Knight Brawlers

Group 1

Allen Davila Carlos DavilaWill Allen Josh Thames

Motivation

•Create a fun gaming system that all group members would enjoy building

•Include streaming video into the project•Build something that would provide a first

person experience from the vehicles•Create something where all members of

the group could keep a functional piece of the project

Goals

•2 RC cars controlled by 2 users by their mobile device’s accelerometer

•On board cameras mounted to the cars that would provide a live first person view from the RC cars

•A competition mode that would provide a competitive game where the cars would fight each other

•An app that would create a friendly user interface

SpecificationsSystem Parameter Design Spec

Camera Resolution VGA 640x480

Camera Frame Rate 5 fps

Radio Communication Wi-Fi 2.4 GHz

Wi-Fi Range 30 m

Wi-Fi Data Rate 150 Mbps max

App User Interface Android 2.2+

App Vehicle Control Tilt

Battery Life 1 hour

Frame Scale 1/10th

App

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

System Block Diagram

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

Hit Locations

• Sensors on the rear, right, and left sides

• Triggered by collisions

Sensors

Piezo Disks Vs. Microswitches

Piezo Disks

Small easy to fit

Creates electric pulse on impact

Price range: 30 cents- 10 dollars

High tolerance

Microswitch

Small easy to fit

2 state single pole double throw

Price range: 90 cents- 5 dollars

High tolerance

Microswitches

•Lever Microswitch for added surface area for impact

•No debounce circuit needed•Reverse connection for component

reduction

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

Scoring System

Full Health One Hit Two Hits

LEDs•Super Bright LED headlights for extra

visibility working at 7000 mcd•Bright Red LEDs that activate when the

car is idle and turn off when in forward or reverse motion

•Red, yellow, and green high brightness for topLED Forward

VoltageForward Current

Intensity

Headlights 3.3 - 3.6 V 25 mA 7000 mcd

Tail Lights 1.8 – 2.0 V 20 mA 1200 mcd

Top Lights 1.8 – 2.0 V 20 mA 600 mcd

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

System Block Diagram

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

Camera – Previous OmniVision 9655 Pros

• Delivers 30 fps at 640x480 VGA Video

• Supports Compressed YCbCr 4:2:2 Format

• Microcontroller Compatible ▫ Fully configurable

• Some Factory Support (STM)

36 mm

27 mm

Camera – CurrentOmniVision 5642 Pros

• Supports MJPEG and H.264 hardware compression

• Raspberry Pi Compatible • Factory Support for stills

and video• Max 5 MP, 30fps• Size: 25mm x 20mm x

9mm• Weight: 3g

Compression? Yes!Previous Current

• Real-Time JPEG is optional (RTJPEG)▫ Must write in native

code▫ Effort > value

• MJPEG, MPEG-4 etc. not optional

• Sub sampled RAW images

• MJPEG Supported with hardware acceleration

• Instead, we are opting for subsampled images

• Software support

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

System Block Diagram

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

Wi-Fi ModuleRequirements EW – 7811Un

• EZmax support• $20• WPS, WPA2• 150 Mbps 802.11 b/g/n• Greater Range Than

Bluetooth• Raspberry Pi compatible

• Simple Configuration• Low Cost• Good Documentation • Modest Data Rate• Modest Range• Low Power

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

System Block Diagram

Bumpers

User Input

Load Profile Wifi

Raspberry Pi

Bluetooth

Bluetooth MATE Silver

Bluetooth MATE Silver

•Roving Networks Class 2 RN-42•Bluetooth v2.0+EDR•26uA Sleep, 3mA connected, 30 mA

transmit•UART data connection to MC•115200 bps

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

System Block Diagram

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

Motor Control

•DC motors already available on RC car will be used to reduce project cost.

•2 DC motors: 1 for steering and 1 for forward/reverse control.

•Forward/Reverse and Steering motor will be combined with H-Bridge for function.

H - Bridge ConsiderationsDVR 8833 L293D

Max Output 10 .8 V 36 V

Peak Output Current 2 A 1.2 A

Operating Temp -40 to 85 C 0 to 70 C

Supply Range 2.7 – 10.8 V 4.5 – 36 V

Control I/F PWM PWM

Package Type Surface Mount mini Through Hole

L293D H-Bridge Driver

•Two motors per driver.•Max current output 1.2 A, Max

temperature 70 C degrees Fahrenheit.•Pulse Width Modulation (PWM) input

interface controls forward/reverse control and right/left steering.

•Low Power Sleep mode and internal shutdown functions for over temperature protection.

PWM Control Using H-Bridge•H-Bridge driver

will use two PWM signals from the STM32 to generate Fwd/Rev and Steering function of the DC motors.IN1 IN2 Out1 Out2 Fwd/rev

MotorSteering Motor

0 0 Z Z Coast Straight

0 1 L H Reverse Left

1 0 H L Forward Right

1 1 L L Brake -

Motor Control CharactersMotor Function Character

Slow Forward/ Forward / Fast Forward A/B/C

Slow Reverse/ Reverse / Fast Reverse D/E/F

Brake/Right/Left G/w/y

Medium Right and Slow Forward/Forward/Fast Forward(For Left)

H/I/J(T/U/V)

Hard Right and Slow Forward/Forward/Fast Forward(For Left)

K/L/M(W/X/Y)

Medium Right and Slow Reverse/Reverse/Fast Reverse(For Left)

N/O/P(Z/a/b)

Hard Right and Slow Reverse/Reverse/Fast Reverse(For Left)

Q/R/S(c/d/e)

•Landscape mode•Direct the RC Car•Compatible with the newest version of

Android phones and older

Remote Control

Android Device Must:Have Bluetooth CapabilityContain Accelerometer SensorsHave Touch ScreenRun Android Android 2.2(Froyo)or higher

Remote Control Requirements

Motor Control Using Accelerometer •RC car will be

controlled by Y and Z coordinates.

•Z direction(into out of page) will control Fwd/Rev motor function.

•Y direction will control left and right steer.

•Sent Through Bluetooth

Handling Accelerometers

Y Axis Calibration Z Axis Calibration

-Axis’ must be calibrated so that the user can view the device at an optimal angle. Accelerometers must consider effect due to gravity, linear acceleration = acceleration - acceleration due to gravity.

Smartphone Operating System Android

Free – No new hardware costs, free SDK, familiar languages

Open source platform, easy to learn

 Programming

Language Cost to

Develop Devices Readily

Available? Familiarity

Android Java/XML Free Yes Medium

iOS Objective-C $99/year Yes Medium

Windows Phone

.NET framework/ Visual C++/XNA

Free No Low

Target APIs 8 (Android 2.2 Froyo and higher), approximately 99.9% of Android market

Version Code name API level Distribution

4.3 Jelly Bean 18 0%

4.2.x Jelly Bean 17 8.50%

4.1.x Jelly Bean 16 36.60%

4.0.3–4.0.4Ice Cream Sandwich

15 21.70%

3.2 Honeycomb 13 0.10%

3.1 Honeycomb 12 0%

2.3.3–2.3.7 Gingerbread 10 30.70%

2.3–2.3.2 Gingerbread 9 0%

2.2 Froyo 8 2.40%

2.0–2.1 Éclair 7 0%

Jelly Bean 4.2

Jelly Bean 4.1

Ice Cream Sandwich

Honey-Comb 3.2

Ginger-Bread 2.3-

2.7

Froyo

Knight Brawlers App

Power Supply

Current and Voltage Requirements

Component Voltage Needed (V) Current Drawn (A)

Raspberry Pi 5 0.5

PCB 3.3 0.16

Discovery Board 5 0.3

Bluetooth Module 5 0.12 max

Wi-Fi Module Regulated byPi

0.15 max

Camera Regulated by Raspberry Pi

Unknown butNegligible

•Rechargeable Batteries • Nickel Metal Hydride

Power Supply

•18.8 inches Long•5.76 inches Wide•4.8 Inches Tall•Top speed of 2 mph

Remote Control Car

System Block DiagramApp

Create Profile

Sync Car

Start Game!

Control Car

End Game and Report Scores

Microcontroller

Bumpers

Camera

Steering

Motor LEDs

indicating “Health”

H-BridgeMotor

Bumpers

User Input

Load Profile

Bluetooth

WifiRaspberry Pi

MicrocontrollerAtmega328 MSP430 STM32F4 AM3359

Dev Board Arduino Uno MSP430 Launchpad

STM32F4 Discovery

BeagleBone Black

Speed (MHz) 16 16 168 1 GHz

Language C, Assembly C, Assembly

C, C++, Assembly

C, C++, C#, Java

Dev Board CostEst. PCB Cost

$35.00$50.00

$9.99$50.00

$14.25$50.00

$45$100+

PWM support Yes Yes Yes Yes

Max Temp. (F)

185 185 221 221

Flash Memory 32kB 16kB 1MB 512 MB

Interrupt Yes Yes Yes Yes

ARM?? No No YES! =D YES!

STM32F407VGT6

•ARM 32 bit Cortex M4F•PWM for motor control and Plenty of

GPIO available (82)•Low power modes•Serial Wire and JTAG interfaces for

debugging•External Interrupt/Event Controller

ST-Link/V2 Debugger & Programmer

•In circuit debugger and programmer for the STM32 available on Dev. Board

•Supports JTAG/Serial Wire Interface

Schematic Design In Eagle CAD

PCB

Division of Labor  Josh Will Allen CarlosPCB Design        Motors        Power        Smartphone Interface        Sensors        LED Network/Scoring System        Camera        Wireless Connectivity        

All members will lend a hand in any area that may need additional assistance

Budget and Finances  Cost Per Unit ($) Units Cost ($)  Already Purchased    

Lever Micro Switch Sensors 2.00 9 18.00

RC Cars 40.00 3 120.00

Experimental boards 20.00 3 60.00

Cameras Modules 10.00 3 30.00

Wifi Modules 20.00 3 60.00

Bluetooth Modules 35.00 3 105.00

Raspberry Pi 30.00 3 90.00

PCB 45.00 2 90.00

Power Systems 40.00 3 120.00

Miscellaneous (Wires, LEDs, Perf Boards, Epoxy, etc.)

NA NA 200.00

Total     893.00

Progress

Research Design Prototyping Testing Project Completion

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Issues

•Connectivity•Consistency•Soldering•Video Quality

Any Questions?