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Fall Senior Project Presentation

Fall Senior Project Presentation. Rev 12.03.02:22.00 By: Salem, Ray M. Date: December 2.2002 Title: Micro Mouse Control Systems Topics: Robotics, System Control, FPGA, Communication, Arbitration…. Design Requirement. Traverse & navigate a maze. Find an optimal route.

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Fall Senior Project Presentation

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  1. Fall Senior Project Presentation • Rev 12.03.02:22.00 • By: Salem, Ray M. • Date: December 2.2002 • Title: Micro Mouse Control Systems • Topics: Robotics, System Control, FPGA, Communication, Arbitration…

  2. Design Requirement • Traverse & navigate a maze. • Find an optimal route. • Peripheral Controllers. • Abstraction of Hardware. • Communication between Hardware and software.

  3. Sensors Onboard the Micro Mouse

  4. Design Architecture • Controllers embedded into and FPGA (field programmable gate array). • All Controller entities are designed using HDL (Hardware Descriptive Language). • Independent design and testing. • Bottom Up approach.

  5. Relational Block Diagram • Sensors • Optical mouse. • Ultra Sonic Sensor. • Infrared Sensor. • Digital Compass. • Controllers • Motor Controller. • Communications • Super Simple Serial Communication:S^3C. • UART (universal asynchronous receive transmit) • Memory • Memory Block • Arbitration. • Priority Scheme.

  6. Design Implementation • The chosen HDL language is Verilog. • All hardware controllers will be targeted to an FPGA specifically Virtex XC300. • XESS development board.

  7. Optical Mouse • Provides Highly Accurate location of the current position of the mouse. • All points can now be referenced with a common sensor. • Two axis grid of the maze.

  8. Ultra Sonic Sensor • Frequency Range • 40khz. • Sensing Range • 3cm – 2M • Discrete Distances. • Acceleration Algorithm.

  9. Digital Compass • Philips KMZ51 Compass. • Dual Channel. • Orthogonal Compasses. • Analog Output. • AD7829- Analog To digital converter • 8 channel. • 8bit resolution. • Cordic Core • Coordinate rotation by digital computer algorithm.

  10. Motor Controller • Texas Instrument 754410 • control signals • A PWM(pulse width modulated) • Brake • Direction • Forward Sw1 & Sw4 • Reverse Sw2 & Sw3 • Brake Sw1 & Sw3

  11. UART (universal asynchronous receive transmit) • 2 Pin Communication. TX & RX • 8N2: Eight Data Bits, • 115KBaud Rate • No parity or error checking • 1 or 2 stop bits.

  12. Super Simple Serial Communication - S^3C • Asynchronous Serial Communication. • Independent of communication media. • Write: <address><data> • Return: Nothing • Read: <0x00><address> • Return: <address><data>

  13. Memory Block • Single Cycle Volatile memory. • Clocked at 25Mhz, • Memory Image loaded with bit file to program Memory block with initial memory content. • ie. Memory Map.

  14. Arbitration. • Slave master arbitration scheme. • Two entities will require the memory • Handle the Communication protocol • Handle the data storage for all Peripherals.

  15. Priority Scheme. • The device controller requires a priority scheme. • A round robin scheme was implemented. • Entities are allowed A period of 80ns of access to the memory.

  16. Conclusion • The Compass development has begun. • IR sensors design has begun. • Board Layout will begin, with the end of semester. • Software development has begun. • We are projecting to compete in the Spring 2003 Competition.

  17. Final Thoughts • Interested students can get involved. • Projects Remaining. • For more info you can go the official Micro Mouse web page @: www.micromouse.sdsu.edu

  18. Infrared Sensor A sensing range of 2-10cm. • Will only output true or false if a wall exist.

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