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:
- the battery level
- the actual steering angle
- the distance sensor data
- the hall sensor status
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.