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− | The Kart module (214_Pr1) is a Summer School module for students between the 2nd and the 3rd semester.
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− | It is a home-made model car remotely controlled by a smartphone.
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− | <!--[[File:Kart I2C.jpg|400px|center|Demo Kart]]-->
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− | <gallery>
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− | File:Kart I2C.jpg|HES-SO Valais/Wallis Demo Kart
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− | File:SummerSchool_17.jpg|Summer School '17
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− | File:SummerSchool_15.jpg|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|Summer School '13
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− | File:SummerSchool_12.jpg|Summer School '12
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− | File:SummerSchool_09.jpg|Summer School '09
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− | File:SummerSchool_05.jpg|Summer School '05
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− | File:SummerSchool_04.jpg|Summer School '04
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− | </gallery>
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− | The work of the students can be summarized in three 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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− | * 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 and the students' tasks.
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− | They comprise:
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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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− | === 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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− |
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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 [[Media:Programming_Introduction.pdf|programming introduction]] presentation...
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− | * The online documentation of all Java classes that are at your disposition is [[http://kart-javadoc.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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− | * To be informed when a register is modified by the kart (i.e. the hall sensor counter value has changed), your application has to implement the KartStatusRegisterListener interface. This will force your application to have a method (statusRegisterHasChanged) that will be called when a register value has changed. Don't forget to register your listener to the Kart (kart.addStatusRegisterListener(...)).
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− |
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− | ==== Common Problems ====
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− | * Don't block the main thread with an infinite loop
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− | * Don't change the orientation of the display during the execution, it can crash the BT communication. Do it in the Manifest.
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− |
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− | ==== Virtual Kart ====
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− | If you need to test your Android application against a Kart and your Kart is either not build yet or not available at the moment, you can install the '''Virtual Kart''' application and use the Kart Bluetooth to USB adapter.
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− | * Windows version [http://kart-javadoc.hevs.ch/Virtual%20Kart-2019.8-win64.exe here]
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− | * macOS version [http://kart-javadoc.hevs.ch/Virtual%20Kart-2019.8-macOS.dmg here]
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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. The clock passed to the FPGA comes from a 10 MHz quartz.
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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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