Team Doki Doki: Paintball Gun IR Sensing and Tracking

1. Team Doki Doki:Paintball GunIR Sensing and Tracking Team Members: Matt Freeman James Kirby Juan Rivera Capstone CDR Fall 2005

2. Presentation Outline • Project Overview • System Diagram • Input subsystem • Processing subsystem • Output subsystem • Schedule • Milestones • Division of Labor • Budget/Parts List Capstone CDR Fall 2005

3. Project Overview • Design a paintball gun auto-detection and tracking system • Implement both manual control and automatic control based on IR sensing • Stepper motors control gun movement • Linear actuator pulls trigger • Spartan-3 provides system control Capstone CDR Fall 2005

4. System Diagram Stepper Motors ADC /MUX Spartan-3 IR Sensors Data Data Gun Actuator Control User Interface LCD IR Transmitter Capstone CDR Fall 2005

5. System Input Stepper Motors ADC /MUX Spartan-3 IR Sensors Data Data Gun Actuator Control User Interface LCD IR Transmitter Capstone CDR Fall 2005

6. IR λ emitted by humans is ~10μm Requires exotic and expensive detectors Use matched IR detector/emitter pairs Readily available, inexpensive IR Sensing HgCdTe Capstone CDR Fall 2005

7. Transportable independent target House in self-contained multiple LED flasher Has different modes of operation Two IR LEDs for transmission and one visible LED for alignment and power confirmation IR Transmitters Capstone CDR Fall 2005

8. Mount in an array on gun barrel Both fine-tuning and coarse adjustment Shield from light for best results More precise final design IR Sensors Capstone CDR Fall 2005

9. MUX • One ADC, 8 analog inputs • MC74HC4051: 8 to 1 analog switch • Will require 8 cycles to refresh all IR readings Capstone CDR Fall 2005

10. ADC • IR sensors are analog, board input is digital • AD7821: 8 bit parallel analog to digital converter • VREF+/- allows for fine-tuning of voltage of one LSB Capstone CDR Fall 2005

11. IR/MUX/ADC Schematic Capstone CDR Fall 2005

12. Manual Control Interface • Modified 8-bit NES controller • Controls switching between operation modes • Controls manual and calibration functioning Capstone CDR Fall 2005

13. Manual Control Interface • Parallel control hard-wired to MC14021B controller chip • Input into board via 40-pin GPIO expansion port Capstone CDR Fall 2005

14. System Processing Stepper Motors ADC /MUX Spartan-3 IR Sensors Data Data Gun Actuator Control User Interface LCD IR Transmitter Capstone CDR Fall 2005

15. Spartan-3 Breakdown SPARTAN-3 IR Data FPGA NES Control State Machine 40-pin GPIO MUX/ADC MicroBlaze RS-232 Serial LCD Motor Drivers Capstone CDR Fall 2005

16. State Machine • Transfer out of all move states and fire state controlled via variable PrevState • Automatic mode ignores all inputs except Reset and NESSel Reset=1 NESRight=1 Calibration MoveUp NESUp=1 NESSel=1 NESLeft=1 NESUp=1 MoveLeft Manual NESRight=1 MoveRight NESLeft=1 NESB=1 NESSel=1 NESDown=1 MoveDown Fire Automatic NESDown=1 Capstone CDR Fall 2005

17. Big switch statement Registers keep track of both next state and previous state Digital lock prevents unwanted toggling Separate modules for clock division and display State Machine Implementation Capstone CDR Fall 2005

18. Initial Software Testing • First used Spartan-3 on-board I/O, then GPIO • Successful behavior of state machine observed • Simulated and actual NES inputs all had correct effects • L/R and U/D position each visible on two 7-segment displays • Manual control working in software, yet to send pulses to motors Capstone CDR Fall 2005

19. MicroBlaze • MicroBlaze is a soft processor core from Xilinx for use in FPGAs • Create an RS-232 interface for serial character LCD output • Encapsulate Verilog state machine • Cannot directly interface with GPIO ports Capstone CDR Fall 2005

20. System Output Stepper Motors ADC /MUX Spartan-3 IR Sensors Data Data Gun Actuator Control User Interface LCD IR Transmitter Capstone CDR Fall 2005

21. Provide gun left/right and up/down movement Chosen stepper motors have lots of torque Allow the system to know the position of sensor Stepper Motors Capstone CDR Fall 2005

22. Bipolar Stepper Motor Driver “H-bridge” design Interface between Spartan-3 and motors Motor Driver Circuit Capstone CDR Fall 2005

23. Motor Driver Schematic Capstone CDR Fall 2005

24. Actuator • Linear actuator physically pulls trigger • Chosen over servo motor for faster reaction • Can fire multiple times per second • Mount directly on gun behind trigger • Spring-loaded trigger pulls actuator back out automatically after firing Capstone CDR Fall 2005

25. Character LCD chosen for ease of use Serial RS-232 LCD to interface with MicroBlaze Could display lots of different information Initially: Debugging info Gun position Shots remaining IR signal strength Not system-crucial LCD Capstone CDR Fall 2005

26. Paintball Gun • Mounted on a Lazy Susan for left/right rotation • Will fire “safe” ammunition for indoor testing Capstone CDR Fall 2005

27. Updated Project Schedule Capstone CDR Fall 2005

28. Milestone 1 • Date: October 27th • Goal: Manual operation fully functional • NES Controller properly interfaced • Proper state machine operation • Working motor driver circuits (wire wrap) • Motors control gun movement Capstone CDR Fall 2005

29. Milestone 2 • Date: November 17th • Goal: Automatic operation functional • IR detector array finalized • Control logic (MUX, ADC) configured • Automatic state on FPGA taking data from IR sensors and sending out appropriate signals to motor drivers Capstone CDR Fall 2005

30. Add-Ons for Expo • Get serial character LCD configured via RS-232 using MicroBlaze • Complete acrylic housing • Ability to see all “guts” of system • Mount CMOS video camera on gun barrel Capstone CDR Fall 2005

31. Division of Labor • Matt – Circuit Design and System Integration • James – Data Processing and Software Design • Juan – Structure and Circuit Design and Implementation Capstone CDR Fall 2005

32. Project Budget/Parts List Capstone CDR Fall 2005

33. Questions? ? Capstone CDR Fall 2005