Kart

(Difference between revisions)
Jump to: navigation, search
Line 2: Line 2:
 
The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone.
 
The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone.
  
The work of the students can be summarized in three main tasks:
+
The work of the students can be summarized in four main tasks:
 
* design and build the chassis
 
* design and build the chassis
 +
* analyse the motor driver circuits (DC and stepper)
 
* configure the controlling FPGAs
 
* configure the controlling FPGAs
 
* complete and extend the GUI on the smart-phone
 
* complete and extend the GUI on the smart-phone
Line 13: Line 14:
 
== System Architecture ==
 
== System Architecture ==
  
The kart is controlled by a smart-phone via BlueTooth.
+
The kart is controlled by a smartphone via Bluetooth.
  
A BlueTooth receiver on the kart control board communicates via an [[kart/serial link|RS232 serial link]] with the FPGA control board.
+
A Bluetooth receiver on the kart communicates via an [[kart/serial link|RS232 serial link]] with the FPGA control board.
  
 
The control is distributed over several FPGA boards connected via [[kart/I2C link|I2C]]:
 
The control is distributed over several FPGA boards connected via [[kart/I2C link|I2C]]:
 
* An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232.
 
* An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232.
* A [[Kart/DC motor controller|DC motor controller]] receives speed information and builds a PWM and a direction control.
+
* A [[Kart/DC motor controller|DC motor controller]] receives a speed value and builds a PWM and a direction control.
 
* A [[Kart/stepper motor controller|stepper motor controller]] receives the desired angle and builds the coil controls signals.
 
* A [[Kart/stepper motor controller|stepper motor controller]] receives the desired angle and builds the coil controls signals.
  
=== BlueTooth communication ===
+
=== Bluetooth communication ===
A BlueTooth communication transfers serial port data.
+
A Bluetooth communication transfers serial port data.
 
A receiver chip creates the RS232 signals for the FPGA.
 
A receiver chip creates the RS232 signals for the FPGA.
 
The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed.
 
The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed.
Line 30: Line 31:
 
* the propulsion DC motor speed and direction
 
* the propulsion DC motor speed and direction
 
* the steering stepper motor target angle and step period
 
* the steering stepper motor target angle and step period
* two LEDs
+
* four LEDs
 
The FPGA sends following information back:
 
The FPGA sends following information back:
 
* the [[kart/battery level|battery level]]
 
* the [[kart/battery level|battery level]]
 
* the actual steering angle
 
* the actual steering angle
* the [[Kart/sensors/VCNL4000|distance sensor]] data
+
* the [[Kart/sensors/VCNL4000|proximity sensor]] data
* the [[Kart/sensors/SS311PT|hall sensor]] status
+
* the [[Kart/sensors/SS311PT|hall sensor]] pulse count
  
 
=== Sensors ===
 
=== Sensors ===
Line 46: Line 47:
 
* a 9 pole DSub connector for RS232
 
* a 9 pole DSub connector for RS232
 
* the FPGA JTAG programming connector
 
* the FPGA JTAG programming connector
* the PIC RJ11 programming connector
 
  
 
=== Boards ===
 
=== Boards ===
There are Motherboards equipped with a AGL060 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard.
+
There are motherboards equipped with a AGL125 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard.
  
 
Existing daughterboards are:
 
Existing daughterboards are:

Revision as of 16:36, 11 June 2014

Contents

The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone.

The work of the students can be summarized in four main tasks:

  • design and build the chassis
  • analyse the motor driver circuits (DC and stepper)
  • configure the controlling FPGAs
  • complete and extend the GUI on the smart-phone
Summer School '12
Summer School '13
Demo Kart

System Architecture

The kart is controlled by a smartphone via Bluetooth.

A Bluetooth receiver on the kart communicates via an RS232 serial link with the FPGA control board.

The control is distributed over several FPGA boards connected via I2C:

  • An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232.
  • A DC motor controller receives a speed value and builds a PWM and a direction control.
  • A stepper motor controller receives the desired angle and builds the coil controls signals.

Bluetooth communication

A Bluetooth communication transfers serial port data. A receiver chip creates the RS232 signals for the FPGA. The protocol defines how the registers are accessed.

The FPGA receives following controls:

  • the propulsion DC motor speed and direction
  • the steering stepper motor target angle and step period
  • four LEDs

The FPGA sends following information back:

Sensors

Board connectors

The FPGA board has following connections:

  • a 26 pin Header connector
  • a 9 pole DSub connector for RS232
  • the FPGA JTAG programming connector

Boards

There are motherboards equipped with a AGL125 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard.

Existing daughterboards are:

Getting started

In order to start the projects you should do the following:

  • Read carefully the specifications above
  • Consult the student's guide for the first steps
  • When preparing the labs, follow the setup guide

Additional Information

Personal tools
Namespaces
Variants
Actions
Navigation
Modules / Projects
Browse
Toolbox