The Kart module (214_Pr1) is a Summer School module for students between the 2nd and the 3rd semester. It is a home-made model car remotely controlled by a smartphone.
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)
- configuration of the controlling FPGAs
- completion and extension of the control GUI on the smartphone
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. This board stores the control values in a set of registers and dispatches them at a regular interval on an I2C link. The master also reads data values from the slave boards, stores them into a second set of registers and sends the corresponding information at a regular pace over the RS232 with a very simple protocol.
The control is distributed over several FPGA boards connected together via I2C. These base boards each hold a slave function board:
- A Bluetooth RS232 modem sits on the I2C master FPGA
- 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.
Existing daughterboards are:
- a Bluetooth interface board
- a DC motor controller
- a stepper motor controller
- an I/O board for the sensors
The sensors connected to the I/O board are:
- 1 to 4 VCNL4000 I2C Distance/Ambience Light Sensor
- 1 to 2 SS311PT Hall Sensor
- 1 ultrasound ranger
- 1 end of turn contact switch
The power supply board provides the 5 V and the 3.3 V to the other boards. This is generated from two 6 V battery packs.
The power supply board also comprises an ADC which provides the battery level.
The presentation Programming Introduction gives you an overview about the structure of the software/hardware and your tasks.
You'll get the FPGAs preprogrammed with a functional solution.
In addition you'll get a HDL-Designer projects, which you have to complete or adapt.
One goal is to implement an Android application that controls and monitors the kart.
The installable package of the (or rather a) solution can be found here: Kart.apk
An introduction to Android can be found here: Android Introduction
Another sample project to learn how to create vertical seek bars: Vertical SeekBar Example
You can download the Kart eclipse project with the basic interface here: Kart.zip
You can find the instructions how to import that archive into Eclipse in the "Programming Indtroduction" presentation...