Kart

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* Additional informations [[kart/professor|for collaborators]]
 
* Additional informations [[kart/professor|for collaborators]]
 
* [[kart/toDo|To do list]]
 
* [[kart/toDo|To do list]]
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* When preparing the labs, follow the [[kart/setup|setup guide]]
  
 
[[Category:Bachelor]] [[Category:SummerSchool]] [[Category:Pr1]] [[Category:Kart]]
 
[[Category:Bachelor]] [[Category:SummerSchool]] [[Category:Pr1]] [[Category:Kart]]

Revision as of 12:22, 22 August 2014

Contents

The Kart module (214_Pr1) is a Summer School module for students between 2. and 3. semester. It's a home-made car remotely controlled by a smart-phone.

Demo Kart

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

  • design and assembly of the chassis
  • analysis of the motor driver circuits (DC and stepper)
  • configuring the controlling FPGAs
  • completing and extending the GUI on the smart-phone
Summer School '12
Summer School '13

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.

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 sensors connected to the I/O board are:

Additionally, the power supply board comprises an ADC which provides the battery level.

Android App

One goal is to implement an Android application that controls and monitors to the kart.

Introduction

The presentation File:Programming Introduction.pdf should give you an overview about the structure of the software/hardware and your tasks.

The installable package of the (or rather a) solution can be found here: File:Kart.apk

Android

An introduction to Android can be found here: File:Android Introduction.pdf

Another sample project to learn how to create vertical seek bars: File:VerticalSeekBarExample.zip

Starting point

You can download the Kart eclipse project with the basic interface here: File:Kart.zip

You can find the instructions how to import that archive into Eclipse in the "Programming Indtroduction" presentation...

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

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