Kart

(Difference between revisions)
Jump to: navigation, search
(Components)
(Components)
Line 46: Line 46:
  
 
=== FPGA Boards ===
 
=== FPGA Boards ===
The FPGA motherboards are equipped with an AGL125 IGLOO in a VQ100 package.
+
The FPGA motherboards are equipped with an AGL125 [http://www.microsemi.com/products/fpga-soc/fpga/igloo-overview IGLOO] 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.
+
They connect to daughterboards which drive different parts of the Kart.
 +
The motherboards are interconnected via an I2C link.
  
 
Existing daughterboards are:
 
Existing daughterboards are:
* [[Kart/DC motor controller|DC motor controller]]
+
* a [[Kart/DC motor controller|DC motor controller]]
* [[Kart/stepper motor controller|stepper motor controller]]
+
* a [[Kart/stepper motor controller|stepper motor controller]]
 
+
* an [[Kart/sensor board|I/O]] board
=== Board connectors ===
+
The FPGA board has following connections:
+
* a [[kart/connectors/Header|26 pin Header]] connector
+
* a 9 pole DSub connector for RS232
+
* the FPGA JTAG programming connector
+
  
 
=== Sensors ===
 
=== Sensors ===

Revision as of 10:35, 25 July 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.

Distributed boards

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 together 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.
  • A sensor board manages I/O comprising proximity sensors, hall sensors (for the driving speed) and LEDs.

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:

Components

FPGA Boards

The FPGA motherboards are equipped with an AGL125 IGLOO in a VQ100 package. They connect to daughterboards which drive different parts of the Kart. The motherboards are interconnected via an I2C link.

Existing daughterboards are:

Sensors

The base kart sensors 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