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RAVE

RAVE. Remote-Controlled Assault Vehicle Andy Knutsen Scott Helgeson Susan Jordan Johnny Lam Matt McBurney. Project Overview Rover Chassis Communications Turret System Main Board. Parts List Milestones Division of Labor Updated Calendar Conclusion. Overview. Project Overview.

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RAVE

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  1. RAVE Remote-Controlled Assault Vehicle Andy Knutsen Scott Helgeson Susan Jordan Johnny Lam Matt McBurney

  2. Project Overview Rover Chassis Communications Turret System Main Board Parts List Milestones Division of Labor Updated Calendar Conclusion Overview

  3. Project Overview • Remote Controlled Assault Vehicle • Control Via RS-232 RF Wireless Transmitter/ Receiver • Java GUI Interface • Full Turret and Vehicle Control • Semi-Automatic Firing Capability

  4. Rover Chassis Main Components: • Steering servo motor • Drive motor Control signals • Drive motor is analog • Servo motor

  5. Servo Control Signals

  6. Communications Overview • User Interface • Sending Information • Packets • Devices • Receiving

  7. User Interface • GUI • Using Java swing • JBuilder • Separate Rover from Turret • Easy to use • Have a drop box for amount of time • Size Limit

  8. Sending Information • Send button is pressed • Grab Command List • Encode using packets • Java Communications version 2.0 API

  9. Packets • Consist of: • Header • Instructions about data • Destination • Payload/Data/Body • Padded • Trailer • Easy to modify

  10. Header 3 bits Start Bit Device Select Body 7 bits Command Signals Device dependent Padded Trailer 2 bits Signifies end of packet Packetspt. 2: Our Encoding

  11. Sequence DiagramUser uses GUI to send 2 commands to Rover :RaveGui :RaveEncode :RaveComm <<DEVICE>> RS232 User addCommand() addCommand() sendCommand() encode() getType() encodeRMovement() getType() encodeTMovement() send() <<packet>>

  12. RS232 Devices • ATX8/ARX8-2400 • Wireless • 400 ft range • 418 MHz AM • 9 volt snap battery • 2400 baud • One-Way Communication • Plug and Play ATX8 ARX8

  13. Receiving • ARX8-2400 • Treat as Interrupt • Store command list in memory • Allow for separate rover and turret movement.

  14. Communication • Baseline • Above Baseline • Two way communication • CRC(Cyclic Redundancy Check) • More Robust Commands • User Feedback

  15. System Board Overview • Power, Reset and Communications Circuit • Main System Board Circuit • Glue Logic Circuit • Parts List • Interface Block Diagram

  16. Power, Reset, and Comm. Circuitry

  17. Main System Board

  18. Glue Logic (FPGA) Circuitry

  19. Parts List

  20. Interface Block Diagram Turret Stepper Motors MC68HC11 H-Bridge Circuits RF Receiver RS-232 Drive and Steering Motors D/A Solenoid Firing Trigger

  21. Turret - Gun Parts for the trigger box and turret will have to be machined

  22. Turret

  23. 90 degree phase shift between coils Less than 30 Hz (for the motor we’ve already got) 4-wire bipolar permanent magnet Stepper Motor Mechanics

  24. More on Steppers Control Sequences

  25. Milestone 1 Communication GUI Completed Gun Parts Machined Turret Motor Interface Turret Hardware Assembled Milestone 2 Communication Packet Design and Encoding Gun Test Firing Mechanism Turret Interface with Board Milestones

  26. Division of Labor • Main Board – Matt, Johnny • Communications – Johnny, Susan • Chassis – Scott, Susan, Andy • Turret – Susan, Scott, Andy • User Docs – All • Technical Manual – All

  27. Updated Calendar

  28. Conclusion • On schedule • Over baseline possible • Prototype over budget • Possible design issues

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