The Kart module (214_Pr1) 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
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.
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.
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:
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
Additionally, the power supply board comprises an ADC which provides the battery level.
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