faculty review presentation group 7 jason dumbaugh artiom bell koltan riley ii kift knight...

Faculty Review PresentationGroup 7

Jason DumbaughArtiom Bell

Koltan Riley II

KIFTKnight Industries Five Thousand

UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

• Purpose:– School of Electrical Engineering and Computer Science exit

requirement– To build a fun, working Senior Design project that won’t break

the bank.– To develop a project that is useful to the military, as well as

other government agencies.– To introduce a product that the everyday consumer will be able

to use.– To learn the dynamics of as many electrical components as

possible (Bluetooth, GPS, Microcontroller programming, sensors)

Project Overview


Knight Rider’s K.I.T.T. had:• Pursuit Mode – high-speed

driving mode where KITT was in control of the car, allowing for autonomous movement.

• Infrared Tracking Scope – allowed KITT to sense objects within 10 miles

• Global Positioning System – KITT was outfitted with a state of the art GPS system, allowing it to locate its objectives.

Inspiration


KIFT has:• Pursuit Mode – The ability to drive itself without user input.• Tracking Scope – KIFT is be able to sense dangerous walls and

other objects and maneuver around them.• Global Positioning System – KIFT is be able to locate objectives

and drive to them without a driver.

Key Design Objectives


• KIFT should have a minimum of 30 minutes battery life while in operation

• GPS should sample KIFT’s current position every one second• Sonar sensors should trigger evasion within 18 inches of an

object• KIFT should be able to switch seamlessly between MANUAL

mode and PURSUIT mode

Project Goals


• Color: Jet Black• Total vehicle length: 17.25 “• Total vehicle height: 5.75”• Total vehicle weight: 4.4 lb• Total vehicle ground clearance: 1.25 “• Total sensors: 3• Total battery sources: 2• Total battery life: ~45 min.• Vehicle max speed: 21 mph• Vehicle min speed: 0 mph

Project Specifications


Block Diagram


Bluetooth Controller

Bluetooth Module

MicrocontrollerGPS

Sensor 1

Sensor 2

Sensor 3

Drive Train

Responsibility Chart


Mobility

PCB Prototyping

Sensors

Bluetooth

GPS

Power

Programming

0% 20% 40% 60% 80% 100%

JasonArtiomKoltan


HARDWARE

Hitari K.I.T.T. • 1:15 scale Replica of vehicle

in Knight Rider• Cost Efficient for a RC

Vehicle ($65 USD)• K.I.T.T. comes fully

assembled

Chassis Selection


Downsides of using Hitari K.I.T.T. • Not easily modifiable

– Shell is heavy– Shell isn’t quick release– Schematics not available

• Too small, no room for components

• Too many internal circuits• Factory installed circuit cards

make modification and manipulation difficult.

Chassis Selection


Evader• 1:10 scale to 2WD stadium

truck• Reasonable cost for a

Hobby RC Vehicle ($100 USD)

• Due to the minimal use of circuit cards in the Evader, the chassis is light enough to increase battery efficiency

• Ample space for our circuitry

Chassis Selection


KIFT chassis

• Integration of KITT theme: • Maintaining KITT light

scanner• Jet black paintjob• Bright headlights

Design Objectives


Need Bluetooth connection• Should be capable of Class II minimum• Should be able to implement Bluetooth 2.0 or Bluetooth 2.1 +

EDR• Needs to support most Bluetooth profiles• Should be cost efficient

Communication Interface


Bluegiga WT32• HID (Human Interface

Device) profile and many others

• Bluetooth 2.1 compliant• Integrated Antenna• Class II: ~30m range• USB, UART, PCM, SPI• Low Power Consumption• Cheap ~$50

Bluetooth ® Chip Selection


Bluetooth ® Mate RN-41• Simplicity in establishing

communication.• Specifically designed to

work with Arduino development boards.

• Capable of operating in harsh RF environments such as WiFi, and ZigBee.

Bluetooth ® Chip Selection


Playstation3 SIXAXIS• Bluetooth Capabilities• The Range of Motion within

30 ft.• SIXAXIS™ Technology• Battery Life ( 30 Hrs.)• Rechargeable (USB Charger)• High amount of input

buttons

Bluetooth ® Controller


Negatives of Playstation3 SIXAXIS

• Proprietary hardware difficult to get a technical manual or schematics.

• Modifying the pairing sequence of the Bluetooth is challenging due to the fact that Playstation 3 controller is design to always pair with a PS3 system

Bluetooth® Controller


MSI Wind netbook• Bluetooth Capabilities• Ability to pair with multiple

Bluetooth devices• The Range of Motion within

30 ft.• Battery Life ( 6 Hrs.)• Rechargeable• High amount of input

buttons

Bluetooth® Controller



LPC2148• 60MIPs ARM processor with 512k

flash• Runs with simple robust protocol

on UART, SPI, I2C• All FAT, USB, and peripherals are

accessible from Java Programs• USB device• All I/O pins are 5 V tolerant• Enumerates as a USB mass storage

Microcontroller Selection


ALFATxp• Can be easily used with any

microcontroller including PIC, AVR

• 2 Serial Ports• More prototyping room• Supports MultiMedia Card

(MMC) and Secure Digital• All features of the

Uberboard• Java Virtual Machine • Unoccupied I/Os

Microcontroller Dev Board


Downsides of using ALFATxp• Expensive• Limited support from

manufacturer• Difficult to program• Bulky and too large for

chassis



Arduino Mega• Inexpensive• Massive support network

through forums• Large amounts of sample

code available• Small size• Expandable board capability



Arduino Mega Specifications• AVR Atmel ATmega1280

microcontroller• 54 Digital I/Os

– 12 of which are capable of PWM

• 14 Analog inputs• 5V operating voltage• 4 UARTs• Powered by USB, Barrel

Jack, or 7-12V battery input



EM-408• Inexpensive• Easy to implement in project• Lightweight• Relatively small• Easy to mount to chassis• Optional MMCX antenna connection

GPS Selection


EM-408 specifications• SiRF III Chipset• 20-Channel Receiver• Extremely high sensitivity : -159dBm• 10m Positional Accuracy / 5m with

WAAS• Hot Start : 8s / Warm Start : 38s / Cold

Start : 42s• 75mA at 3.3V• 20gram weight• Outputs NMEA 0183 and SiRF binary

protocol

GPS Selection

Devantech SRF05• Easiest technology to adopt

(Sonar)• Lightweight• Inexpensive• Easy to implement into

project• Code readily available

Sonar Sensor Selection


Devantech SRF05 specifications• TTL Interface (0 and 1)• Min range: 3cm radial• Max range: 4m radial• 40kHz frequency• Easy to manipulate• Moderately priced ~$30 each• Need 4 sensors

Sonar Sensor Selection


Power Supply


• Primary: Duratrax Starter Battery Pack – required for the EVADER.

• Secondary: 9V battery – designed to power the other

electrical components of the vehicle (GPS, Bluetooth, Sensors, Microcontroller)

Primary Power Supply


Duratrax Starter Box Power Pak DTXP4600

• Contains: AC wall Charger, 2 1500mAh 7.2V 6 cell flat battery (Ni-Cd) packs

• Charger: Capable of fully recharging the battery pack in a 2-3 hour time frame.

• Inexpensive ~$40

Secondary Power Supply


• Source: 9V Battery• Capable of providing the necessary constant voltages to the

electrical components.• Components operate at either 3.3V or 5V

Other Interfacing Aspects


• GPS– Connected to MegaKIFT’s UART 2 (RX2 and TX2) via a 5-pin surface

mounted header• Bluetooth

– Connected to MegaKIFT‘s UART 1 (RX1 and TX1) via a single 6-pin header• Propulsion

– The MegaKIFT sends out two PWM signals through two 3-pin headers for Left/Right and Forward/Reverse controls

• Sensors– Three 3-pin headers are used from the Digital pins of MegaKIFT

• KIFT Scanner– The KIFT light scanner is connected to a single 6-pin header on MegaKIFT

MegaKIFT’s PCB layout


MegaKIFT’s PCB layout


Sponsored by:


MegaKIFT v1.0• Based off of Arduino Stacker• Custom PCB design for the

layout of electrical components of KIFT.

PCB Prototype


SOFTWARE

Programming


• GPS module:

Serial2.begin(4800);

pinMode(GPS_RX,INPUT);pinMode(GPS_TX,OUTPUT);

Serial2.println("$PSRF103,00,00,00,01*24"); //disables GGASerial2.println("$PSRF103,01,00,00,01*27"); //disables GLLSerial2.println("$PSRF103,02,00,00,01*26"); //disables GSASerial2.println("$PSRF103,03,00,00,01*27"); //disables GSVSerial2.println("$PSRF103,04,00,01,01*21"); //enables RMCSerial2.println("$PSRF103,05,00,00,01*21"); //disables VTG

Programming


• GPS module:

char dataformat[7] = "$GPRMC";messageline[0] = Serial2.read(); if(messageline[0] == 36){ //checks for ‘$’ i++; for(i=1;i<70;i++){ messageline[i] = Serial2.read(); } if (strncmp(messageline, dataformat, 6) == 0) { for(i=0;i<69;i++){ Serial.print(messageline[i]); }

Programming


• GPS module:

$GPRMC,005745.000,A,2836.0507,N,08111.8536,W,0.66,103.92,291109,,*15

Latitude: 2836.0507Longitude: 8111.8536

Programming


• Sonar Sensors:

#define SS1_PIN 25 //defines pin variable

pinMode(SS1_PIN,OUTPUT); //sets as output

digitalWrite(SS1_PIN, LOW); // pulls low delayMicroseconds(2); //delays 2uS digitalWrite(SS1_PIN, HIGH); //pulls high delayMicroseconds(10); //delays 10uS digitalWrite(SS1_PIN, LOW); //pulls low again pinMode(SS1_PIN,INPUT); //changes to input

Programming


• Sonar Sensors:

//waits for SS1 pin to run high with pulse return, //times out after 30mspulseTime = pulseIn(SS1_PIN, HIGH, 30000);

delay(50);objDistance = pulseTime/148; //converts to

inchesSerial.println(objDistance);pinMode(SS1_PIN,OUTPUT); //resets output

Programming


• Autonomous Mode:

#define PWM1_PIN 45#define PWM2_PIN 7

pinMode(PWM1_PIN,OUTPUT);pinMode(PWM2_PIN,OUTPUT);

TCCR5A = B00100001; // Phase and frequency correct // PWM change at OCR5A

TCCR5B = B10010; // prescaling the system clock

OCR5A = 14970; // 66.8002672HzOCR5B = 1497; // 10% duty cycle

Programming



objDistance[1] = runSonar1();objDistance[2] = runSonar2();

if((objDistance[1] > 24) && (objDistance[2] > 24)){ while((objDistance[1] > 24) && (objDistance[2] > 24)){ CENTER(); FWD(); }}

Programming



else if((objDistance[1] < 24) && (objDistance[2] > 23)){ while((objDistance[1] < 24) && (objDistance[2] > 23)){ LEFT(); FWD_avert(); } } else if((objDistance[1] >23) && (objDistance[2] < 24)){ while((objDistance[1] >23) && (objDistance[2] < 24)){ RIGHT(); FWD_avert(); } }

Programming



else if((objDistance[1] < 24) || (objDistance[2] < 24)){ EVADE(); }

Programming



void EVADE(){ REV_STOP(); for(i=0;i<15;i++) REV(); FWD_STOP(); objDistance[1] = runSonar1(); objDistance[2] = runSonar2();

Programming



if(objDistance[1] < objDistance[2]){ LEFT(); for(i=0;i<10;i++){ FWD(); } } else{ RIGHT(); for(i=0;i<10;i++){ FWD(); } }

Programming



void STOP(){ OCR5B = 1400; OCR5B = 1500;}

void FWD(){ OCR5B = 1625; objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); if((objDistance[1] < 24) || (objDistance[2] < 24)) REV_STOP();}

void REV(){ CENTER(); OCR5B = 1340; objDistance[3] = runSonar3(); Serial.print("Reverse Sensor: "); Serial.println(objDistance[3]); if(objDistance[3] < 18) FWD_STOP();}

void REV_STOP(){ OCR5B = 1220; delay(20); STOP(); Serial.println(OCR5B);}

void FWD_avert(){ if((millis() - temp_millis) > 100){ LEDsequence(); temp_millis = millis(); } OCR5B = 1625; //delay(10); //Serial.println(OCR5B); objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); if((objDistance[1] < 24) || (objDistance[2] < 24)) REV_STOP(); //loop();}void FWD_STOP(){ Serial.println("Forward STOP"); OCR5B = 1400; OCR5B = 1625; delay(15); STOP(); Serial.println(OCR5B);}

void CENTER(){ Serial.println("CENTER"); OCR4B = 1400; OCR4B = 1504;}

void LEFT(){ Serial.println("LEFT"); //for(i=1504;i>1272;i--) OCR4B = 1250;}void RIGHT(){ Serial.println("RIGHT"); //for(i=1504;i<1931;i++) OCR4B = 1931;}

Testing


• Stage 1– GPS acquisition– Sensor response

• Stage 2 – PWM control with sensors– Bluetooth pairing

• Stage 3– Autonomous mode using sensors– GPS location algorithm– User interface

Testing


Video


Project Details

Project Timeline


• September: Began PCB design. Acquired ALFATxp development board and Evader chassis. Acquired and programmed GPS module.

• Early October: Acquired first Bluetooth module. Acquired and programmed sonar sensors.

• Late October: Acquired second Bluetooth module and attempted pairing with SIXAXIS controller. Acquired Arduino Mega development board.

• Early November: Produced initial object avoidance algorithm. Ordered custom PCB.

• Mid-November: Incorporated object avoidance algorithms with Pursuit Mode. Installed components on MegaKIFT PCB. Decided to switch to laptop interface.

• Late November: Acquired final circuit board and installed components. Final testing.

Kift’s finances



End of Presentation

Demonstration


KITT at CES 2009 in Las Vegas

faculty review presentation group 7 jason dumbaugh artiom bell koltan riley ii kift knight...

Documents