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Big Dog’s Kryptonite controlling a RC car over a network

Big Dog’s Kryptonite controlling a RC car over a network. James Crosetto BS (Computer Science and Computer Engineering) Jeremy Ellison BS (Computer Science and Computer Engineering) Seth Schwiethale BS (Computer Science). what to expect. project objectives requirements/specifications

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Big Dog’s Kryptonite controlling a RC car over a network

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  1. Big Dog’s Kryptonitecontrolling a RC car over a network James Crosetto BS (Computer Science and Computer Engineering) Jeremy Ellison BS (Computer Science and Computer Engineering) Seth Schwiethale BS (Computer Science)

  2. what to expect • project objectives • requirements/specifications • design issues/technology

  3. project overview • expanding the range of a remote control car • control car over network, similar to a printer • be able to have first person view of car’s location

  4. at a glance

  5. functional objectives • establish connection between rc car and driver’s computer • get real time visual feed • control rc car • user friendly GUI • backtracking (retracing to reacquire lost signal)

  6. learning objectives Understand Wireless Communication Detecting availability of network Efficient methods of sending and receiving data Embedded Systems Microprocessors Assembly Language C R/C car design and functionality What’s the controlling units How do they work

  7. establish connection • between rc car and user’s computer • TCP/IP protocol suite • connection oriented • reliable • sockets • what are they?

  8. real time video feed • IP camera • video stream • wireless interface • linux kernel • Axis® RTSP • control protocol for media server • “play” and “pause” type of commands • control of media stream properties (bit rate, res, etc…)

  9. IP Camera • Power: 5.1 V DC, max 3.5 W • Alarm output (motion, audio, external) • Open API for software integration • CPU, video processing and compression; • Ram: 32 MB • Flash: 8 MB

  10. originally

  11. with ip camera RTSP/RTP

  12. controlling car • commands sent from user’s computer to camera • camera relays signal to microprocessor • microprocessor sends translated signal to car

  13. cmds from user to ip cam • client/server • single connection • server on camera – C • client on user’s computer – Java

  14. to use sockets • create socket • bind socket to port • listen for connections • accept connection • send/receive data from connection

  15. basic driving cmd sequence

  16. issue • since directions from client will be rapid • don’t want to have to wait for acknowledgment

  17. issue • since directions from client will be rapid • don’t want to have to wait for acknowledgment • use non-blocking sockets • allow communication between applications without blocking the processes using the sockets • for example: java uses Selector and keys

  18. hardware signals

  19. RC car servo • 3 Leads: • Ground • Vcc • Pulse width modulation

  20. speed and steering

  21. Square Pulse wave of 1.0-2.0ms repeats every ~20ms Width of pulse determines the position of the servo with 1.5ms as the normal center The amplitude of the pulse is from the reference level to the Vcc Vcc = 4.6-6.0V RC car servo Pulse Width Modulation

  22. IP Camera – I/O • 4-pin I/O terminal • 1 transistor output • Max load of 100mA • Max voltage of 24V DC • 1 digital input • Can be activated or left floating • Auxiliary power and GND • Max 5V DC, 2.5W • Connector for main power • Power to auxiliary equip, Max 50mA

  23. Problem • The output of the camera can be activated every 1/100th of a second • Car steering box and speed control require differences of less than 1ms

  24. RTSP/RTP

  25. adding a microprocessor rtsp/rtp

  26. microprocessor • Receives and translates signals from the transistor output of the IP camera • Camera signals are 100-185ms for steering and 200-285ms for speed control • Sends translated signals to steering box and speed control • Programmed with C and Assembly • Written, debugged, tested using CodeWarrior and a Dragon12 development board

  27. Programming the microprocessor

  28. Backtracking • Every time the IP camera receives a command, it stores the command in memory • If a connection is lost, the camera sends signals to the car to make it backtrack • If a connection is reestablished, backtracking stops

  29. GUI • processing • can communicate directly to RTSP server on camera • have an instance of a client

  30. driver view

  31. all together

  32. conclusion • project objectives • requirements/specifications • design issues/technology

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