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| + | All of the information is now available on a dedicated website. |
| − | The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone.
| + | <br> |
| − | | + | Please visit https://ss1.hevs.io/. |
| − | The work of the students can be summarized in three main tasks:
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| − | * design and build the chassis
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| − | * configure the controlling FPGAs
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| − | * complete and extend the GUI on the smart-phone
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| − | [[File:Kart.jpg|center|600px|Demo Kart]]
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| − | == System Architecture ==
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| − | The kart is controlled by a smart-phone via BlueTooth.
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| − | | + | |
| − | A BlueTooth receiver on the kart control board communicates via an [[kart/serial link|RS232 serial link]] with the FPGA control board.
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| − | The control is distributed over several FPGA boards connected via [[kart/I2C link|I2C]]:
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| − | * 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.
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| − | * A DC motor controller receives speed information and builds a PWM and a direction control.
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| − | * A stepper motor controller receives the desired angle and builds the coil controls signals.
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| − | | + | |
| − | === BlueTooth communication ===
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| − | A BlueTooth communication transfers serial port data.
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| − | A receiver chip creates the RS232 signals for the FPGA.
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| − | The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed.
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| − | The FPGA receives following controls:
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| − | * the propulsion DC motor speed and direction
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| − | * the steering stepper motor target angle and step period
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| − | * two LEDs
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| − | The FPGA sends following information back:
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| − | * the [[kart/battery level|battery level]]
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| − | * the actual steering angle
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| − | * the [[Kart/sensors/VCNL4000|distance sensor]] data
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| − | * the [[Kart/sensors/SS311PT|hall sensor]] status
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| − | === Sensors ===
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| − | * [[kart/sensors/VCNL4000|VCNL4000 i2c Distance/Ambience Light Sensor]]
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| − | * [[kart/sensors/SS311PT|SS311PT Hall Sensor]]
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| − | | + | |
| − | === Board connectors ===
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| − | The FPGA board has following connections:
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| − | * a [[kart/connectors/Header|26 pin Header]] connector
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| − | * a 9 pole DSub connector for RS232
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| − | * the FPGA JTAG programming connector
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| − | * the PIC RJ11 programming connector
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| − | | + | |
| − | === Boards ===
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| − | There are Motherboards equipped with a AGL060 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard.
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| − | == Getting started ==
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| − | In order to start the projects you should do the following:
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| − | * Read carefully the specifications above
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| − | * Consult the [[kart/students|guide for the first steps]]
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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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| | [[Category:Kart]] | | [[Category:Kart]] |
