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iPhone Controlled RC Car

iPhone Controlled RC Car. CE Senior Design II Jordan Bean Phil Doughty Xander Fiss Chris Murphy. Presentation Outline. Introductions Project Overview & Major Goals Network (Jordan Bean) Infrastructure Range Protocol Ideas iPhone ( Xander Fiss ) Software User Interface Hardware

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iPhone Controlled RC Car

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  1. iPhone Controlled RC Car CE Senior Design II Jordan Bean Phil Doughty XanderFiss Chris Murphy

  2. Presentation Outline • Introductions • Project Overview & Major Goals • Network (Jordan Bean) • Infrastructure • Range • Protocol Ideas • iPhone (XanderFiss) • Software User Interface • Hardware • SDK • Networking • GumStix (Phil Doughty) • System • Networking • Robostix • Software • RC Car (Chris Murphy) • Electronics • Power • Mechanical Components • Integration • Restrictions • Anticipated Problems • Power Requirements • Testing Strategy • Multidisciplinary Aspects • Cost

  3. Introductions • Jordan Bean • Behavioral Model/Network Communications • Phil Doughty • GumStix RC Car Control Unit • Xander Fiss • iPhone Application Programming • Chris Murphy • RC Car Electronics

  4. Project Overview & Major Goals • Use the iPhone as a tilt-based human control interface for an RC car • System communication over Wi-Fi • RC Car Electronics Interfacing • PWM Channel Controlled Steering and Acceleration • GumStix provides Wi-Fi  PWM Interface

  5. The Network Infrastructure • The overall existing RIT wireless network will be used for iPhone to RC car communication

  6. Infrastructure • iPhone will run a UDP client during operating mode, and a TCP client for testing • The GumStix will run a UDP server during operating mode, and a TCP server for testing • Overall model/testing environment will allow for early testing and easy integration

  7. Range • The RC car will be able to operate within the range of the RIT wireless network • As long as UDP packets keep arriving at the GumStix control unit, user control will be maintained • If no packets are received within a predefined timeout period, the RC car will automatically stop • Maintaining visual contact with RC car is recommended for operational feedback purposes

  8. Protocols • For operation, the UDP protocol has been initially selected • Offers fast transfer of information to RC car • For testing and in case of major UDP issues, TCP communication capabilities have also been included • Allows for guaranteed connection and transfer of data

  9. iPhone Software UI • Tilt Values Read in Real Time • Connect to GumStix • On/Off Send Data • System Settings • Speedometer

  10. iPhone Hardware • Touch Screen User Interface • Accelerometer Integrates to Obtain Ground-Relative Tilt Data • Accelerometer data put through low pass filter to ignore sudden movement (drops) • Built in Wi-Fi

  11. iPhone SDK • C for Low-Level OS Calls & Functions • Objective-C for Cocoa Touch API • Object Oriented • Strict Superset of C • Extensive Documentation • Tutorials • Example Code • Includes Simulator for Speedy UI Development • Does Not Simulate Accelerometer

  12. Networking • Connectivity Handled Behind the Scenes • iPhone OS is essentially Mac OS X • Traditional Unix Socket Programming • Code written in C • Libraries built into iPhone OS

  13. GumStix (Phil Doughty) • Embedded Linux OS • Plug & Play • Modules connect oneither side • Network and WiFiModules were purchased • Robostix Microcontroller Module was also purchased

  14. GumStix Networking • Linux Networking Stack • Proven Reliability • WiFi directly supported • Needed to change 1 line of a configuration file to automatically join RIT’s WiFi Network • Support for UDP and TCP Connections • Remote Login via SSH

  15. RoboStix • Autonomous Microcontroller • Programmed independently • Receives data over I2C bus from GumStix motherboard • No knowledge of I2C required • Programs freely available control Robostix from Linux System Calls over I2C • Contains MANY useful features • 9 PWM Channels • 8 ADC Channels

  16. GumStix Software • Simple Program • Wait for UDP Data on a specific port • Once data is received, adjust PWM channels accordingly • Send acknowledgement packet (optional) • If data is not received within a specified timeout period, turn off PWM channels (safety)

  17. GumStix Help and Thanks • Initial Setup, Getting on the Network, etc. • Charles Gruener • GumStix/RoboStix programming advice and information • Nick Palladino • Eric Offermann

  18. Electronics • The RC car is powered by a 7.2 V, 3300 mAh battery • Three wire servo • 6.0 volt VDD • 0.0 volt GND • PWM (0V5V)

  19. Powering the GumStix • Several options • Battery for the Nintendo DS or Sony PSP • Rechargeable AA Batteries + Voltage Regulator • Power directly from the 6.0 volt VDD servo wire • Need to be extremely careful with the sensitive microchips • Don’t want a showstopper

  20. Mechanical Components • RC Car will be run in training mode so that forward and reverse only run at 50% of capacity • Speed of the RC Car has to be governed in software • Theoretically capable of going 35+ mph

  21. Integration • Ease of integration will be supported by the testing and integration behavioral models • Use of behavioral models as an initial standard will help to avoid any integration problems • Integration of the RC car and the GumStix control unit will be done as early as possible

  22. Restrictions • It is highly recommended that visual contact be maintained with the RC car at all times to ensure safe operation • The RC cars operation is also restricted to within range of a wireless network • Overall speed of the RC car will be governed for safety purposes • Steering of RC car is limited to 90° in each direction

  23. Anticipated Problems • Real-time control of the PWM channel outputs • UDP packet reliability • Powering the GumStix control unit

  24. Power Requirements • RC Car • 3.3 Ah RC Car Battery x2 (~24 Watt-hours) • Estimated battery life on a charge: 30 minutes • GumStix • Powered Separately from RC Car • Requires 5 Watts at most • Runs on 4.5V – 6V

  25. Testing Strategy • Module testing will be completed first • RC Car • GumStix PC • iPhone • Integrated project testing • Forward, reverse, left, and right capabilities • Edge of network operation

  26. Multidisciplinary Aspects • Carefully researched ergonomic user interface (Industrial Engineering) • Mechanized RC car (Mechanical/Electrical Engineering) • Wi-Fi Interfacing (Network Administration) • Carefully engineered and documented software (Software Engineering)

  27. Project Costs

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