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23 Pages

Roboat Final Presentation

Course: ECE 4006, Fall 2008
School: Georgia Tech
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Word Count: 562

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Final Roboat Presentation Jonathan Friedman Dave Maccaferri Josh McKenna Chris Wieczorek Roboat Project Goals The Roboat platform is intended to be an autonomous robotic system for marine application in both the government and commercial sectors. Features 50x50 pixel, 4 bit color Digital Camera Onboard Digital Compass and GPS Unit 19,200 baud Serial Data link Windows GUI Interface Percent Completed 1...

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Final Roboat Presentation Jonathan Friedman Dave Maccaferri Josh McKenna Chris Wieczorek Roboat Project Goals The Roboat platform is intended to be an autonomous robotic system for marine application in both the government and commercial sectors. Features 50x50 pixel, 4 bit color Digital Camera Onboard Digital Compass and GPS Unit 19,200 baud Serial Data link Windows GUI Interface Percent Completed 1 PIC18F452, 2 PIC18F252 Embedded Microcontrollers 86% 100% 100% 100% 95% Embedded Systems-Overview Embedded Systems-Schematic PNI Vector 2x Digital Compass Maxstream XStream Modem PIC18F252 GPS & Camera Gameboy Camera and Maxim 114 A/D GPS LM2940 Voltage Regulator PIC18F252 Modem PIC18F452 Navigation and Host DIP Switches RS-232 Breakout Mast Headers Embedded Systems-PC Board PC Board-Top Layout from OrCAD schematic PC Board-Bottom Routing preformed by OrCAD and by hand due to density of board 537 holes, 60 feet of trace, 67 parts in a minuscule 27 square inches PCBoard fabricated by PCBExpress- $100, 24 Hour completion Embedded Systems-MicroControllers Modem Controller PIC18F252 Navigation & host Controller PIC18F452 Camera & GPS Controller PIC18F252 2.5 Mhz (6.25Mbps) interrupt driven, random initiation, single-point arbitrated, Serial Peripheral Interface (SPI) on-boat data bus among 4 devices (PIC's + Compass). Embedded Systems-On Boat Data Flow GPS PIC#2: SLAVE GPS & camera data stream limited to once per second (~5ms bus transfer time) by PIC#2 CAMERA Termination point for navigation data. Telemetry generation point. PIC#1: MASTER Fully asynchronous communication Command Console MODEM PIC#3: SLAVE Data packing and processing. Scheduled (generation limited) Unscheduled (random arrival) Embedded Systems-Mechanisms of Bus Arbitration Scheduled production of output (Compass) Bandwidth limited production of output (GPS, Camera) Feedback-based flow control (buffer overflow interconnects among PIC's) Panic data loss (Ability to give up on this data and just look for the next) Hardware flow-control and (Modem, buffering PIC#2, PIC#3) Physical Boat Physical Boat-Under the Cabin Push Button Toggle Switch (hidden) 27MHz / Microcontroller Switch (hidden) LED Mast Gameboy Camera Physical Boat-Under the Deck Video Video Specifications Analog Output 8-bit (256 Colors) Capable 4-bit depth used Works with A/D converter to interface with PIC Functionality Image Acquisition Streaming Video (1 fps) On-the-fly adjustable Gain and Exposure Settings Video Initial Images Stages Improved 32x32 Resolution Pictures Improved 50x50 Resolution Pictures Video Camera Mounting and Cabling Navigation Navigation Properties: SPI Calibrates for constant magnetic fields Binary Output Fast settle time (5 Hz) Functionality: Heading changes Check GPS heading data Navigation (continued) MACRO driven 3 major turns and 1 corrective turn per side Heading relayed from GPS every second This guarantees accurate comparisons between the waypoint heading and current heading Corrective Right Waypoint Heading Straight -5 +5 Corrective Left +15 Light Left Light Right -15 -45 Med Right +45 Med Left -90 Hard Right Hard Left +90 Averages 3 heading readings when running straight Counters the boat rocking 180 SPI/RF Proto...

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