ECE 192: NATCAR Team (Triton X)ECE 192: NATCAR Team (Triton X)Sponsored by IEEE (http://ieee.ucsd.edu)Sponsored by IEEE (http://ieee.ucsd.edu)

Vincent Bantigue, Vincent Bantigue, vbantigu@ucsd.eduvbantigu@ucsd.eduJoseph Formanes, Joseph Formanes, jformane@ucsd.edujformane@ucsd.edu

Henry Kao, Henry Kao, hkao@ucsd.eduhkao@ucsd.eduPuneet Khattar, Puneet Khattar, pkhattar@ucsd.edupkhattar@ucsd.edu

Advisor: Dr. Clark GuestAdvisor: Dr. Clark GuestWeek 8, 2/25/05Week 8, 2/25/05

Agenda:Agenda:

Tasks Accomplished this Tasks Accomplished this weekweekMicroController ProgressMicroController ProgressIR Sensors UpdateIR Sensors UpdateMotor Controller UpdateMotor Controller UpdateUpcoming Tasks for next Upcoming Tasks for next weekweek

Tasks Accomplished this week:Tasks Accomplished this week:

Continued microcontroller programmingContinued microcontroller programmingContinued sensor algorithm programming on Continued sensor algorithm programming on MATLABMATLABCompleted motor control circuitCompleted motor control circuitTested motor controllerTested motor controller Measured temperature and VMeasured temperature and VP2 PP2 P across battery across battery

MicroController Progress:MicroController Progress:

Ability to output desired PWM signalAbility to output desired PWM signalProgram structure in place:Program structure in place: While(1){While(1){

If (flag = 1){ //flag is set when timer resetsIf (flag = 1){ //flag is set when timer resetsexecute interrupt //interrupt points to memory execute interrupt //interrupt points to memory //where input capture, algorithms, and output //where input capture, algorithms, and output //refresh are in place//refresh are in place}}

}}

MicroController Progress (Cont’d):MicroController Progress (Cont’d):

Setbacks:Setbacks: For output PWM signal, main clock seems to For output PWM signal, main clock seems to

have changed since the last time I ran the have changed since the last time I ran the program, so register values that were valid for program, so register values that were valid for a 50hz frequency before are not valid next a 50hz frequency before are not valid next time you test ittime you test it

Learning how to use enhanced capture timer Learning how to use enhanced capture timer (ECT) to synchronize all activity(ECT) to synchronize all activity

Motor Controller Redesign:Motor Controller Redesign:

Simple circuit with 2 NPN’s, 1 PNP to Simple circuit with 2 NPN’s, 1 PNP to implement forward and brakeimplement forward and brakePNP not used for forward controlPNP not used for forward control more efficient design (lower on resistance)more efficient design (lower on resistance)

Motor Control Considerations:Motor Control Considerations:

Acceleration timeAcceleration timePWM FrequencyPWM Frequency High frequency at low RPM to prevent High frequency at low RPM to prevent

discontinuous mode operationdiscontinuous mode operation Low frequency at high RPM to prevent power Low frequency at high RPM to prevent power

loss/heatloss/heat

Note: PWM must be off to brakeNote: PWM must be off to brake

KODAK KAC-9630 128x98 CMOS KODAK KAC-9630 128x98 CMOS IMAGE SENSOR with PIC 18F452IMAGE SENSOR with PIC 18F452

Completed so far: ICompleted so far: I22C, data C, data collection/storagecollection/storage

Use IUse I22C to communicate with the CMOS C to communicate with the CMOS image sensor. This allows full control of image sensor. This allows full control of integration time, idle time and gain control.integration time, idle time and gain control. Long term: allow integration time and gain Long term: allow integration time and gain

control through potentiometers connected to control through potentiometers connected to A/D converters.A/D converters.

Camera Data Storage:Camera Data Storage:

Read in a row of data (128 8-bit values)Read in a row of data (128 8-bit values)Load each value in a set location in RAM Load each value in a set location in RAM memory bankmemory bankStore only 6 of 100 total rows in memory:Store only 6 of 100 total rows in memory: Two at top, two in middle and two at the Two at top, two in middle and two at the

bottombottom Long term: output these values to LCD allow Long term: output these values to LCD allow

real time visualization of gain, integration and real time visualization of gain, integration and threshold valuesthreshold values

Three Rows of Data:Three Rows of Data:

With three rows of the image sensor we With three rows of the image sensor we can determine whether the car is driving a can determine whether the car is driving a straight line, a straight line with a turn straight line, a straight line with a turn approaching or a turn.approaching or a turn.

Upcoming Tasks for next week:Upcoming Tasks for next week:

Finish working prototypeFinish working prototype assemble Motor Controllerassemble Motor Controller mount IR sensor array circuitmount IR sensor array circuit assemble DC-DC converterassemble DC-DC converter complete basic programming (control algorithms)complete basic programming (control algorithms)

Continue development of CMOS cameraContinue development of CMOS cameraCommence testingCommence testing