|
|
|
| ||||||||||||||||||||||||||||||||||||
|
|
|
| ||||||||||||||||||||||||||||||||||||
Thursday, February 21, 2008
ASCII code
Software Architecture of Kyubot
Program flow chart
Picture looks a little crappy but this flow chart represent basic concept of the software architecture of Kyubot.
Remarks
ISR stands for Interrupt Service Routine
Each process enclosed by colored diagram runs independent from one another.
Tuesday, February 19, 2008
SD memory Card Module
This SD memory module is for programming the waypoints for the robot and data logging.
This module is almost ready to use and just need some wiring and attaching the indicators on the board.
It communicate with MCU using serial protocol @ 19200 bps.
GPS module
GlobalSat BU-353
Water-Proof USB Mouse GPS Receiver - SiRF Star III (BU353)
I finally can get coordinate data from this small GPS module.This gps module has some pros and cons.
One of the advantage of using this module is that it's relatively cheaper than other GPS module from SIRF.
SIRF is well known for their reliable product line of GPS modules.
However, since this device was designed to be used built in USB serial port, I have to hack it and jump the wire which was connected to the serial input for Serial->USB chip inside the module.
If you want to avoid messing around this, I definitely recommend buying BU-255 model which can be directly connected to serial port.
TECHINCAL DATA OF THE DEVICE
Chipset SiRF Star III (firmware version 3.1.1 with WAAS Support turned on by default)
Frequency L1, 1575.42 MHz
C/A code 1.023 MHz chip rate
Channels 20 channel all-in-view tracking
Sensitivity -159 dBm
Accuracy Position 10 meters, 2D RMS
5 meters, 2D RMS, WAAS enabled
Time 1us synchronized to GPS time
Datum WGS-84Acquisition
Reacquisition 0.1 sec., average
Hot start 1 sec., average
Warm start 38 sec., average
Cold start 42 sec., average
Dynamic Conditions -> Altitude: 18,000 meters (60,000 feet) max
-> Velocity: 515 meters /second (1000 knots) max
-> Acceleration: Less than 4g
Jerk 20m/sec × 3<> Dimension: 53mm diameter, 19.2mm height
-> Cable length: 1.5 meters
Operating temperature -40°C to +85°C
Friday, February 15, 2008
Weekly Report 5
Weekly Reports
Date: 2/12/08
Student Name: Kyuhyong You
Instructors: Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
University of Florida
Department of Electrical and Computer Engineering
EEL 5666
Intelligent Machines Design Laboratory
Weekly Report 5
What I have done so far.
Hardware
- Motor driver with encoder attached (PID not yet completed)
- Steering Servo initialized and functional
- LCD module initialized
- GPS module initialized – Work needed to decode data from GPS module
l Accelerometer initialized but not attached to the MCU
Software
- Timer interrupt for PWM signal
- Pulse accumulator interrupt for encoder
- SCI interrupt for serial interface to get data from GPS and send data to LCD module
- ATD interrupt to capture analogue signal from potentiometer
- Parsing the GPS data
For next week
Design the cover for the car.
Connect accelerometer module to the board and make functional.
Wait for sonar to be shipped as soon as possible.
Make the SD flash memory card module to be functional.
Weekly Report 4
Weekly Reports
Date: 2/04/08
Student Name: Kyuhyong You
Instructors: Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
University of Florida
Department of Electrical and Computer Engineering
EEL 5666
Intelligent Machines Design Laboratory
Weekly Report 4
I ordered a GPS receiver from online shop. The receiver is BU-353 Water-Proof USB GPS Receiver equipped with SiRF Star III. It has several advantages. First of all it’s only $37 rather than $100 module. Secondly, its reacquisition time is 0.1 seconds which means it cab refresh coordinates very fast enough to be used for small model car. Thirdly, it has accuracy of less than 5 meters relatively smaller than 10 meter ones.
In cons, it needs to be hacked to be used for my project. It comes with built in USB port which might used for USB-Serial interface. If I can find Rx and Tx line then it can be plugged in SCI port in the MCU.
For next week
Hack the GPS module
Receive data
Find way to use the data in embedded software
Weekly Report 3
Weekly Reports
Date: 1/31/08
Student Name: Kyuhyong You
Instructors: Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
University of Florida
Department of Electrical and Computer Engineering
EEL 5666
Intelligent Machines Design Laboratory
Weekly Report 3
During the week I’ve been trying to use my new LCD module with backlight. Another one I have been used has serial interface so that I don’t have to be bothered to make I/O interface but now I need to use I/O ports to control this LCD module.
PID controller needs more work. Only the software programming is needed. This can be done in a week.
Now the car has a steering wheel! I found the center position of the period of the PWM signal for the main servo. I attached Hitec HS-5925MG digital servo for doing it and it works pretty well.
For next week
Make the LCD useful for my project
Find good GPS module
PID gain tuning
Weekly Report 1
Weekly Reports
Date: 1/17/08
Student Name: Kyuhyong You
Instructors: Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
University of Florida
Department of Electrical and Computer Engineering
EEL 5666
Intelligent Machines Design Laboratory
Weekly Report 1
I thought about building a robot embedded on a RC car which can park the vehicle by itself. By searching the internet, I found somebody had done this before and works fine. After looking at those kind of works, I can decide what kind of stuffs needed to make it work.
First of all I definitely need to have a RC car and I found one which is large enough (1/10 scale) to accommodate sensors and boards from the Hobbytown USA in Gainsville. It will cost me about $90.
For the motor controllers, since the motor inside the vehicle is quite not unreliable so I will attach an encoder to feedback the speed of the motors. I found one from the ebay and ordered it on January 16. This one cost me about $34 include shipping.
Stegmann Sick Optical Encoder 1140 PPR
I haven’t decided yet about the sensors but I’m thinking about using two SONARs in front and rear of the vehicle so that it can measure the distance between other cars. I also searched on the web and the prices are about $30 each.
For next week
Order SONARs, Vehicle platform, Battery.
Test the encoder and board.
Make power supply board both for 5v and 3.3v DC.
Thursday, February 14, 2008
STEGMAN RD 20 Encoder
Resolution: 1440 ppr (pulse per revolution)Type: Optical incremental encoder.
I purchased this decent encoder from ebay for $40. which was great deal. Because usually this kind of optical encoders are very hard to get and even more expansive then $100
More info can be found here
http://www.stegmann.com/product/incremental/index.html
Wednesday, February 13, 2008
Free Accelerometer!
This module is a +-2.5g-10g Three Axis Low-g Micro Accelerometer from Freescale.
This is very small yet sensitive accelerometer from Freescale.
This sensor can detect velocity of each 3 axis x, y, z and output as voltage level signal.
By connecting each pin out to ADC channels in MCU, velocity can be measured easily.
Parts required to finish
3x 1k ohm resister (for each signal output)
4x .1uf Capacitor (noise attenuation)
You can get free sample of this wonderful accelerometer by simply ordering sample from this address. You can order up to 3 items at once.
http://www.freescale.com/webapp/search/MainSERP.jsp?Product%20Type=Products/055M939346251269%60%60Sensors&isComparison=false&SelectedAsset=Orderable%20Parts&pageSize=25&showCustomCollateral=false&showAllCategories=false&columnOrder=Info%21%60Order%21%60status%21%60ReplacementPart%21%60packages_desc%21%60tape_and_reel%21%60app_qual_tier_desc%21%60budgetary_price%21%60REFLOW_TEMP_NUM%21%609_CFLG%21%600000001205%21%600000001644%21%600000001457%21%600000001478%21%600000001498%21%600000001497%21%600000001455%21%600000001454%21%600000001453%21%600000001334%21%60&Order=Order%20sample&fsrch=1&isAdvanceSearch=false&RELEVANCE=true&pageNum=1&assetLocked=false&fromWebPages=false&
However, since they only provide SOIC type package for this kind of item, professional soldering skill is required. SOIC(Small Outline Integrated Circuit) means it is really small!
You may can find this kind of chips on small integrated chipset such as Cellphones. Usually SOIC type chips can be mounted on the surface of board by special machine. It is almost impossible to connect the small pins on the board using regular solder gun. Then how people who doesn't have such machine like me can use this chip?
Here is some tip.
As you can see here, first fix the chip on the board flipped over.
Then connect each wrapping wire to the surface of the chip really carefully.
Once done, use glue gun on it to protect each pin from external damage might broke connection.
Datasheet can be found from the address below
http://www.datasheetarchive.com/pdf/2424781.pdf
This is very small yet sensitive accelerometer from Freescale.
This sensor can detect velocity of each 3 axis x, y, z and output as voltage level signal.
By connecting each pin out to ADC channels in MCU, velocity can be measured easily.
Parts required to finish
3x 1k ohm resister (for each signal output)
4x .1uf Capacitor (noise attenuation)
You can get free sample of this wonderful accelerometer by simply ordering sample from this address. You can order up to 3 items at once.
http://www.freescale.com/webapp/search/MainSERP.jsp?Product%20Type=Products/055M939346251269%60%60Sensors&isComparison=false&SelectedAsset=Orderable%20Parts&pageSize=25&showCustomCollateral=false&showAllCategories=false&columnOrder=Info%21%60Order%21%60status%21%60ReplacementPart%21%60packages_desc%21%60tape_and_reel%21%60app_qual_tier_desc%21%60budgetary_price%21%60REFLOW_TEMP_NUM%21%609_CFLG%21%600000001205%21%600000001644%21%600000001457%21%600000001478%21%600000001498%21%600000001497%21%600000001455%21%600000001454%21%600000001453%21%600000001334%21%60&Order=Order%20sample&fsrch=1&isAdvanceSearch=false&RELEVANCE=true&pageNum=1&assetLocked=false&fromWebPages=false&
However, since they only provide SOIC type package for this kind of item, professional soldering skill is required. SOIC(Small Outline Integrated Circuit) means it is really small!
You may can find this kind of chips on small integrated chipset such as Cellphones. Usually SOIC type chips can be mounted on the surface of board by special machine. It is almost impossible to connect the small pins on the board using regular solder gun. Then how people who doesn't have such machine like me can use this chip?Here is some tip.
As you can see here, first fix the chip on the board flipped over.Then connect each wrapping wire to the surface of the chip really carefully.
Once done, use glue gun on it to protect each pin from external damage might broke connection.
Datasheet can be found from the address below
http://www.datasheetarchive.com/pdf/2424781.pdf
Motor Driver
MOTOR DRIVER
This motor driver is array of six LN298N Dual Full-Bridge Driver.
LN298N has fallowing features
- Total DC current up to 4A
- Operating supply voltage up to 46V
- Over temperature protection
Combining by 6, this driver module can draw up to 24A theoretically, and in experiment with 540 DC motor, I couldn't find any problem with it.
Maximum of 12A was consumed when burst start.
The module has 4 inputs, Enable, Direction, PWM and Logic supply voltage Vss
Signal is connected to PWM channel 3 of the MCU
Enable and Direction signal connected to PORTB channel 5 and 4 respectively.
This motor driver is array of six LN298N Dual Full-Bridge Driver.
LN298N has fallowing features
- Total DC current up to 4A
- Operating supply voltage up to 46V
- Over temperature protection
Combining by 6, this driver module can draw up to 24A theoretically, and in experiment with 540 DC motor, I couldn't find any problem with it.
Maximum of 12A was consumed when burst start.
The module has 4 inputs, Enable, Direction, PWM and Logic supply voltage Vss
Signal is connected to PWM channel 3 of the MCU
Enable and Direction signal connected to PORTB channel 5 and 4 respectively.
Kyubot is under construction...
As you can see here, Kyubot is now under construction. Each component will be assembled on the top of the car.
So far everything works fine, a little messy though.
02/13/2008
Subscribe to:
Posts (Atom)
