Kart

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The Kart module is a Summer School module for students at the end of the first year.

System Architecture

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.

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
  • two LEDs

The FPGA sends following information back:

Sensors

Board connectors

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

Boards

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 Project Manager, change FPGA type in Project -> Settings -> Device -> Die.

For the AGL250V5, pin 46 associated to jtagIo[3] is not available. Edit the motorControl.pdc constraints file and change the jtagIo[3] constraint to pin 43.

To do

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.

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