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| + | All of the information is now available on a dedicated website. |
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| | + | Please visit https://ss1.hevs.io/. |
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| − | The Kart module (214_Pr1) is a Summer School module for students between the 2nd and the 3rd semester.
| + | [[Category:Kart]] |
| − | It is a home-made model car remotely controlled by a smartphone.
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| − | [[File:SummerSchool_15.jpg|thumb|Summer School '15<br>[https://www.youtube.com/tv#/watch?v=i8vwEgQDNDM -> Video by Baptiste Cavin]]]<!--[[Media:Kart_Teaser.wmv|-> Video by Baptiste Cavin]]]]-->
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| − | [[File:SummerSchool_13.jpg|thumb|Summer School '13]]
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| − | [[File:SummerSchool_12.jpg|thumb|Summer School '12]]
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| − | [[File:SummerSchool_09.jpg|thumb|Summer School '09]]
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| − | [[File:SummerSchool_05.jpg|thumb|Summer School '05]]
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| − | [[File:SummerSchool_04.jpg|thumb|Summer School '04]]
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| − | [[File:Kart I2C.jpg|400px|center|Demo Kart]]
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| − | The work of the students can be summarized in four main tasks:
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| − | * design and assembly of the chassis
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| − | * analysis of the motor driver circuits (DC and stepper)
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| − | * configuration of the controlling FPGAs
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| − | * completion and extension of the control GUI on the smartphone
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| − | == System Architecture ==
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| − | The kart is controlled by a smartphone via Bluetooth.
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| − | === Distributed boards ===
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| − | A Bluetooth receiver on the kart communicates via an [[kart/serial link|RS232 serial link]] with the FPGA control board.
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| − | This board stores the control values in a set of [[kart/serial link#Registers|registers]] and dispatches them at a regular interval on an I2C link.
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| − | 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 [[kart/serial link#Serial link protocol|protocol]].
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| − | The control is distributed over several FPGA boards connected together via [[kart/I2C link|I2C]].
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| − | These base boards each hold a slave function board:
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| − | * A [[Kart/Bluetooth|Bluetooth RS232 modem]] sits on the [[Kart/FPGA board|I2C master FPGA]]
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| − | * A [[Kart/DC motor controller|DC motor controller]] receives a speed value and builds a PWM and a direction control.
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| − | * A [[Kart/stepper motor controller|stepper motor controller]] receives the desired angle and builds the coil controls signals.
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| − | * A [[Kart/sensor board|sensor board]] manages I/O comprising proximity sensors, hall sensors (for the driving speed) and LEDs.
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| − | == Tasks ==
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| − | The [[Media:Programming_Introduction.pdf|programming introduction]] gives an overview about the structure of the software/hardware and the students' tasks.
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| − | They comprise:
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| − | * [http://en.wikipedia.org/wiki/Field-programmable_gate_array FPGA] design for driving the hardware and reading the sensors
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| − | * [https://www.android.com Android] application development for the remote control
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| − | The students receive FPGA boards preprogrammed with a functional solution and androïd phones with a demo application.
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| − | This allows to start the development either with the FPGA design or the Android application development.
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| − | === FPGA Design ===
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| − | A [[Media:ELN_kart.zip|FPGA design environment]] is available, based on:
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| − | * [http://www.mentor.com/products/fpga/hdl_design/hdl_designer_series/ HDL designer] for graphical design entry
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| − | * [http://www.mentor.com/products/fv/modelsim/ ModelSim] for simulation
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| − | * [http://www.microsemi.com/products/fpga-soc/design-resources/design-software/libero-ide Libero IDE] for synthesis and programming
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| − | {{TaskBox|content=
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| − | Download the [[Media:ELN_kart.zip|ELN_kart.zip]] and unpack it to your personal drive (''U:\'').
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| − | }}
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| − | {{WarningBox|content=
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| − | Make sure that there is no space character in the path to ELN_kart.
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| − | }}
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| − | With this, the following designs have to be completed:
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| − | * the [[Kart/DC motor controller#FPGA design|DC motor controller FPGA]] has to generate the PWM and direction signals for the propulsion motor
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| − | * the [[Kart/stepper motor controller#FPGA design|stepper motor controller FPGA]] has to generate the 4 phases to turn the steering wheels to the desired angle
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| − | * the [[Kart/sensor_board#FPGA_design|I/O control FPGA]] has to count the propulsion wheels' rotations and can count the ultrasound ranger distance.
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| − | === Android App ===
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| − | One goal is to implement an Android application that controls and monitors the kart.
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| − | ==== Introduction ====
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| − | The installable package of the (or rather a) solution can be found here: [[Media:Kart.apk|Kart.apk]]
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| − | ==== Android ====
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| − | ==== Starting point ====
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| − | You can download the Kart project with the minimal interface here: [[Media:Kart.zip|Kart.zip]]
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| − | You can find the instructions how to open the project in Android Studio in the "Programming Introduction" presentation...
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| − | The online documentation of all Java classes that are at your disposition is [[http://kart.vlegit.hevs.ch here]]
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| − | If you need timers, please do not use Java standard Timer and TimerTask, we provide a dedicated Timer class in the package <b>ch.hevs.utils.Timer</b>.
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| − | == Components ==
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| − | === Power supply ===
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| − | The [[Kart/power supply|power supply board]] provides the 5 V and the 3.3 V to the other boards.
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| − | This is generated from two 6 V battery packs.
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| − | The power supply board also comprises an ADC which provides the [[kart/battery level|battery level]].
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| − | === FPGA boards ===
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| − | The [[Kart/FPGA board|FPGA motherboards]] are equipped with an AGL125 [http://www.microsemi.com/products/fpga-soc/fpga/igloo-overview IGLOO] in a VQ100 package.
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| − | They hold daughterboards which drive different parts of the Kart.
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| − | The motherboards are interconnected via an [[kart/I2C link|I2C link]].
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| − | The FPGA motherboards can be tested with the help of a dedicated [[Kart/FPGA_board#Test|test board]] which runs a signal from one I/O pin to the next.
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| − | === FPGA daughterboards ===
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| − | Existing daughterboards are:
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| − | * a [[Kart/Bluetooth|Bluetooth interface board]]
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| − | * a [[Kart/DC motor controller|DC motor controller]]
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| − | * a [[Kart/stepper motor controller|stepper motor controller]]
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| − | * an [[Kart/sensor board|I/O board]] for the sensors
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| − | * an [[Kart/FPGA_board#Test|FPGA test]] board
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| − | === Sensors ===
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| − | The sensors connected to the I/O board are:
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| − | * 1 to 4 [[kart/sensors/VCNL4000|VCNL4000 I2C Distance/Ambience Light Sensor]]
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| − | * 1 to 2 [[kart/sensors/SS311PT|SS311PT Hall Sensor]]
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| − | * 1 [[Kart/sensors/HCSR04|ultrasound ranger]]
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| − | * 1 [[Kart/sensor board|end of turn]] contact switch
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| − | == Additional Information ==
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| − | * Additional informations [[kart/professor|for collaborators]]
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| − | * [[kart/toDo|To do list]]
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| − | * When preparing the labs, follow the [[kart/setup|setup guide]]
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| − | [[Category:Bachelor]] [[Category:SummerSchool]] [[Category:Pr1]] [[Category:Kart]]
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