The Kart module is a Summer School module for students at the end of the first year.
The kart is controlled by a smartPhone via BlueTooth.
A BlueTooth receiver on the kart control board communicates via an RS232 serial link with the control board FPGA.
The FPGA receives following controls:
- the propulsion DC motor speed and direction
- the steering stepper motor target angle and step period
- two LEDs
The FPGA sends following information back:
The FPGA board has following connections:
- a 26 pin Header connector
- a 9 pole DSub connector for RS232
- the FPGA JTAG programming connector
- the PIC RJ11 programming connector
For special designs, some boards have larger FPGAs:
- Board 29 has a AGL125V5
- Board 30 has a AGL250V5
Within the Actel Project manager, the settings of the FPGA have to be changed:
- in Synplify:
Implementation Options… -> Device -> Part
- in the place & route tool:
Tools -> Device Selection… -> Die
For the AGL250V5, pin 46 associated to
jtagIo is not available.
motorControl.pdc constraints file and change the
jtagIo constraint to pin 43.
Use the register to set the rate at which the FPGA sends status to the remote control.
Set-up a hall sensor wheel rotation counter.