Kart
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=== 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 | + | 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 | |
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− | * | + | |
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=== Sensors === | === Sensors === |
Revision as of 11:35, 25 July 2014
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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
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:
- the battery level
- the actual steering angle
- the end of turn contact switch
- the proximity sensor data
- the hall sensor pulse count
- the ultrasound ranger distance
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:
- a DC motor controller
- a stepper motor controller
- an I/O board
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
- Additional informations for collaborators
- To do list