application

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Preliminary Schematic and Hardware Design

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  1. Jason Holmes Matt Wickesberg Michael Piercy Matt Guenette Team 12 – Super Tank February 15, 2012 Preliminary Schematic and Hardware Design

  2. Project Overview • Long Range Vehicle Control in collaboration with HKUST • Semi-autonomous tank • Controller – Android application • Video wirelessly transmitted from vehicle to controller • Using the Pandaboard

  3. PSSCs • An ability to send/receive/decode commands from a controller wirelessly • An ability to control direction/firing capability of a vehicle • An ability to autonomously avoid obstacles encountered by the tank • An ability to provide sensor feedback to a wireless controller • An ability to monitor a battery and prevent unexpected signal loss by alerting operator

  4. Theory of Operation • Power Sourcing and Distribution • Motor Driver Circuitry • Proximity Sensing Array • Serial Communication

  5. Power Sourcing and Distribution • Everything powered by a 12v drill battery • Main motors run off of 10-12v • Efficient DC/DC switching regulators to drop 12v down to 5v and 3.3v • Microcontroller runs on 3.3v • Pandaboard runs on 5v • Coulomb counter used for battery monitoring

  6. Motor Driver Circuitry • L298 H-Bridge IC used for two main drive motors and turret motor • Require large heatsinks and channels must be tied due to current draw • Power MOSFET used for airsoft firing mechanism

  7. Proximity Sensing Array • Infrared sensors distributed around the perimeter of the tank • Long Range sensors (20-150cm) used for object detection • Short Range sensors (3-40cm) used for ledge detection • Algorithm to handle object detection in software

  8. Serial Communication • Used for all communication between the microcontroller and the Pandaboard • Commands received from controller • Status messages and sensor data sent to controller • ST3232 level translator used to interface with microcontroller UART

  9. Hardware Design • Package – 64 pin LQFP • This package makes ports A, B, and C available • Main on-chip peripherals used are UART, PWM, ADC, and several GPIO

  10. Hardware Design – Port A

  11. Hardware Design – Port B

  12. Hardware Design – Port C

  13. Preliminary Schematic

  14. Serial Interface

  15. DC/DC Switching Regulator

  16. Coulomb Counter

  17. Motor Drivers (L298 H-Bridges)

  18. Questions?

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