Knight
Brawlers
Allen Davilla Carlos Davilla
Will Allen Josh Thames
Group 1
Motivation
• Create a fun gaming system that all group
members would enjoy building
• Include streaming video into the project
• Build something that would provide a first
person experience from the vehicles
• Create something where all members of the
group can keep a functional piece of the project
Goals
• 4 RC cars controlled by 4 users by their mobile
device’s accelerometer
• On board cameras mounted to the cars that
would provide a live first person view from the
RC cars
• A competition mode that would provide a
competitive game where the cars would fight
each other
• An app that would create a friendly user
interface
Specifications
System
Parameter
Design Spec
Camera
Resolution
VGA 640x480
Camera
Frame Rate
25 fps
Radio
Communication
Wi-Fi 2.4 GHz
Wi-Fi
Range
30 m
Wi-Fi
Data Rate
54 Mbps
App
User Interface
Android 2.2+
App
Vehicle Control
Tilt
Battery
Life
1 hour
Frame
Scale
1/10th
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Motor
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Hit Locations
USER
• Sensors on the rear, right, and left
sides
• Triggered by collisions
Sensors
Piezo Disks Vs. Microswitches
Piezo Disks
Microswitch
Small easy to fit
Small easy to fit
Creates electric pulse on impact
2 state single pole double throw
Price range: 30 cents- 10 dollars
Price range: 90 cents- 5 dollars
High tolerance
High tolerance
Microswitches
• Lever Microswitch for added surface area for
impact
• No debounce circuit needed
• Reverse connection for component reduction
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Scoring System
Full Health
One Hit
Two Hits
LEDs for Scoring Visualization
• RGB’s for added color range
• Mounted to roof for easy view
• LED Drivers for controlling power to LED
▫ TLC5940
 Current sink to eliminate need for resistors and
reduce components
TLC5940
Characteristic
Output Channels
16
PWM brightness
4096 steps
Data Vmin-Vmax
3 V to 5.5 V
Capability Current
120 mA (for > 3.6 V)
LED Vmax
17
Operating temp
-40 C to 85 C
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Camera
Pros
OmniVision 9655
• Delivers 30 fps at 640x480
VGA Video
• Supports Compressed YCbCr
4:2:2 Format
• Microcontroller Compatible
▫ Fully configurable
• Some Factory Support (STM)
3.6cm
2.7cm
Compression?
• Real-Time JPEG is optional (RTJPEG)
▫ Light-weight but low compression ratio
▫ Must write in native code
▫ Likely will not be worth the effort
• MJPEG, MPEG-4 etc. not optional with our
current microcontroller
• Instead, we are opting for subsampled images
Purpose of Wi-Fi
• Communicate user input from Android app to
car
• Communicate “car health” and streaming video
to the Android App
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Wi-Fi Module
Requirements
TI CC3000
•
•
•
•
•
•
• Ti’s “SimpleLink” Technology
• $35 for Dev Board
• TI’s “World Class Customer
Support”
• Greater Data Rate than
Bluetooth @54Mbps 802.11
b/g Protocol
• Greater Range Than Bluetooth
Simple Configuration
Low Cost
Good Documentation
Modest Data Rate
Modest Range
Low Power
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Motor Control
• DC motors already available on RC car will be
used to reduce project cost.
• 2 DC motors: 1 for steering and 1 for
forward/reverse control.
• Forward/Reverse and Steering motor will be
combined with H-Bridge for function.
DVR8833 H-Bridge Driver
• Two motors per driver.
• Max current output 1.5 A, Max temperature 185
degrees Fahrenheit.
• Pulse Width Modulation (PWM) input interface
controls forward/reverse control and right/left
steering.
• Low Power Sleep mode and internal shutdown
functions for over temperature protection.
PWM Control Using H-Bridge
• H-Bridge driver will
use two PWM signals
from the STM32 to
generate Fwd/Rev
and Steering function
of the DC motors.
IN1
IN2
Out1
Out2
Fwd/rev
Motor
Steering
Motor
0
0
Z
Z
Coast
Straight
0
1
L
H
Reverse
Left
1
0
H
L
Forward
Right
1
1
L
L
Brake
-
Remote Control
• Landscape mode
• Direct the RC Car
• Compatible the newest version of Android
Phones and older
Remote Control Requirements
Android Device Must:
 Have Wi-Fi Capability
 Contain Accelerometer Sensors
 Have Touch Screen
 Run Android Android 2.2(Froyo)
or higher
Motor Control Using Accelerometer
• RC car will be controlled
by Y and Z coordinates.
• Z direction(into out of
page) will control
Fwd/Rev motor function.
• Y direction will control
left and right steer.
Handling Accelerometers
Y Axis Calibration
Z Axis Calibration
-Axis’ must be calibrated so that the user can view the device at an
optimal angle. Accelerometers must consider effect due to gravity, linear
acceleration = acceleration - acceleration due to gravity.
Smartphone Operating System
 Android
 Free – No new hardware costs, free SDK, familiar
languages
 Open source platform, easy to learn
Programming
Language
Cost to Develop
Devices Readily
Available?
Familiarity
Android
Java/XML
Free
Yes
Medium
iOS
Objective-C
$99/year
Yes
Medium
Windows
Phone
.NET framework/ Visual
C++/XNA
Free
No
Low
Target APIs 8 (Android 2.2 Froyo and higher),
approximately 99.9% of Android market
Froyo
Version
Code name
API level
Distribution
Ginger-
Bread
2.3-2.7
4.3
Jelly Bean
18
0%
4.2.x
Jelly Bean
17
8.50%
4.1.x
Jelly Bean
16
36.60%
4.0.3–4.0.4
Ice Cream
Sandwich
15
21.70%
3.2
Honeycomb
13
0.10%
3.1
Honeycomb
12
0%
2.3.3–2.3.7
Gingerbread
10
30.70%
2.3–2.3.2
Gingerbread
9
0%
2.2
Froyo
8
2.40%
2.0–2.1
Éclair
7
0%
Honey-
Comb 3.2
Ice
Cream
Sandwich
Jelly
Bean 4.2
Jelly
Bean 4.1
Power Supply
Voltage
Amps
H-Bridge (Motors)
2.7 - 6
0.5 - 1.5A
Wi-Fi
3.6
92mA – 270mA
Microcontroller
4
150 mA
Power Supply
• Rechargeable Batteries
• Nickel Metal Hydride
Remote Control Car
•
•
•
•
18.8 inches Long
5.76 inches Wide
4.8 Inches Tall
Top speed of 12 mph
System Block Diagram
User
Input
App
Create
Profile
Load Profile
Host Game
Join Game
Wi-Fi
Bumpers
Choose
Game Mode
Sync Car
Start Game!
Control Car
End Game and
Report Scores
Motor
H-Bridge
Microcontroller
RGB LEDs
indicating
“Health”
Bumpers
Camera
Steering
Servo
Microcontroller
Atmega328
MSP430
Dev Board
Arduino Uno
MSP430
STM32F4
Launchpad Discovery
BeagleBone
Black
Speed (MHz)
16
16
168
1 GHz
Language
C, Assembly
C,
Assembly
C, C++,
Assembly
C, C++, C#,
Java
Dev Board Cost
Est. PCB Cost
$35.00
$50.00
$9.99
$50.00
$14.25
$50.00
$45
$100+
PWM support
Yes
Yes
Yes
Yes
Max Temp. (F)
185
185
221
221
Flash Memory
32kB
16kB
1MB
512 MB
Onboard
No
Camera Support
No
Yes
Yes
ARM??
No
YES! =D
YES!
No
STM32F4
AM3359
STM32F407VGT6
• ARM 32 bit Cortex M4F
• PWM for motor control and Plenty of GPIO
available (82)
• Low power modes
• Serial Wire and JTAG interfaces for debugging
• Digital Camera Interface (DCMI)
• External Interrupt/Event Controller
ST-Link/V2 Debugger & Programmer
• In circuit debugger and programmer for the
STM32
• Supports JTAG/Serial Wire Interface
• USB 2.0
Schematic Design In Eagle CAD
Wi-Fi
JTAG/ST Link
Power Supply
Camera
H-Bridge
LED Network
Division of Labor
Josh
Will
Allen
Carlos
PCB Design
Motors
Power
Smartphone Interface
Sensors
LED Network/Scoring System
Camera
Wireless Connectivity
All members will lend a hand in any area that may need additional assistance
Budget and Finances
Cost Per Unit ($)
Already Purchased
Units
Cost ($)
Lever Micro Switch Sensors
3.50
3
10.50
RC Cars
40.00
1
40.00
Experimental boards
20.00
3
60.00
Cameras Modules
10.00
4
40.00
Wifi Modules
35.00
4
140.00
Anticipated Purchases
Sensors for Other Cars
3.50
9
31.50
Separate RC Cars
40.00
3
120.00
PCB
35.00
1
35.00
RGB LEDs
3.50
12
42.00
Power Systems
25.00
4
100.00
Jumper Wire Pack
7.00
1
7.00
Miscellaneous
NA
NA
200.00
Total
826.00
Progress
Finished Thus Far
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Research
Design
Prototyping
Testing
Project
Completion
Issues
•
•
•
•
Senioritis
Difficult Camera Interface
Tweaking Android App
Heat From H-bridge Drivers
Any Questions?
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