Home

Detailed Design Specification (RRS: Rocket Recovery System)

1. FIGURE 2 1 RRM DATA PROCESSING DIAGRAM 10 2 Verify Data Verify Accelerometer 10 2 1 Prologue Data that is received from the Accelerometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defined as values that exceed the realistic value for a given calculation in this case any orientation value where value lt 0 or value gt 360 March 8 2013 51 Team Mass Rocket Recovery System 10 2 2 Interfaces The Verify Accelerometer module is a function within the RRM Data Processing class It gets passed values x y and z from which we can derive the orientation given that the rocket will be calibrated on the IRBS pad These calculations are done in the Data Input layer to clarify this function received values in degrees Note that this will cancel out acceleration due to gravity from the SD 12 Rockets base frame This function returns void and calls the function Offset_Calculation if the values are within the threshold 10 2 3 External Data Dependences None 10 2 4 Internal Data Dependences Data from the Accelerometer Reading module in the Data Input Layer 10 2 5 Process Pseudocode Nerifies that the x y z values in g forces are not lt 16 or gt 16 private void Verify_Accelerometer int x int y int z If any of the three are out of bounds throw out all three
2. March 8 2013 77 Team Mass Rocket Recovery System 16 6 3 Interfaces The Switch will interface with 1 Arduino Mega digital pin 16 7 RGB backlight positive LCD 16x2 FIGURE 16 7 RGB BACKLIGHT POSITIVE LCD 16X2 16 7 1 Purpose The purpose of the RGB backlight positive LCD 16x2 is to allow the system to send output to the user in some readable format 16 7 2 Specifications e 16 characters wide 2 rows e Black text on multi color background e Connection port is 0 1 pitch single row for easy breadboarding and wiring e Single RGB LED backlight included can be dimmed easily with a resistor or PWM and uses much less power than LCD with EL electroluminescent backlights e Built in character set supports English Japanese text see the HD44780 datasheet for the full character set e Up to 8 extra characters can be created for custom glyphs or foreign language support 16 7 3 Interfaces The RGB backlight positive LCD 16x2 interfaces with the Arduino Mega though 6 digital pins Any analog digital pins can be used and 3 PWM pins for the backlight see figures 16 1 and 16 2 of section 16 16 8 LED Indicators March 8 2013 78 Team Mass Rocket Recovery System c gt FIGURE 16 8 LED INDICATORS 16 8 1 Purpose The purpose of the LED indicators is to allow the system to notify the user modes and problems 16 8 2 Spe
3. 13 6 Adafruit Perma Proto Quarter sized Breadboard PCB March 8 2013 66 Team Mass Rocket Recovery System ETTIITIIIIIIIITI EB EIIIIIIIIIIIIIIA 9909000299008 A r 9e9eeeceeseseeeeer o eeeesesseeeec scs 00090906000909909099009 Adatruit Perma Proto 1 4 Sized Breadboard OOO8O 80808804088 2690980888888 88880 o6000000000000009 o666066060000000009 606060000600000090 es 2398 6 7 6 8 Ee 0 000000880008898 900000000000000 FIGURE 13 5 ADAFRUIT PERMA PROTO QUARTER SIZED BREADBOARD PCB 13 6 1 Purpose The Adafruit Perma Proto Quarter sized Breadboard PCB will allow connections to the Arduino Mega in the launch control box This will allow for the accelerometer to have power and data flow 13 6 2 Specifications e 15 rows of double 5 hole rows e 4 power rails with positive negative markings e 1 7 x 2 0 44mm x 55mm 0 063 thick FR4 e 1 2mm 0 047 drill holes e 2x 0 125 or 3 2mm mounting holes 1 4 apart 13 6 3 Interfaces The Adafruit perma proto quarter sized breadboard PCB interfaces with the Arduino Mega in the launch control box through a 5 volt pin and ground pin to power the rest of the system see figures 13 1 and 13 2 of section 13 March 8 2013 67 Team Mass Rocket Recovery System 14 Launch Control Box Design The Launch Control Box will consist of multiple switches buttons LED indicators an LCD screen a data port to
4. 23 2 5 1 Get Data The unit shall be able to store flight data temporarily before being converted into packets appropriate uses 23 2 5 2 Send Receive Send Receive unit shall be able to pack unpack and acknowledge the flight data received from the Get Data module and send the data to RRM system 96 Team Mass Rocket Recovery System 23 2 6 RRM Network Layer 23 2 6 1 Send Receive Send Receive unit shall be able to unpack the data received from the IRBS system unpack acknowledge and send the data back to the IRBS system 23 2 7 RRM Data Input Layer 23 2 7 1 Barometer Input The Barometer Input shall be able to calibrate the analog digital input from the anemometer and convert it to digital signal for verification 23 2 7 2 Accelerometer Input The Accelerometer Input shall be able to detect and read the analog digital input from the accelerometer for verification 23 2 8 RRM Data Processing Layer 23 2 8 1 Verify Data The unit shall be able to access and verify the accuracy of the data from accelerometer and barometer 23 2 8 2 Stabilization Processing Stabilization Processing unit shall be able to counterbalance and compensate calculation for controlling the rocket fin 23 2 8 3 Air Pressure Process The Air Pressure Process unit shall be able to convert air pressure from the barometer to be used to compute altitude needed for successful landing of the rocket 23 2 9 RRM Hardware Interface Layer 23 2 9 1 Hardware Processin
5. Rocket Recovery System Flash Memory 128 KB of which 4 KB used by bootloader e SRAM 8 KB EPROM 4 KB e Clock Speed 16 MHz I 16 2 3 Interfaces The Arduino Mega 2560 will interfaces with the Rocket Recovery System through digital analog TX RX 5 volt and ground pins and to the other components through wires It also interfaces through the battery holder port 16 3 Davis Anemometer Standard 7911 FIGURE 16 3 ANEMOMETER STANDARD 7911 16 3 1 Purpose The purpose of the anemometer is to gather the wind speed and direction data 16 3 2 Specifications e Cable Type 4 conductor 26 AWG e Connector Modular connector RJ 11 16 3 3 Interfaces The anemometer will connect to a digital pin and use a 4k7 resistor as pull up to 5v and use a 10 to 22nF capacitor from the pin to ground to debounce the reed switch of anemometer It will also connect to an analog pin and use a 1 to 10 pF 16v capacitor between the pin and ground observe C polarity to avoid jitter March 8 2013 75 Team Mass Rocket Recovery System 16 4 Rocker Switch SPST FIGURE 16 4 ROCKER SWITCH SPST 16 4 1 Purpose The purpose of the rocker switch is to allow the user to turn on and off the power of the rocket recovery system 16 4 2 Specifications e Right angle solid through hole mounting e Rated up to 16A 125V 16 4 3 Interfac
6. DP19 A Boolean data type containing the pad over tilt safety function UI1 A float that contains the average wind direction UI2 A float that contains the average wind speed UI3 An integer value that contains the altitude Ul4 A float value that contains the pad angle UI5 A string of all the formatted data for display TABLE 2 1 IRBS MODULE DATA FLOWS March 8 2013 9 Team Mass Rocket Recovery System Consumer UI1 UI2 U13 U14 DP1 U DP2 DP3 c DP10 DP11 DP16 T DP15 DP18 DP13 DP14 DP12 DP17 s N1 N2 5 N4 N3 H1 H2 TABLE 2 2 IRBS PRODUCER CONSUMER MATRIX March 8 2013 10 Team Mass Rocket Recovery System 2 4 3 Module Descriptions 2 4 3 1 User Input Button State The purpose of the Button State module in the User Input subsystem is to determine the position of all the buttons and switches All of the buttons and switches will be connected to digital pins on the Arduino Mega 2 4 3 2 Anemometer Input Calibrate The purpose of the calibrate module in the Anemometer Input Subsystem is to calibrate the anemometer before its first use The wind vane direction can be permanently calibrated upon startup of the Arduino board by orienting the vane towards the true north during power up From th
7. Process Pseudo code Struct A int windAlt ja 7 4 Send Receive Unpack Data 7 4 1 Prologue The Unpack Data module extracts the signal in Boolean form and stores in Set ACK module 7 4 2 Interfaces Interfaces with RRM system Set Flight module and Set ACK module 7 4 3 External Data Dependencies The module depends on the packet signal coming from the RRM system 7 4 4 Internal Data Dependencies No internal data March 8 2013 42 Team Mass Rocket Recovery System 7 4 5 Process Pseudo code Struct C Boolean y 6 7 5 Send Receive Send Flight Data 7 5 1 Prologue The purpose of the module is to store the packet data and the Boolean value to confirm whether the data is sent or not 7 5 2 Interfaces The module interfaces with the RRM system Pack Data module and the Unpack Data module 7 5 3 External Data Dependencies No external 7 5 4 Internal Data Dependencies The module depends on packet data from the Pack Data module and Boolean value from the Unpack Data module 7 5 5 Process Pseudo code private void sendFlightData Struct B int windAlt Boolean x b 7 6 Send Receive Set ACK 7 6 1 Prologue The Set ACK module stores the Boolean value that gives the result to whether the data is sent or not 7 6 2 Interfaces The module interface with the Format Data module and the Unpack Data module 7 6 3 External Data Dependencies No external data
8. e 5 DIGITAL PWM LEN NU ut CC MADE ITALY FIGURE 18 1 ARDUINO UNO The Arduino Uno is to act as the mother board of the Rocket Recovery System I for the system to other hardware com 18 2 2 Specifica e Microcontroll e Operating Vol t will handle all function correct ponents tions ler ATmega328 ltage 5V e Input Voltag recommended e Input Voltage limits 6 20V March 8 2013 84 the computations necessary ly and distribute power to the 7 12V Team Mass Rocket Recovery System e Digital I O Pins 14 of which 6 provide PWM output e Analog Input Pins 6 e DC Current per I O Pin 40 mA e Current for 3 3V Pin 50 mA e Flash Memory 32 KB of which 5 KB used by bootloader e SRAM 2 KB e EEPROM 1 KB e Clock Speed 16 MHz 18 2 3 Interfaces The Arduino Uno will interfaces with the Rocket Recovery System through digital analog TX RX 5 volt and ground pins and to the other components through wires It also interfaces through the battery holder port see figures 18 1 and 18 2 of section 18 18 3 ADXL326 5V ready triple axis accelerometer 16g analog out FIGURE 18 2 ADXL326 5V READY TRIPLE AXIS ACCELEROMETER 18 3 1 Purpose The purpose of the ADXL326 accelerometer is to measure the change in position of the rocket during flight so that calcu
9. 23 2 2 User Interface Layer 23 2 2 1 Get Data The Get Data unit shall be able to accept and process all the data states into digital signal that will be easy to format for display The data expected to be processed are wind direction altitude pad angle and wind speed March 8 2013 95 Team Mass Rocket Recovery System 23 2 2 2 Display Output The Display Output unit shall be able to format the signal received from the Get Data unit into an appropriate format for display on the LCD 23 2 3 Data Processing Layer 23 2 3 1 Verify Data The unit shall be able to access and verify the accuracy of the data from accelerometer and anemometer 23 2 3 2 Encapsulate Data Encapsulate Data unit shall be able to convert data from raw form to wind speed in M PH and wind direction in degree 23 2 3 3 Set Data Set Data unit shall be able to serve as a temporary storage to store calculated wind direction and speed as well as flight data 23 2 3 4 Process Data The unit shall be able to compute wind speed and wind direction from the encapsulate wind data and create tables for lookup 23 2 4 IRBS Hardware Interface Layer 23 2 4 1 Get Data The Get Data unit shall be able to store wind temporarily for further processing and uses by the servos 23 2 4 2 Hardware Processing Hardware Processing unit shall be able to tilt the servo to a specific angle and pan the servo to a required angle using wind data 23 2 5 IRBS Network Layer March 8 2013
10. 5 3 Verify Data Verify Anemometer 5 4 Encapsulate Data Encapsulate Wind Data 5 5 Process Data Calculate Wind Speed 5 6 Process Data Calculate Wind Direction 5 7 Process Data Table Lookup 5 8 Set Data Set Wind Speed 5 9 Set Data Set Wind Direction 5 10 Set Data Set Flight Data 6 IRBS Hardware Interface 6 1 Overview 6 2 Get Data Get Wind Data 6 3 Hardware Processing Rotate Pan Servo 6 4 Hardware Processing Rotate Tilt Servo 7 IRBS Network 7 1 Overview 7 2 Get Data Get Flight Data 7 3 Send Receive Pack Data 7 4 Send Receive Unpack Data 7 5 Send Receive Send Flight Data 7 6 Send Receive Set ACK 8 RRM Network 8 1 Overview 8 2 Send Receive Unpack 8 3 Send Receive Pack 8 4 Send Receive Send ACK 9 RRM Data Input 9 1 Overview 9 2 Accelerometer Input Accelerometer Reading 9 3 Barometer Input Barometer Reading 10 RRM Data Processing 10 1 Overview 10 2 Verify Data Verify Accelerometer March 8 2013 lil Rocket Recovery System Team Mass Rocket Recovery System 10 3 Verify Data Verify Barometer o ccccccescccccecessesssseseceeecessesesaeeeeeeecesseseaaeseeeeseeeseeaaeeeecessessesnaaeees 52 10 4 Stabilization Processing Offset CalCulation cccccccccccccsssssssscecececessessaeseeeeseessessaeseeeessessessaaees 53 10 5 Air Pressure Processing Calcu
11. Internal Data Dependences None 5 6 5 Process Pseudocode private void Average Direction int direction long total 0 foreach long d in direction total d averageDirection total 10000 5 7 Process Data Table Lookup 5 7 1 Prologue Our system is going to have a set of tables that list all the possible settings for a given wind speed and direction These settings include the pad angle and the rockets turn altitude Once the averages are calculated this module will conduct the lookup for these two values and send that data to the Set Flight Data module within the Set Data subsystem 5 7 2 Interfaces The Table Lookup function will get two values the average wind speed It will then check the tables that give the SD Rocket turn altitude and rocket pad angle given the average wind speed These values will be stored for the rest of the system to use The resulting calculation is stored as a part of the objects private member data for the rest of the system to access 5 7 3 External Data Dependences None 5 7 4 Internal Data Dependences None 5 7 5 Process Pseudocode private void Table Lookup for int i 0 i table Length i if table i averageSpeed padAngle table i 1 March 8 2013 35 Team Mass Rocket Recovery System 5 8 Set Data Set Wind Speed 5 8 1 Prologue This function is simply the interface into the data that the Data Processing layer computes for
12. Rocket Recovery SYSt M cccccsessssscececeseesenseseceeecesseseeeaeceeecessesaaeaeeeescessuseaaeaeeeeseesseseaaaaeeeesens 2 Figure 1 2 Rocket Recovery System 3 Figure 5 2 1 Architecture Overview cccccceessssccecececeeseeseceeeceseenaasaeeeeecesseseaseaeeeeecesseseaaeaeeeeecesseseaaeaeeeesens 5 Figure 2 2 IRBS Module 8 Figure 2 3 RRM MODULE CHART cccsscccessenceceeseecececseeeecesseeeecesseeecsseneecsseeeaecseseeaecsceenaecseeeeaeeesennaeens 14 Figure 3 1 Data Input Diagtam 22 2030 seis ce hae eck peer has Ht 18 Figure 7 1 IRBS Data Processing Diagram cccccsssssssscsssssceseseseaeeeaeaeaeaeaeaeseaeaeaeaeaeaeaeaeaeaeaeaeaeaeaeaeaeananaea 31 Figure 6 1 hardware interface Diagram cccccccccccssessssscecececsssessaeeececeseeseceaeseeeceseesnsasaeeeeecesseseaeaeeeesens 38 Figure 7 1 network Diagana iersinii aidian eioan iaia ii aa eean araar i iaai ia taenn iere 41 Figure 8 1 RRM network n eec ei E EA C ERE A E E A AEA cates TERET 45 Figure 9 1 RRM Data Input Diagfa Mi ssania aiaeei e aE Fi E Ea E EER iE Ee 48 Figure 12 1 RRM Data Processing Diagram esesesssssssssesesssssssssssssssssesssssrsssssssssssssssrsssrsrsssssrsrsrsrsrsesesrsrsenno 51 Figure 11 1 RRM hardware interface Diagram cccsccccccscsssessscecece
13. This function is simply the interface into the data that the Data Processing layer computes for all other layers It specifically contains the accessor functions for the average wind direction Doing this ensures encapsulation of data March 8 2013 12 Team Mass Rocket Recovery System 2 4 3 17 Set Data Set Flight Data This function is simply the interface into the data that the Data Processing layer computes for all other layers It specifically contains the accessor functions for the SD 12 Rocket turn altitude and IRBS pad angle Doing this ensures encapsulation of data 2 4 3 18 Get Data Get Wind Data Get Wind Data module serves as a temporary storage for the wind data received from the Set Flight Data and Set Wind Direction modules of the Set Data Layer These data received are used for the tilting and rotating the servo in a specific direction and angle 2 4 3 19 Hardware Processing Rotate Pan Servo The module will use the average wind direction to regulate and rotate the servo to a required angle 2 4 3 20 Hardware Processing Rotate Tilt Servo The purpose of the module is to use the wind speed data to regulate and rotate the servo to a specific angle 2 4 3 21 Get Data Get Flight Data The Get Flight Data module is responsible for using the altitude to turn the angle that will be used by the rocket 2 4 3 22 Send Receive Pack Data The module breaks down the flight data into packets that will be sent to the
14. 5 24 g Mass 0 194 g Mass 0 194 g Mass 3 7 g Mass 6 95 g Mass 61 3 g Mass 61 3 g Mass 61 3 g Mass 61 3 g Mass 4 62 9 Mass 4 62 9 Mass 7 8 g Mass 7 8 g Mass 0 194 g Team Mass Rocket Recovery System 21 Traceability Matrices In order to verify that certain customer and performance requirements are satisfied Team MASS used requirements traceability matrix Requirements traceability matrix is produced by generating a table which specifies the modules that fulfill certain requirements Requirements 3 1 Rocket lands where it was launched from 3 5 IRBS Preparation 3 6 IRBS Launch Mode 5 6 RRM Microcontroller instructions per second 3 9 IRBS Rotation 3 10 IRBS Pad Pitch 3 11 RRS Abort 3 12 IRBS Wind Speed Detection 5 5 IRBS Modes Time Countdown lt March 8 2013 93 Team Mass Rocket Recovery System March 8 2013 94 Team Mass Rocket Recovery System 22 Quality Assurance 22 1 Test Plans and Procedures Team Mass will take advantage of the modularity of the project design in carrying out the testing to achieve maximum productivity and efficiency For a start each component will be tested using unit testing to be sure that no component is faulty or damaged before soldering Then the group of components that made up a particular module will be tested together for functionality On passing the test the module will be tested with oth
15. 9 volts 16 11 3 Interfaces The 9 volt battery provides power to the Launch Control Box by interfacing with the battery holder March 8 2013 81 Team Mass Rocket Recovery System 17 RRM Hardware Design Figures 18 1 and 18 2 show RRM bread board layout and schematic layout For more details see section 19 eeeeeee 99999999999 0 sor 1 CEE 1111 Barometer eee reer toeseseveoe Made with J Fritzing org FIGURE 18 1 RRM BREAD BOARD LAYOUT March 8 2013 82 Team Mass Rocket Recovery System Arduino 3ndur Digital Input Output qmeter sensor vcc coc Barometric sa Pressure Sensor BMP085 Breakout GND FIGURE 18 2 RRM SCHEMATIC LAYOUT March 8 2013 83 Team Mass Rocket Recovery System 18 RRM Hardware Components 18 1 Overview The hardware section shall describe all of the hardware components used in the Rocket Recovery Module Each component shall have a section describing its purpose 18 2 Arduino Uno 18 2 1 Purpose et n L ARDUINO D LANI L Xu EEG NE ZXENS eC I t i specifications and interfaces
16. Box Hardware Components Overview Figures in section 15 show physical design of the launch control box describe al Box The launch control box hardware components section shall ll of the hardware components used in the Launch Control Each component shall have a section describing i specifications and interfaces 16 2 16 Arduino Mega MADE IN E ITALY f m 2 www Messen nec v BM a Mi HIP D 9 e COMMUNICATION 1 LJ LJ 4 mmm oy PUR Wem a IN B LT m epu TEE m i ICSD ow H 3 X m U OD ieo euve De akir d Arduino MEGA uuu arduino cc FIGURE 16 2 ARDUINO MEGA 2 Purpose je emponen ANALOG IN LES purpose The Arduino Mega 2560 R3 DEV 11061 is to act as the mother board of the Rocket Recovery System It will handle all the computations necessary for the system to function correctly and di 16 stribute power to the other hardware components 2 2 Specifications e Microcontroller ATmegal280 e Operating Voltage 5V e Input Voltage recommended 7 12V e Input Voltage limits 6 20V e Digital I O Pins 54 of which 15 provide PWM output e Analog Input Pins 16 e DC Current per I O Pin 40 mA e DC Current for 3 3V Pin 50 mA March 8 2013 74 Team Mass
17. Data Dependences None 10 5 5 Process Pseudocode private void Calculate Altitude int airPressure int altitude int seaLevel float a 0 0 int currentTemp float b 0 0 float currentAltitudeMeters 0 float currentAltitudeFeet 0 0 0 101325 executing formula to convert to feet above sea level altitude airPressure 100 relativePressure altitude seaLevel x In relativePressure 287 053 b x currentTemp 459 67 5 9 altitude given in meters above sea level currentAltitudeMeters b 9 8 altitude given in feet currentAltitudeFeet currentAltitudeMeters 3048 Target_Altitude currentAltitudeFeet March 8 2013 54 Team Mass Rocket Recovery System 10 6 Air Pressure Processing Target Interrupt 10 6 1 Prologue The Target Interrupt module s only purpose is to listen to the altitude readings from the Calculate Altitude module and send the command to turn the rocket when the target altitude is reached 10 6 2 Interfaces This function receives the target altitude from the Unpack module in the Network Layer and the current altitude from the Current Altitude module in the Data Input Layer Once the current altitude and target altitude match this module will send a bit value to the Target Fin Controller in the Network Layer signaling it to follow it s turn algorithm 10 6 3 External Data Dependences None 10 6 4 Internal Data Dependences The t
18. RRM system 2 4 3 23 Send Receive Unpack Data The Unpack Data module extracts the signal in Boolean form and stores in Set ACK module 2 4 3 24 Send Receive Send Flight Data The purpose of the module is to store the packet data and the Boolean value to confirm whether the data is sent or not 2 4 3 25 Send Receive Set ACK The Set ACK module stores the Boolean value that gives the result to whether the data is sent or not 2 5 RRM Module Decomposition 2 5 1 Overview The main purpose of DDS was to break down each sub system into modules This section contains the high level definition of each module that we have in the RRM system March 8 2013 13 Team Mass Rocket Recovery System 2 5 2 Module Chart o o m From IRBS Accelerometer Accelerometer Reading Barometer Stabilization Air Pressure Processing Processing To FIGURE 2 3 RRM MODULE CHART March 8 2013 14 Team Mass Rocket Recovery System TABLE 2 3 RRM MODULE DATA FLOWS March 8 2013 15 Team Mass Rocket Recovery System Consumer TABLE 2 4 RRM PRODUCER CONSUMER MATRIX 2 5 3 Module Descriptions 2 5 3 1 Send Receive Pack Data The module receives the packet data and stores it in a structure to be packed and acknowledged 2 5 3 2 Send Receive Unpack Data The Pack module extracts the p
19. and The Network Layer The Rocket Recovery Module is dived into 4 distinct layers The Network The RRM Data Input The RRM Data Processing and The RRM Hardware Interface March 8 2013 5 Team Mass Rocket Recovery System 2 2 The Intelligent Rotating Base Station 2 2 1 User Interface The IRBS User Interface Layer is responsible for allowing the user to visually interact with the system This layer allows the user to see what user input has been entered and what data has been collected and processed This layer consists of two subsystems Get Data and Display Output 2 2 2 Data Input The IRBS Data Input Layer is responsible for handling the user input the anemometer input and the accelerometer The IRBS Data Input layer consists of three subsystems the User Input the Anemometer Input and the Accelerometer Input 2 2 3 Data Processing The IRBS Data Processing Layer s purpose is to emphasize modularity in the design structure of the system All processing of data will be encapsulated within this layer and the resulting comprehendible data will be made available to the respective systems the hardware layer the user interface layer and the network layer 2 2 4 Hardware Interface The IRBS Hardware Layer is responsible for obtaining the data that will be used by the servo to rotate at a specific angle depending on the speed of the wind 2 2 5 Network The IRBS Network layer is the last layer of the IRBS system and ret
20. module that requests it 5 10 3 External Data Dependences None 5 10 4 Internal Data Dependences None 5 10 5 Process Pseudocode public long getAlt 1 return averageSpeed public long getAng return averageSpeed March 8 2013 37 Team Mass Rocket Recovery System 6 IRBS Hardware Interface Get Data Get Wind Data Hardware Processing Rotate Pan Servo Rotate Tilt Servo Tilt Servo Pan Servo FIGURE 6 1 HARDWARE INTERFACE DIAGRAM 6 1 Overview The IRBS Hardware Interface layer is a layer that depends on the Data Processing Layer and consists of two subsystems namely Get Data and Hardware Process subsystems The layer primary function is to obtain the data that will be used by the servo to rotate at a specific angle and direction depending on the speed of the wind 6 2 Get Data Get Wind Data 6 2 1 Prologue Get Wind Data module serves as a temporary storage for the wind data received from the Set Flight Data and Set Wind Direction modules of the Set Data Layer These data received are used for the tilting and rotating the servo in a specific direction and angle 6 2 2 Interfaces The module only interface with the wind data modules from the Set Data Layer 6 2 3 External Data Dependencies No external data March 8 2013 38 Team Mass 6 2 4 Internal Data Dependencies The module depends on the
21. raw digital data from the attached accelerometer and convert it into 3 separate integer value These three values will represent the X Y and Z coordinates 3 6 2 Interfaces The ADXL326 5V ready triple axis accelerometer will interface with the Arduino Mega through 3 analog pins 3 6 3 External Data Dependences The Accelerometer Reading module is only dependent on the physical orientation of the launch platform 3 6 4 Internal Data Dependences The Accelerometer Module is not dependent on any internal data 3 6 5 Process Pseudocode const int groundpin 18 analog input pin 4 ground const int powerpin 19 analog input pin 5 voltage const int xpin A3 x axis of the accelerometer const int ypin A2 y axis const int zpin A1 z axis only on 3 axis models void setup pinMode groundpin OUTPUT pinMode powerpin OUTPUT digitalWrite groundpin LOW digitalWrite powerpin HIGH int x int y March 8 2013 23 Team Mass Rocket Recovery System int 2 void loop get the x sensor values x analogRead xpin get the y sensor values y analogRead ypin get the z sensor values z analogRead zpin delay before next reading delay 100 March 8 2013 24 Team Mass Rocket Recovery System 4 IRBS User Interface 4 1 Overview The IRBS User Interface Layer is used for allowing the user to visually interact with the system This layer s primary resp
22. s central purpose is to launch a low powered model rocket and land it near the area where it was launched from The Rocket Recovery System RRS has three components The Intelligent Rotating Base Station IRBS The SD 12 Rocket and the Rocket Recovery Module RRM The Intelligent Rotating Base Station is a launch pad that gathers information about the wind speed and direction using an attached anemometer The IRBS will then compensate for the wind by rotating and tilting the launch pad in the appropriate direction The IRBS will pass the wind data to the SD 12 Rocket equipped with the Rocket Recovery Module before launch After the launch of the SD 12 rocket the RRM will make real time calculations using the IRBS data to direct the rocket to a specified location After the engine burn phase a parachute will be deployed and the SD 12 will float back to the coordinates where it was launched The system will have an attached control launch box that the user interacts with the system with This launch box is attached to the IRBS via a bus line The Rocket Recovery System will have three modes These modes include Standby Mode Preparation Mode and Launch Mode The Standby mode will allow the user to attach the SD 12 rocket to the IRBS and make necessary adjustments In this mode no data is being collected or used The Preparation Mode will start to collect wind data from the attached anemometer and make the adjustments to the IRBS The Launch Mode wi
23. 9 Table 2 2 IRBS Producer Consumer Matrix cccccccsssscecessencecesseeeececseeeecesseeeecseeeesecsssesaeceeeeaeeceseeaaeeeseeeaeens 10 Table 2 3 RRM MODULE DATA FLOWS esses enne rennen sitter nnn ernst 15 Table 2 4 RRM Producer Consumer Matrix cccccccsssscecessscceceeseecececseeeeceeseeeecseeeeeeceeseaeeceseeeaecsseeaaeeeeseaaeens 16 March 8 2013 vil Team Mass Rocket Recovery System Document Revision History Revision Revision Description Rationale Number Date 2 9 2013 First version ofthe DDS 2 26 2013 Merged each branch ofthe document 2 26 2013 Final QA inspection 2 26 2013 Submitted final edition 02 20 m March 8 2013 viii Team Mass Rocket Recovery System 1 Introduction 1 1 Document Overview The Detailed Design Document will provide a low level description of the Rocket Recovery System The document will provide information sufficient enough to begin a detailed design of the systems The system will be divided into modules that provide the detail and functionality of each sub system The modules will include information about inputs outputs data required processing and the pseudo code The document will also include relationship mapping between various requirements and modules quality assurance and testing considerations and all specific details and design of all specific hardware parts 1 2 Project Scope and Overview The Rocket Recovery System
24. BS 1 lcd clear lcd setCursor 0 0 lcd print Rocket Launched March 8 2013 29 Team Mass Rocket Recovery System delay 10000 March 8 2013 30 Team Mass Rocket Recovery System 5 IRBS Data Processing 5 1 Overview The data processing layer on the IRBS is built to do all of the processing needed prior to launch Processing includes verifying data calculations for successful flight and operation and storing it for other systems to feed form The bulk of the processing will be calculated during the preparation phase of the launch sequence Calculations include average wind speed and direction and turn altitude for the rocket The data processing layer represents a C object with each of the below modules as functions Verify Data Encapsulate Data Verit Encapsulate Wind Accelerometer Process Data Calculate Wind DP6 Calculate Wind Set Data Speed Direction Set Wind Speed Set Wind Direction Set Flight Data Tablel Lookup FIGURE 2 1 IRBS DATA PROCESSING DIAGRAM 5 2 Verify Data Verify Accelerometer 5 2 1 Prologue Data that is received from the Accelerometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defi
25. Department of Computer Science and Engineering The University of Texas at Arlington Team Team MASS Project Rocket Recovery System Team Members Clinton Spivey Heera Main David Salvagnini Olalekan Ajayi Rocket Recovery System Contents ii cuori du Ip MEI vi stof Tables e RE ER EIN e abd PAR DERE etd vii DOCUMENT REVISION History ecce ceret etn nee YR C ee see cuts e e ee rege ap ee viii OM pe M E 1 1 1 Document Overview odere anette een eee es ainda 1 1 2 Project Scope and Overview ccccccssssssnsecececsesssssansecececsessaneaeseceeseseneaeesesecessesesusansececeesesesaeanseceeeess 1 1 3 Definitions and nennen nnt iaa ense tasa sss siga 4 2 Architecture Overview eee te e RO De te eb ieee eee a ee ep oet ten 5 2 1 OVerVIe Wee Ge en EP obe Ge UG d ebd Ge lon 5 2 2 The Intelligent Rotating Base Station ccccccccccccesssssssececececsesenseseeeeecessesesaeaeeeescesseuaeeeeeesesssessnaees 6 2 34 The Rocket Recovery SySteris rtt tette eate t oed v a eo vae ve ERR eda uve ERR TERR odes 6 2 4 IRBS Module Decompositioh ir rer e T TR E E a ERRARE ee 7 2 5 RRM Module 13 Ss IRBS Data Input otto tt e ete de e tue e
26. Input Direction 3 4 1 Prologue The Purpose of the direction module is to get the digital value from the Anemometer connected to an analog pin and convert it to a usable data type The initial data type will be stored as an integer value This integer value represents the 360 degrees of the compass baring 3 4 2 Interfaces The Davis Anemometer 7911 interfaces with an Arduino Mega analog pin for the wind direction data 3 4 3 External Data Dependencies The direction module is dependent on the actual external wind direction 3 4 4 Internal Data Dependencies The direction module is not dependent on any internal data 3 4 5 Process Pseudocode int windDirection March 8 2013 21 Team Mass Rocket Recovery System int Direction Wind direction int PotValue analogRead PotPin read the value from the potmeter Direction map PotValue 0 1023 0 359 Direction Direction DirCorr 3 Correct for offset amp 5 precision convert Convert to 360 if Direction lt 0 Direction Direction 360 goto convert if Direction gt 360 Direction Direction 360 goto convert if Direction 360 Direction 0 return Direction 3 5 Anemometer Input RPM 3 5 1 Prologue The Purpose of the RPM module in the Anemometer subsystem is to gather the rotation per minute of the anemometer and convert the raw digital data and convert it into an unsigned long data type t
27. LOW amp amp switchState2 LOW User is in setup mode I if switchState1 HIGH amp amp switchState2 HIGH amp amp switchState2 LOW User is in preperation mode Wait 2 minutes to gather data if user waited two minutes March 8 2013 19 Team Mass Rocket Recovery System if switchState1 HIGH amp amp switchState2 HIGH amp amp switchState2 HIGH User is in launch mode display count down After count down if switchState1 HIGH amp amp switchState2 HIGH amp amp switchState2 HIGH amp amp launchButtonState HIGH If Object getPadTilt 1 Launch Rocket 3 3 Anemometer Input Calibrate 3 3 1 Prologue The purpose of the calibrate module in the Anemometer Input Subsystem is to calibrate the anemometer before its first use The wind vane direction can be permanently calibrated upon startup of the ARDUINO board by orienting the vane towards the true north during power up From that moment on the position of the potentiometer is stored in EEPROM and readouts will be correct The position of the potentiometer is saved as an integer 3 3 2 Interfaces The Davis Anemometer 7911 interfaces with the Arduino Mega on one digital pin and one analog pin The Arduino Mega s EEPROM nonvolatile memory is also accessed and the potentiometer position is saved to the EEPORM 3 3 3 External Data Dependencies The module i
28. MG SERVO MOTOR 1 Purpose The purpose of this servo is to move the attached control surface to stabilize and turn the rocket 18 9 March 8 2013 2 Specifications Control System Pulse Width Control 1500usec Neutral Required Pulse 3 5 Volt Peak to Peak Square Wave Operating Voltage 4 8 6 0 Volts Operating Temperature Range 20 to 60 Degree C Operating Speed 4 8V 0 24sec 60 at no load Operating Speed 6 0V 0 20sec 60 at no load 87 Team Mass Rocket Recovery System e Stall Torque 4 8V 106 93 oz in 7 7kg cm e Stall Torque 6 0V 133 31 oz in 9 6kg cm e Operating Angle 45 Deg one side pulse traveling 400usec e 360 Modifiable Yes e Direction Clockwise Pulse Traveling 1500 to 1900usec e Connector Wire Length 11 81 300mm e Dimensions 1 59 x 0 77 x 1 48 40 6 x 19 8 x 37 8mm Veight 1 940z 55 29 18 5 3 Interfaces The HS 645MG Servo will interface with the Arduino Uno inside of the rocket RRM It will use one analog pin on the Arduino see figures 18 1 and 18 2 of section 18 18 6 Battery Holder FIGURE 18 50 BATTERY HOLDER 18 6 1 Purpose The purpose of the battery holder is to distribute power to the Launch Control Box provided by the rechargeable 9V battery 18 6 2 Specifications This is a 9V battery pack with on off switch and a pre attached 5 5mm 2 1mm barrel plug 18 6 3 Int
29. March 8 2013 43 Team Mass Rocket Recovery System 7 6 4 Internal Data Dependencies Boolean value 7 6 5 Process Pseudo code private boolean sendAck if true return 1 else return 0 March 8 2013 44 Team Mass Rocket Recovery System 8 RRM Network Unpack NNI T FIGURE 8 1 RRM NETWORK DIAGRAM 8 1 Overview The RRM Network integrates the RRM system with the IRBS system by receiving or sending packets to the IRBS Network layer The layer receives the altitude data from the Set Flight Data module of IRBS Network layer and sends acknowledged signal back 8 2 Send Receive Unpack 8 2 1 Prologue The module receives the packet data and stores it in a structure to be packed and acknowledged 8 2 2 Interfaces It interfaces with the Set Flight Data module of the IRBS system and Pack module 8 2 3 External Data Dependencies Altitude data 8 2 4 Internal Data Dependencies No internal data March 8 2013 45 Team Mass Rocket Recovery System 8 2 5 Process Pseudo code Struct Alt int altitude salt 8 3 Send Receive Pack 8 3 1 Prologue The Pack module extracts the packet in Boolean form to determine if the data is sent or not 8 3 2 Interfaces Interfaces with Unpack module 8 3 3 External Data Dependencies No external data 8 3 4 Internal Data Dependencies Boolean value 8 3 5 Process Pseudo code Struct Bool Boolean x bool 8 4 Send Receive Sen
30. The HS 645MG Servo will interface with the Arduino Mega inside of the Launch Control Box It will use one analog pin on the Arduino see figures 13 1 and 13 2 of section 13 13 4 ADXL326 5V ready triple axis accelerometer l6g analog out FIGURE 13 3 ADXL326 5V READY TRIPLE AXIS ACCELEROMETER 13 4 1 Purpose The purpose of the ADXL326 accelerometer is to measure the launch pad angle The accelerometer is a safety feature to ensure that the pad does not over tilt its 30 degree maximum 13 4 2 Specifications e Sensing Range 199 e Sensitivity 57mV g e Voltage Supply 1 8 V 3 6 V March 8 2013 65 Team Mass Rocket Recovery System 13 4 3 Interfaces The ADXL326 accelerometer will interface with the Arduino Mega inside of the Launch Control Box It will use three analog pins on the Arduino see figures 13 1 and 13 2 of section 13 13 5 DDT500 Direct Drive Tilt System FIGURE 13 4 DDT500 DIRECT DRIVE TILT SYSTEM 13 5 1 Purpose The Purpose of the DDT500 Direct Drive Tilt System is to provide two brackets that the two servos connect to This will allow for flawless pan and tilt of the launch platform 13 5 2 Specifications 1 4 ABS plastic Max supported weight 2 lbs 13 5 3 Interfaces The DDT500 Direct Drive Tilt System has no interface with any electronic device It is attached via screws to the two servos
31. _Average speedArray March 8 2013 33 Team Mass Rocket Recovery System if direction Length gt 10000 Calculate Direction Average directionArray 5 5 Process Data Calculate Wind Speed 5 5 1 Prologue The sole purpose of this function is to average each element of the array of wind speeds 5 5 2 Interfaces The array of wind speed values that is received from the Encapsulate Data function will be averaged in this function after which it will be passed to the Table Lookup function The resulting calculation is stored as a part of the objects private member data for the rest of the system to access 5 5 3 External Data Dependences None 5 5 4 Internal Data Dependences None 5 5 5 Process Pseudocode private void Average Speed long speed long total 0 foreach long s in speed total s averageSpeed total 10000 5 6 Process Data Calculate Wind Direction 5 6 1 Prologue The sole purpose of this function is to average each element of the array of wind directions 5 6 2 Interfaces The array of direction values that is received from the Encapsulate Data function will be averaged in this function after which it will be passed to the Table Lookup function The resulting calculation is stored as a part of the objects private member data for the rest of the system to access March 8 2013 34 Team Mass Rocket Recovery System 5 6 3 External Data Dependences None 5 6 4
32. acket in Boolean form to determine if the data is sent or not 2 5 3 3 Send Receive Send ACK The Send ACK module receives the Boolean and stores it as a structure object 2 5 3 4 Accelerometer Input Accelerometer Reading The purpose of the Accelerometer Reading module in the Accelerometer Input subsystem is to gather the raw digital data from the attached accelerometer and convert it into 3 separate integer value These three values will represent the X Y and Z coordinates March 8 2013 16 Team Mass Rocket Recovery System 2 5 3 5 Barometer Input Barometer Reading The purpose of the Barometer Reading module in the Barometer Input subsystem is to gather the raw digital data from the BMP085 Barometric Pressure Sensor and convert it into an integer value representing the current air pressure 2 5 3 6 Verify Data Verify Accelerometer Data that is received from the Accelerometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defined as values that exceed the realistic value for a given calculation in this case any orientation value where value lt 0 or value gt 360 2 5 3 7 Verify Data Verify Barometer Data that is received from the Barometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are d
33. ain purpose of DDS was to break down each sub system into modules This section contains the high level definition of each module that we have in the IRBS system March 8 2013 7 Team Mass 2 4 2 Module Chart Rocket Recovery System User Interface Get Processed State Get Data Data Input User input Button State uit u12 Ua Anemometer Input vy wn Display Output gt Format Data us es Print To LCD LED From RRM N3 01 Calibrate IF Direction il Button Press Anemometer Adjusted Anemometer Accelerometer Input Accelerometer Reading Verify Data Verify Anemometer Set Data Set Wind Direction Encapsulate Data Encapsulate Wind Data DP10 Send Flight Data FIGURE 2 2 IRBS MODULE CHART Tablel Lookup Calculate Wind Direction Accelerometer Data Element The change in buttons current state calibrated D1 D2 An integer that contains the wind direction 0 to 360 data D3 A long that contains the wind speed in mph D4 Integer values that conta
34. al Data Dependences The Barometer Reading module is only dependent on the current air pressure 9 3 4 Internal Data Dependences The Barometer Reading module is not dependent on any internal data March 8 2013 49 Team Mass Rocket Recovery System 9 3 5 Process Pseudocode include Adafruit BMP085 h Adafruit BMP085 bmp void setup int baroReading bmp begin void loop baroReading bmp readPressure delay 1 March 8 2013 50 Team Mass Rocket Recovery System 10 RRM Data Processing 10 1 Overview The Data Processing layer on the RRM is built to do all of the processing needed during and after launch Processing includes verifying data and calculations for successful flight during flight operation Calculations include current altitude based on the barometer and orientation based on the accelerometer Essentially the RRM Data Processing is the brain of the operation during flight It will tell the hardware layer when to turn and orientation corrections for stabilization Once the rocket turns at the target altitude processing has completed and physics takes over The data processing layer represents a C object with each of the below modules as functions Verify Data Verify Accelerometer Verify Barometer Stabilization Air Pressure Processing Processing Calculate Altitude e Target Interrupt Offset Calculation
35. all other layers It specifically contains the accessor functions for the average wind speed Doing this ensures encapsulation of data 5 8 2 Interfaces Accessor function that return the average wind speed for any module that requests it 5 8 3 External Data Dependences None 5 8 4 Internal Data Dependences None 5 8 5 Process Pseudocode public long getSpd j return averageSpeed 5 9 Set Data Set Wind Direction 5 9 1 Prologue This function is simply the interface into the data that the Data Processing layer computes for all other layers It specifically contains the accessor functions for the average wind direction Doing this ensures encapsulation of data 5 9 2 Interfaces Accessor function that return the average wind direction for any module that requests it 5 9 3 External Data Dependences None 5 9 4 Internal Data Dependences None 5 9 5 Process Pseudocode public long getDir return averageSpeed March 8 2013 36 Team Mass Rocket Recovery System 5 10 Set Data Set Flight Data 5 10 1 Prologue This function is simply the interface into the data that the Data Processing layer computes for all other layers It specifically contains the accessor functions for the SD 12 Rocket turn altitude and IRBS pad angle Doing this ensures encapsulation of data 5 10 2 Interfaces Accessor function that return SD 12 Rocket turn altitude and IRBS pad angle for any
36. arget altitude from Unpack module in the Network Layer 10 6 5 Process Pseudocode private void Target Altitude float currentAltitudeFeet Target_Fin false if currentAltitudeFeet gt targetAltitude Target Fin true March 8 2013 55 Team Mass Rocket Recovery System 11 RRM Hardware Interface Hardware Processing Target Fin Offset Fin Controller Controller Servos gt FIGURE 11 1 RRM HARDWARE INTERFACE DIAGRAM 11 1 Overview The RRM Hardware Interface Layer is the last layer of the Rocket Recovery System layers and consists of Hardware Process Subsystem The subsystem receives data from the RRM Data Process layer by obtaining air pressure and acceleration data in determine the stability of the rocket and the servo opening for the landing 11 2 Hardware Processing Offset Fin Controller 11 2 1 Prologue The module will use the integer x y and z coordinates to offset the rocket fins for proper stability 11 2 2 Interfaces The module interfaces with the Offset Calculation module and the system servo 11 2 3 External Data Dependencies No external data 11 2 4 Internal Data Dependencies Integer values x y z March 8 2013 56 Team Mass Rocket Recovery System 11 2 5 Process Pseudo code private int offFinCon int y y fd calculate altitude return y 11 3 Hardware Processing Target Fin Controller 11 3 1 Pro
37. at moment on the position of the potentiometer is stored in EEPROM and readouts will be correct The position of the potentiometer is saved as an integer 2 4 3 3 Anemometer Input Direction The Purpose of the direction module is to get the digital value from the Anemometer connected to an analog pin and convert it to a usable data type The initial data type will be stored as an integer value This integer value represents the 360 degrees of the compass baring 2 4 3 4 Anemometer Input RPM The Purpose of the RPM module in the Anemometer subsystem is to gather the rotation per minute of the anemometer and convert the raw digital data and convert it into an unsigned long data type to be used later in the program The long data type will represent the speed in Kilometers per hour and then converted to miles per hour 2 4 3 5 Accelerometer Input Accelerometer Reading The purpose of the Accelerometer Reading module in the Accelerometer Input subsystem is to gather the raw digital data from the attached accelerometer and convert it into 3 separate integer value These three values will represent the X Y and Z coordinates 2 4 3 6 Get Data Get Processed State The purpose of the Get Processed State module in the Get Data subsystem is to get the processed wind data and make it available to the Format Data module of the Display Output Subsystem 2 4 3 7 Display Output Format Data The purpose of the Format Data subsystem in the D
38. ata module for the string of formatted data 4 4 4 Process Pseudo code include lt LiquidCrystal h gt initialize the library with the numbers of the interface pins LiquidCrystal 1 31 33 35 37 41 45 int ledPin1 50 LED connected to digital pin 50 Green int ledPin2 52 LED connected to digital pin 52 Red int ledPin3 48 LED connected to digital pin 48 Blue void setup 1 1 OUTPUT sets the digital pin as output for standby mode pinMode ledPin2 OUTPUT sets the digital pin as output for preparation mode March 8 2013 27 Team Mass Rocket Recovery System pinMode ledPin3 OUTPUT sets the digital pin as output for launch mode void loop set up the LCD s number of columns and rows lcd begin 16 2 lcd clear Print the Standby Mode if SS1 1 lcd print Standby Mode digitalWrite ledPin1 HIGH set the Green LED on delay 10000 digitalWrite ledPin1 LOW set the Green LED off Print the Preparation Mode else if SS1 1 amp amp SS2 1 lcd clear lcd setCursor 0 0 lcd print Preparation Mode digitalWrite ledPin3 HIGH set the Blue LED on if wind speed is less than 20 miles per hour print the wind speed direction altitude and pad angle if w speed 20 0 lcd clear lcd setCursor 0 0 prints the wind speed and direction lcd print Speed l
39. cd print w speed lcd print mph lcd setCursor 0 1 lcd print Direction lcd print w direction prints the pad angle and altitude delay 5000 lcd clear lcd setCursor 0 0 lcd print Angle lcd print pad angle lcd print char 223 prints a degree symbol lcd setCursor 0 1 lcd print Altitude lcd print altitude digitalWrite ledPin3 LOW set the Blue LED off if wind speed is greater than 20 miles per hour print wind speed and a warning March 8 2013 28 Team Mass Rocket Recovery System else if w speed gt 20 0 lcd clear lcd setCursor 0 0 lcd print Speed lcd print w speed lcd print mph lcd setCursor 0 1 lcd print WARNING WARNING Print the launch mode else if SS1 1 amp amp 552 1 amp amp 553 1 lcd clear lcd setCursor 0 0 lcd print Launch Mode digitalWrite ledPin2 HIGH set the Red LED on delay 10000 digitalWrite ledPin2 LOW set the Red LED off print whether the data has been successfully transferred to the RRM if ack true 1 1 lcd setCursor 0 0 lcd print Data Sent lcd setCursor 0 1 lcd print YES Start the countdown abort the countdown if any or all of the switch states are equal to zero else lcd clear lcd setCursor 0 0 lcd print Data Sent lcd setCursor 0 1 lcd print NO print that the rocket is launched else if L
40. cifications e 5mm diameter e 660 nm wavelength e 1 85 2 5V Forward Voltage at 20mA current e 250 mcd typical brightness 16 8 3 Interfaces The LED Indicators interface with one digital pin on the Arduino Mega see figures 16 1 and 16 2 of section 16 16 9 Relay SPDT Sealed FIGURE 16 9 RELAY SPDT SEALED March 8 2013 79 Team Mass Rocket Recovery System 16 9 1 Purpose The purpose of the relay is to close the circuit on the attached 9v battery launcher circuit The purpose of this circuit is to send the charge to the rocket engine fus 16 9 2 Specifications e 5V DC SPDT Relay e Rated up to 5A e Fully Sealed 16 9 3 Interfaces Interfaces with the 9 volt battery circuit 16 10 Battery Holder FIGURE 16 10 BATTERY HOLDER 16 10 1 Purpose The purpose of the battery holder is to distribute power to the Launch Control Box provided by the rechargeable 9V battery 16 10 2 Specifications This is a 9V battery pack with on off switch and a pre attached 5 5mm 2 1mm barrel plug 16 10 3 Interfaces The battery holder provides power to the Launch Control Box by interfacing with the Arduino March 8 2013 80 Team Mass Rocket Recovery System 16 11 9 Volt Battery 2 m E FIGURE 16 2 9 VOLT BATTERY 16 11 1 Purpose The purpose of the 9V battery is to provide power to the Launch Control Box 16 11 2 Specifications Provide
41. control the IRBS and connection to the rocket ignition system The rocker switch will control the power of the unit The three large control switches will allow the user to change the modes The large red button will launch the rocket The LED lights are used for debugging the system and the LCD screen allows the system to display data to the user All of these components are described in more detail in section 17 FIGURE 14 1 LAUNCH CONTROL BOX VIEW 1 March 8 2013 68 Team Mass Rocket Recovery System FIGURE 14 2 LAUNCH CONTROL BOX VIEW 2 March 8 2013 69 Team Mass Rocket Recovery System FIGURE 14 3 LAUNCH CONTROL BOX VIEW 3 March 8 2013 70 Team Mass Rocket Recovery System FIGURE 14 4 LAUNCH CONTROL BOX VIEW 4 March 8 2013 71 Team Mass Rocket Recovery System 15 Launch Control Box Hardware Design Figures 16 1 and 16 2 show launch control box bread board layout and schematic layout For more details see section 17 Cees csv swewe n wives vores voveo epee Jl LL veio HESS nnn n9 Made with J Fritzing org FIGURE 16 1 LAUNCH CONTROL BOX BREAD BOARD LAYOUT March 8 2013 72 Team Mass Rocket Recovery System rduino Digital se RST FIGURE 16 2 LAUNCH CONTROL BOX SCHEMATIC LAYOUT March 8 2013 73 Team Mass 16 1 Rocket Recovery System 16 Launch Control
42. cseessecnsaeeececesseseaeaeeeeeeessessesaeeeesens 56 Figure 12 1 IRBS Design Profile view ccccscccccscsssessnsececececeesessaaeceeecesesseaeaeeesecsseensaeaeeeeseesseseaaeaeeeesens 58 Figure 12 2 IRBS Design Under Pad View 1 o ccccecssssscecececessessnseceeecssessesaeaecesecsseeeaaeaeeeeeceseeseaeaeeeesens 59 Figure 12 3 IRBS Design Under Pad View 2 o cccccecsessccecececsesesnnaeceeececesseseaeceeeceseeeaaaaeeeeecesseseaeaeeeeeens 59 Figure 12 4 IRBS Design Above ViCW ccccssscccccecessessaeceeececessesaseeeeecssessesaeaeceeecuseeseaaeaeeeeesessesesaeaeeeesens 60 Figure 13 1 IRBS Bread Board LayOut ccccscsccccecsssessnsececececsssesenaeeececssessesaeaecesecssseeaaeaeeesecesseseasaeeeeeens 61 Figure 13 2 IRBS schematic Layout senio eea eiia eaaa ai iiai aiai aai aa aiies 62 Figure 14 1 HSR 1425CR Continuous Rotation ServO ssesssssssssssssssssssesssssssssssssssssssssssrsssesrsrsssssssesesrsrseeno 63 Figure 14 2 HS 645MG Servo Motor sssssssssssssssssssssssssssssssssssssssssssssssssssssssssrssssssnsssrsssrsssrsrsrsrsrsrsrsrsrsenne 64 Figure 14 3 ADXL326 5V ready triple axis accelerometer esee enne 65 Figure 14 4 DDT500 Direct Drive Tilt System sessssseeeeeeeeenenere nennen ennemi nnn nns nnn 66 Figure 14 5 Adafruit Perma Proto Quarter sized Breadboard PCB sese 67 Figure 15 1 Launch Control Box View 1 ccccccccccccsssesssseceeecece
43. d ACK 8 4 1 Prologue The Send ACK module receives the Boolean and stores it as a structure object 8 4 2 Interfaces The module interfaces with Pack module and the IRBS system 8 4 3 External Data Dependencies No external data 8 4 4 Internal Data Dependencies Boolean object March 8 2013 46 Team Mass 8 4 5 Process Pseudo code private boolean sendAck March 8 2013 If true return 1 else return 0 47 Rocket Recovery System Team Mass Rocket Recovery System 9 RRM Data Input 9 1 Overview The RRM Data Input Layer is used the accelerometer input and the barometer input The layer s primary reasonability is converting the raw digital signal into certain usable data types The conversion of the data will take place in the Arduino Uno The RRM Data Input layer consists of two subsystems the Anemometer Input and the Barometer Input Accelerometer Input Accelerometer Accelerometer Reading Barometer Input Barometer Barometer Reading FIGURE 9 1 RRM DATA INPUT DIAGRAM 9 2 Accelerometer Input Accelerometer Reading 9 2 1 Prologue The purpose of the Accelerometer Reading module in the Accelerometer Input subsystem is to gather the raw digital data from the attached accelerometer and convert it into 3 separate integer value These three values will represent the X Y and Z coordinates 9 2 2 Interfaces The ADXL326 5V ready tr
44. efined as values that exceed the realistic value for a given calculation in this case any orientation value where value lt 300 or value gt 1100 2 5 3 8 Stabilization Processing Offset Calculation The stabilization of the rocket is happening during the rocket accent until the rocket turns Given that the F50 6 rocket motor burns for 1 37 seconds this module will be stabilizing the rocket for about a second which is roughly when it will reach its target turn altitude Stabilization is defined as correcting the rockets orientation on accent Corrections may have to be made if the rocket changes its roll orientation This is critical given that the turn angle and direction of the rocket are fixed 2 5 3 9 Air pressure Processing Calculate Altitude Given that the SD 12 rocket must know its current altitude so that we know when to turn into the wind we are required to do some conversions from air pressure hPa feet above the IRBS This is required because the turn altitude as prescribed by the lookup tables in the IRBS Data Processing Layer were calculated using feet above the IRBS 2 5 3 1 Air pressure Processing Target Interrupt The Target Interrupt module s only purpose is to listen to the altitude readings from the Calculate Altitude module and send the command to turn the rocket when the target altitude is reached 2 5 3 2 Hardware Processing Offset Fin Controller The module will use the integer x y and z coordinates to o
45. ene PS Parabolic series Len 10 2 cm 0 86 g cm Mass 36 9 g Mass 6 95 g Mass 100 g Mass 11 0g 15 0 g m Shroud Lines Tube coupler Estes JT 80C Shock cord c B Launch lug Launch lug Bulkhead Body tube Estes EST 3090 Clipped Delta fin set 1 1 Clipped Delta fin set 2 1 Clipped Delta fin set 3 1 Clipped Delta fin set 4 1 Centering ring Centering ring Servo Servo PBBHHHhHbhbHhUsSSH p Launch lug March 8 2013 Paper Dian 6 57 Len 36 2 cm 0 609 g cm Diao 6 6 cm Diao 6 5 cm Polyethylene Diao 61 0cm Len 7 62 cm thin Elastic cord Lines 6 Len 61 0 cm round 2 mm 1 16 in 1 8 g m Paper Dian 6 27cm Len 7 62 cm 0 609 g cm Diaow 6 48 cm Elastic cord Len 122 cm flat 6 mm 1 4 in 4 3 g m Cardboard Diain 0 105 cm Len 4 44 cm 0 68 gicm Diaout 0 305 cm Cardboard Diam 0 105 cm Len 4 44 cm 68 gem Diaou 0 305 cm Balsa Diaw 6 6 cm Len 0 635 cm 0 17 g cm Paper Dian 6 57cm Len 36 2 cm 0 609 g cm Diao 6 6 cm Plywood birch Thick 0 476 0 63 g cm cm Plywood birch Thick 0 476 0 63 g cm cm Plywood birch Thick 0 476 0 63 g cm cm Plywood birch Thick 0 476 0 63 g cm cm Cardboard Diain 0 cm Len 0 2 cm 0 68 g cm Diacu 6 57 cm Cardboard Diai 0 cm Len 0 2 cm 0 68 giem Diao 6 57 cm Diaox 0 8 cm Diaox 0 8 cm Cardboard Dian 0 105 cm Len 4 44 cm 0 68 g cm Diacu 0 305 cm 92 Mass 9 44 g Mass
46. er modules in the same subsystem after which the subsystem will be tested with other subsystems in the same layer using the integration testing Finally the system verification testing will be conducted to ensure all the customer requirements are met and the system is robust by testing all the layers together as one The team other ways of testing the quality and completeness of the design are requirement mapping and test cases The Detailed Designed Specification DDS was tested for design completeness by static testing against the requirements As shown in requirement mapping each requirement is matched against a set of design components Rows that have no corresponding design components were requirements that do not have any consideration in the design Some of the test cases will be provided in this chapter However complete and thorough test cases will only be provided only in System Test Plan 22 2 Module Unit Test 23 2 1 Data Input Layer 23 2 1 1 User Input The User Input shall be able to detect and respond to physical button presses from the user as well as convert the digital signal into a usable software object 23 2 1 2 Anemometer Input The Anemometer Input shall be able to calibrate the analog digital input from the anemometer and convert it to digital signal for verification 23 2 1 3 Accelerometer Input The Accelerometer Input shall be able to detect and read the analog digital input from the accelerometer for verification
47. erfaces The battery holder provides power to the Launch Control March 8 2013 88 Box by Team Mass Rocket Recovery System interfacing with the Arduino see figures 18 1 and 18 2 of section 18 18 7 9 Volt Battery 2 2 m E FIGURE 18 6 9 VOLT BATTERY 18 7 1 Purpose The purpose of the 9V battery is to provide power to the Launch Control Box 18 7 2 Specifications Provide 9 volts 18 7 3 Interfaces The 9 volt battery provides power to the Launch Control Box by interfacing with the battery holder March 8 2013 89 Team Mass Rocket Recovery System 19 SD 12 Rocket Design 19 1 Rocket Design FIGURE 7 ROCKET DESIGN 3D FIGURE 8 ROCKET DESIGN 2D March 8 2013 90 Team Mass 19 2 Rocket Motor Specifications Rocket Stages 1 Mass with motor 535 g Stability 1 67 in CG 57 6 cm CP 61 8 cm F50 6 Altitude Flight Time Time to Apogee Velocity off Pad Max Velocity Velocity at Deployment Motor Rocket Recovery System Landing Velocity 6 03 m s March 8 2013 374m Avg Thrust Burn Time Max Thrust TotalImpulse Thrust to Wt Propellant Wt Size 70 0s F50 55 8 N 1 37 5 79 6 N 76 8 Ns 10 65 1 37 99 0 029 0 0 98m 7 98 16 4 m s 113 m s 4 95 m s 91 Team Mass 20 Nose cone Estes PNC 80BB Body tube Estes EST 3090 RRM Section Parachute 00 Rocket Recovery System SD 12 Components Polystyr
48. es The Rocker Switch will interface with the Arduino Mega 5 volt power and ground 16 5 Toggle Switch and Cover Illuminated Red FIGURE 16 5 TOGGLE SWITCH AND COVER ILLUMINATED March 8 2013 76 Team Mass Rocket Recovery System 16 5 1 Purpose The purpose of the toggle switch and cover is to allow the users to switch between all the modes the Rocket Recovery Systems uses The cover is an extra safety feature to prevent the user from accidently flipping a switch The switches will also illuminate when active so the user knows when a modes are active 16 5 2 Specifications e Rated for 12V 20A e Includes Missile Switch Cover e Illuminated 16 5 3 Interfaces The Switch will interface with 1 Arduino Mega digital pin It will also need to be connected to 5v power supply and ground to provide the Illumination Also we will need a 10K ohm pull down resistor between the input pin and ground on the Arduino The Arduino s internal resistors are pull up and won t work here so we need to do this manually 16 6 Concave Button Red FIGURE 16 6 CONCAVE BUTTON RED 16 6 1 Purpose The purpose the Concave Button is to allow the user to launch the rocket after the countdown has finished 16 6 2 Specifications e Microswitch max 8 120 VAC e Microswitch reliability tested to 10 000 000 cycles e Includes 3 terminal microswitch e Net weight 25g
49. esessnaeeeeecssessesaeaesececssseseaaeaeeeeeeeseeseaasaeeeesens 68 Figure 15 2 Launch Control Box View 2 ccccccccccecsssessnsesecececessesenaeseeeessesseaaaecececesseseaaeaeeeeeceseeseaeaeeeesens 69 Figure 15 3 Launch Control Box View 83 sess ee nnns nne s sentia sans nn nnn 70 Figure 15 4 Launch Control Box View 84 ccccccccccccesssssssececececessessnaeceeecsseeseseaesececesseseaaeaeceeecessesesasaeeeesens 71 Figure 17 10 Battery Holder E E E E EET S E 80 Figure 17 249 Volt Batte Yi uet eret eerte eek Ore aee ete eva eiaa eye aed akadan 81 Figure 19 T Arduino nO cere rete eres o e b e ua des aedes pee uve ee tors ve ERES gu dada 84 Figure 19 2 ADXL326 5V ready triple axis accelerometer esses enne 85 Figure 19 3 85 Barometric Pressure Temperature Altitude Sensor 86 Figure 19 4 HS 645MG Servo Motor eeeseseseseeee ea E 87 Fig re 19 50 Battery Holder reete ele ee 88 Fig re 19 6 9 Volt Battery i ree ett ert even e Ta Piven ea hel EVE UR ET EY Aa NEUE 89 March 8 2013 vi Team Mass Rocket Recovery System List of Tables Table 1 1 Definitions and Acronyms cccceessssscececeseesesseaecececeseesesaaaecececeseeseaaeaeeeeeceseeseaaeaeeeescessusesaeaeeeesens 4 Table 2 1 IRBS Module Data Flows ei e nie ee eit hordeo eae a nd d ien hen
50. ffset the rocket fins for proper stability 2 5 3 3 Hardware Processing Target Fin Controller The purpose of the module is to access the coordinate values needed by the fin and triggers the turning of the servo using the Boolean value March 8 2013 17 Team Mass Rocket Recovery System 3 IRBS Data Input 3 1 Overview The IRBS Data Input Layer is used for handling the user input the anemometer input and the accelerometer input The layer s primary reasonability is converting the raw digital signal into certain usable data types The conversion of the data will take place in the Arduino Mega The IRBS Data Input layer consists of three subsystems the User Input the Anemometer Input and the Accelerometer Input User input Button State Button Press Anemometer Input Anemometer Calibrate gt Direction Adjusted Anemometer Accelerometer Input Accelerometer Accelerometer Reading FIGURE 3 1 DATA INPUT DIAGRAM 3 2 User Input Button State 3 2 1 Prologue The purpose of the Button State module in the User Input subsystem is to determine the position of all the buttons and switches All of the buttons and switches will be connected to digital pins on the Arduino Mega March 8 2013 18 Team Mass Rocket Recovery System 3 2 2 Interfaces All the buttons and switches will interface though the digital pins on the Ardu
51. for a given calculation in this case wind speed values gt 20 or lt 0 or direction lt 0 or gt 360 degrees 5 3 2 Interfaces The Verify Data module is a function within the Data Processing class It gets passed values wind speed and direction This function returns void and calls the function Encapsulate_Data if the values are within the threshold 5 3 3 External Data Dependences None 5 3 4 Internal Data Dependences None 5 3 5 Process Pseudocode Nerifies that the speed and direction values are within the threshold as defined below private void Verify_Accelerometer float speed int direction If any of the three are out of bounds throw out both if speed gt speed lt 20 direction gt 360 direction lt 0 Encapsulate Data speed direction 5 4 Encapsulate Data Encapsulate Wind Data March 8 2013 32 Team Mass Rocket Recovery System 5 4 1 Prologue Data that is received from the verify functions will be consolidated into two separate data structures within this module The flow of information from the verify functions is constant for the duration of the preparation mode Once the preparation mode is complete the function will call the calculate wind and speed functions for further processing 5 4 2 Interfaces The Encapsulate Wind Data is a function within the Data Processing class It is called from the verify functions and receives the gravitational forces x y z a
52. g Hardware Processing shall be able to use the wind speed to compensate for the movement and turning of the fin by the servos March 8 2013 97 Team Mass Rocket Recovery System 23 Acceptance Plan 23 1 Overview This section describes the minimum criteria that must be met by the Rocket Recovery System in order to be considered acceptable by the customer and other stakeholders 23 2 Packaging and Installation The Rocket Recovery System shall contain the following physical components 23 2 1 Intelligent Rotating Base Station o HSR 1425CR Continuous Rotation Servo o HS 64MG Servo Motor o ADXL326 5V Ready Triple axis Accelerometer o DDT500 Direct Drive Tilt System o Adafruit Perma Proto Quarter sized Breadboard PCB 23 2 2 Launch Control Box o Arduino Mega 2560 R3 DEV 11061 o Davis Anemometer Standard 7911 o Rocket Switch SPST o Toggle Switch and Cover Illuminated Red o Concave Button Red o RGB backlight positive LCD 16x2 o LED indicators o Relay SPDT Sealed o 9Volt Battery o Battery Holder o Instruction Manual 23 2 3 Rocket Recovery Module Arduino Uno ADXL326 5V Ready Triple axis accelerometer 16g analog out HS 645MG Servo Motor 9 Volt Battery 3 85 Barometric Pressure Temperature Altitude Sensor 5V Ready Battery Holder 23 2 4 SD 12 Rocket o Nose Cone o Body Tubes o Parachute o Shroud Lines March 8 2013 98 Team Mass Tube Coupler Shoc
53. gether exceeds 320 Newton seconds It must also not use a motor with more than 80 Newtons average thrust 8 2 Rocket Engine The rocket engine must not exceed 125 grams of propellant Propellant motor s 8 4 Rocket The rocket must use only lightweight non metal parts for the nose Materials body and fins March 8 2013 100 Team Mass Rocket Recovery System March 8 2013 101 Team Mass
54. h stage The launch stage will last 30 seconds In this stage there will be no more wind data collection and the aggregated wind data will be sent to the Rocket Recovery Module inside the SD 12 Rocket The base station will be in its final launch position To ensure stability of the rocket while on the base station during high winds This section of the base station contains the rods that the SD 12 Rockets lugs ride along to guide it during the first few feet of the launch There will be a second rod that runs perpendicular to the first and the rocket will have two sets of lugs that will ride along the two rods The system will use common everyday 9 volt batteries IRBS Rotation Based on the anemometer the IRBS will rotate to orient itself and 3 7 IRBS Rocket Stability Section March 8 2013 99 Team Mass Rocket Recovery System Based on the anemometer the IRBS will pitch the pad at an angle 3 11 RRS Abort The countdown will be aborted if one or all of the switches are 3 12 IRBS Wind The anemometer mounted on the IRBS will be used to feed wind Speed speed data to the IRBS microcontroller This will be used to compute Detection the time and angle that the SD 12 Rocket will take on ascent Hardware The packaging will include the Intelligent Rotating Base Station and the SD 12 Rocket The Rocket will be equipped with a Rocket Recovery Module The anemometer will be included in the package and the user will have to at
55. if x gt x lt gt y lt z gt z lt 360 Encapsulate Data x y z 10 3 Verify Data Verify Barometer 10 3 1 Prologue Data that is received from the Barometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defined as values that exceed the realistic value for a given calculation in this case any orientation value where value lt 300 or value gt 1100 10 3 2 Interfaces The Verify Accelerometer module is a function within the RRM Data Processing class It gets passed the value of the current air pressure from which we can derive the altitude These calculations are done in the Calculate Altitude module The air pressure unit is in hPa or hectopascal which can easily be converted to bar or psi This function returns void and calls the function Calculate_Altitude if the values are within the threshold 10 3 3 External Data Dependences None 10 3 4 Internal Data Dependences Data from the Barometer Reading module in the Data Input Layer 10 3 5 Process Pseudocode March 8 2013 52 Team Mass Rocket Recovery System Nerifies that the air pressure values are within the threshold as defined below private void Vefiry_Barometer if direction gt 300 direction lt 1100 Calculate Altitude int airPressure 10 4 Stabilization Process
56. in the orientation values for x y z DS A String that contains the confirmation message that the anemometer has been March 8 2013 Team Mass Rocket Recovery System DP1 Integer values that contain the values for x y z and has been error checked DP2 An integer that contains the wind direction 0 to 360 data and has been error checked DP3 A long that contains the wind speed in mph and has been error checked DP4 An integer array that contains the aggregate of collected wind direction data DPS A Long data type array that contains the aggregate of collected wind speed data DP6 A float that contains the average wind speed DP7 A float that contains the average wind direction DP8 A float that contains the average wind speed Final value set for storage DP9 A float that contains the average wind direction Final value set for storage DP10 An integer that contains the rocket turn altitude Final value set for storage DP11 A float that contains the launch pad angle Final value set for storage DP12 An integer that contains the rocket turn altitude DP13 An integer that contains the rocket turn altitude DP14 A float that contains the launch pad angle DP15 A float that contains the average wind direction DP16 A float that contains the average wind speed DP17 A float that contains the launch pad angle DP18 A float that contains the average wind direction
57. ing Offset Calculation 10 4 1 Prologue The stabilization of the rocket is happening during the rocket accent until the rocket turns Given that the F50 6 rocket motor burns for 1 37 seconds this module will be stabilizing the rocket for about a second which is roughly when it will reach its target turn altitude Stabilization is defined as correcting the rockets orientation on accent Corrections may have to be made if the rocket changes its roll orientation This is critical given that the turn angle and direction of the rocket are fixed 10 4 2 Interfaces The stabilization function receives the rockets current orientation in 3 dimensional space from the Verify Accelerometer module With this information it will know its current orientation and the orientation that it should be facing and thus will be able to make the correction We are waving the need for a PID controller given that the direction of turn is approximate within 10 degrees because of obvious weather uncertainties We will simulate an slightly under dampened system by telling the rocket to orient itself to the minimum threshold of the range and to only correct back if it exceeds the 20 degree bandwidth Once a correction is decided to be made the desired orientation will be sent to the Offset Fin Controller module in the hardware layer for correction execution 10 4 3 External Data Dependences None 10 4 4 Internal Data Dependences None 10 4 5 Process Pseudoc
58. ino Mega 3 2 3 External Data Dependencies The button state module is dependent on the actual button presses and switch movement from the user of the system It is also dependent on the encapsulate data module to get the pad angle data 3 2 4 Internal Data Dependencies The module is dependent on the Boolean value from the encapsulate data module 3 2 5 Process Pseudocode const int switch1 2 the number of the first switch pin const int switch2 3 the number of the second switch pin const int switch3 4 the number of the third switch pin const int launchButton 5 the number of the launch button pin variables will change int switchStatel variable for reading the switch1 status int switchState2 variable for reading the switch2 status int switchState3 variable for reading the switch3 status int launchButtonState 0 variable for reading the launchButton status void setup initialize the pushbutton pin as an input pinMode switch1 INPUT pinMode switch2 INPUT pinMode switch3 INPUT pinMode launchButton INPUT void loop read the state of the pushbutton value switchState1 digitalRead switch1 switchState2 digitalRead switch2 switchState3 digitalRead switch3 launchButtonState digitalRead launchButton check if the pushbutton is pressed if it is the buttonState is HIGH if switchState1 HIGH amp amp switchState2
59. iple axis accelerometer will interface with the Arduino Uno through 3 analog pins 9 2 3 External Data Dependences The Accelerometer Reading module is only dependent on the physical orientation of the rocket March 8 2013 48 Team Mass Rocket Recovery System 9 2 4 Internal Data Dependences The Accelerometer Module is not dependent on any internal data 9 2 5 Process Pseudocode const int groundpin 18 analog input pin 4 ground const int powerpin 19 analog input pin 5 voltage const int xpin A3 x axis of the accelerometer const int ypin A2 y axis const int zpin A1 z axis only on 3 axis models void setup pinMode groundpin OUTPUT pinMode powerpin OUTPUT digitalWrite groundpin LOW digitalWrite powerpin HIGH int x int y int 2 void loop get the x sensor values x analogRead xpin get the y sensor values y analogRead ypin get the z sensor values z analogRead zpin delay before next reading delay 100 9 3 Barometer Input Barometer Reading 9 3 1 Prologue The purpose of the Barometer Reading module in the Barometer Input subsystem is to gather the raw digital data from the BMP085 Barometric Pressure Sensor and convert it into an integer value representing the current air pressure 9 3 2 Interfaces The BMP085 Barometric Pressure Sensor will interface with the Arduino Uno through two analog pins 9 3 3 Extern
60. isplay Output subsystem is to get the processed wind data from the Get Processed State module It formats the data so that it can be send to the Print module for display This module also gets the different states of the switches and button from the Button State module It also gets the acknowledgement from the Set ACK module to check whether the data has been transferred successfully to the RRM March 8 2013 11 Team Mass Rocket Recovery System 2 4 3 8 Display Output Print The purpose of the Print module is to display the relevant information to the user It displays the different modes of the system through the LCD and LEDs and it also displays the wind speed wind direction altitude and pad angle on an LCD 2 4 3 9 Verify Data Verify Accelerometer Data that is received from the Accelerometer Reading module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defined as values that exceed the realistic value for a given calculation in this case any orientation value where value lt 0 or value gt 360 2 4 3 10 Verify Data Verify Anemometer Data that is received from the RPM and Direction module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defines as values that exceed the realistic value for a given calculation in this case wi
61. k Cord Launch Lugs Bulkhead OO 9g 9 99 23 3 Acceptance Rocket Recovery System Clipped Delta Fins Centering Rings Testing System testing shall be conducted to ensure that the Rocket Recovery System meets the acceptance criteria The Rocket Recovery System shall go through module subsystem layer integration and overall system testing The details of the testing shall be provided in the System Test Plan document 23 4 Acceptance Criteria The following requirements must be met in order for the Rocket Recovery System to be considered acceptable Dol Rocket lands where launched from The system will launch a model rocket and land it within a 50 foot radius from the area where it was launched 3 2 Simple User The system will be easy for user to use This will require less input Interface from the customer thereby make the operation simple 3 4 IRBS Standby Mode 3 5 IRBS Preparation Mode IRBS Launch Mode The system will be made of non breakable components The customer will be able to use the system again by changing the engine and putting it back together The base station will have a standby mode The standby mode will be the mode used during setup and preparation prior to entering the preparation mode The preparation mode will be the active state of the base station in which environment variables are read calculations made and proper positioning conducted to prepare for the launc
62. late Altitude eese enne nnne nennen 54 10 6 Air Pressure Processing Target Interrupt uuuuuuuueeeeeeseseseseeeee nennen nennen nnn nnn nnn 55 TT RRM Hardware Interface ttt ett nne aeta oen een ee tetas eoe Renata gea nee tne dea een 56 11 1 OVerViQw ote Pot tees ba eret xe topi tute Ute cede ted dep te uen Lo t 56 11 2 Hardware Processing Offset Fin Controller eese eene nnne nnns 56 11 3 Hardware Processing Target Fin Controller sessi 57 EESIWIKSPIPII 58 13 IRBS Hardware Design ic 3 etn ER Tae 61 14 IRBS Hardware Components oann a EEE E EATE E OERE E 63 E EO Ea TEA E 63 14 2 HSR 1425CR Continuous Rotation Servo eee 63 14 3 HS 645MG Servo MOTOT s cete eer te ete gr e ete re eee ete re ee e Re eed 64 14 4 ADXL326 5V ready triple axis accelerometer 16g analog 65 14 5 DDT500 Direct Drive Tilt SystemA e eee ee E aaiae aa PE EE AEEA oaar 66 14 6 Adafruit Perma Proto Quarter sized Breadboard PCB sese 66 15 Launch Control Box De sigh rettet tetto er eek 68 16 Launch Control Box Hardware Design e
63. lations can be made to stabilize the rocket March 8 2013 85 Team Mass 18 3 2 Specifications e Sensing Range 199 e Sensitivity 57mV g Rocket Recovery System e Voltage Supply 1 8 V 3 6 V 18 3 3 Interfaces The ADXL326 accelerometer will interface with the Arduino Uno ins on the inside of the Rocket RRM Arduino It will use three analog see figures 18 1 and 18 2 of section 18 18 4 BMP085 Barometric Pressure Temperature Altitude Sensor 5V ready BMPO85 b PRESSURE SENSOR par a y ay 3m ca p FIGURE 18 3 BMP085 BAROMETRIC PRESSURE TEMPERATURE ALTITUDE SENSOR 18 4 1 Purpose Barometric Pressure Sensor is to BMP085 The purpose of the measure the current air pre pressure can be used to cal rocket 18 4 2 Specifications March 8 2013 ssure the rocket is at The air culate the current altitude of the 86 Team Mass Rocket Recovery System Logic 3 to 5V compliant Pressure sensing range 300 1100 hPa 9000m to 500m above sea level Up to 0 03hPa 0 25m resolution 40 to 85 C operational range 2 C temperature accuracy 18 4 3 Interfaces The BMP085 Barometric Pressure Sensor will interface with the Arduino Uno inside of the Rocket RRM It will use two analog pins on the Arduino see figures 18 1 and 18 2 of section 18 18 5 18 5 HS 645MG Servo Motor FIGURE 18 4 HS 645
64. ll have the IRBS stop making adjustments and start transmitting the aggregated wind data to the RRM Once the SD 12 rocket receives all the information the rocket is ready to launch March 8 2013 1 Team Mass Rocket Recovery System Up to 30 degrees tilt 360 degrees rotation FIGURE 1 1 ROCKET RECOVERY SYSTEM March 8 2013 2 Team Mass Rocket Recovery System SD 12 Rocket w Rocket Recovery Module 4l a Wind 20 Pe Intelligent Rotating l Base Station IRBS FIGURE 1 2 ROCKET RECOVERY SYSTEM March 8 2013 3 Team Mass Rocket Recovery System 1 3 Definitions and Acronyms Rocket Recovery Module IRBS Intelligent Rotating Base Station os operatingSystem OSS TABLE 1 1 DEFINITIONS AND ACRONYMS March 8 2013 4 Team Mass Rocket Recovery System 2 Architecture Overview Rocket Recovery Intelligent Rotating Module Base Station Network User Interface Data Input RRM Data Input Data Processing RRM Data Processing Network Hardware Interface RRM Hardware Interface FIGURE 5 2 1 ARCHITECTURE OVERVIEW 2 1 Overview The Rocket Recovery System is divided in to 2 separate systems The intelligent Rotating Base Station is dived further into 5 separate layers The User Interface The Data Input The Data Processing The Hardware Interface
65. logue The purpose of the module is to access the coordinate values needed by the fin and triggers the turning of the servo using the Boolean value 1 3 2 Interfaces The module interfaces with the Target Interrupt module and the system servo 1 3 3 External Data Dependencies No external data 11 3 4 Internal Data Dependencies Boolean value 11 3 5 Process Pseudo code private boolean tarFinCon if Target_Fin return true else return false March 8 2013 57 Team Mass Rocket Recovery System IRBS Design The Intelligent rotating base station or IRBS will consist of two servos pan and tilt brackets an accelerometer and the aluminum launch pad The launch pad will be rotated in the proper direction by the use of the two servos It will also have an accelerometer to report the platform back to the launch control box All of these components are described in more detail in section 14 FIGURE 11 2 IRBS DESIGN PROFILE VIEW March 8 2013 58 Team Mass Rocket Recovery System FIGURE 11 3 IRBS DESIGN UNDER PAD VIEW 1 FIGURE 11 4 IRBS DESIGN UNDER PAD VIEW 2 March 8 2013 59 Team Mass Rocket Recovery System FIGURE 11 5 IRBS DESIGN ABOVE VIEW March 8 2013 60 Team Mass Rocket Recovery System 12 IRBS Hardware Design Figures 13 1 and 13 2 show the IRBS bread board layout and schematic layout For more details see section 14 uino Mega located i
66. n he Launch Control Box Made with FI Eritzine arc FIGURE 12 1 IRBS BREAD BOARD LAYOUT March 8 2013 61 Team Mass Rocket Recovery System FIGURE 12 2 IRBS SCHEMATIC LAYOUT March 8 2013 62 Team Mass Rocket Recovery System 13 IRBS Hardware Components 13 1 Overview Figures in section 12 show physical design of the IRBS The IR hardware components section shall describe all of the hardware components used in the Intelligent Rotating Base Station component shall have a section describing its purpose Specifications and interfaces 13 2 HSR 1425CR Continuou S Rotation Servo FIGURE 13 1 HSR 1425CR CONTINUOUS ROTATION SERVO 13 2 1 Purpose Each The purpose of this servo is the pan the launch pad to the appropriate angle This will allow the other servo to tilt in the appropriate direction into the wind 13 2 2 Specifications e Control System Pulse Width Control 1500usec Neutral e Required Pulse 4 8 6 0 Volt Peak to Peak Square Wave e Operating Voltage Range 4 8 6 0 Vol e Operating Temperature Range 20 to 140F e Operating Speed 4 8V e Operating Speed 6 0V e Operating Torque 4 8V e Operating Torque 6 0V e Direction Clockwise Pulse Traveling 44 52 RPM at no RPM at no 38 8 oz in 42 oz in 3 1 1500 to 1900usec ts 60 Degr G l
67. nd speed values gt 20 or lt 0 or direction lt 0 or gt 360 degrees 2 4 3 11 Encapsulate Data Encapsulate Wind Data Data that is received from the verify functions will be consolidated into two separate data structures within this module The flow of information from the verify functions is constant for the duration of the preparation mode Once the preparation mode is complete the function will call the calculate wind and speed functions for further processing 2 4 3 12 Process Data Calculate Wind Speed The sole purpose of this function is to average each element of the array of wind speeds 2 4 3 13 Process Data Calculate Wind Direction The sole purpose of this function is to average each element of the array of wind directions 2 4 3 14 Process Data Table Lookup Our system is going to have a set of tables that list all the possible settings for a given wind speed and direction These settings include the pad angle and the rockets turn altitude Once the averages are calculated this module will conduct the lookup for these two values and send that data to the Set Flight Data module within the Set Data subsystem 2 4 3 15 Set Data Set Wind Speed This function is simply the interface into the data that the Data Processing layer computes for all other layers It specifically contains the accessor functions for the average wind speed Doing this ensures encapsulation of data 2 4 3 16 Set Data Set Wind Direction
68. nd wind speed and direction The accelerometer information is used to determine if the IRBS has taken an angle beyond 30 degrees on the x axis If the pad has exceeded that limit essentially it has fallen over and launch is not possible This is a failsafe for personal safety reasons This is ensured by sending a boolean value to the Button State module within the Data input layer The speed and direction will be encapsulated into two separate arrays which the calculate functions will receive at the end of the preparation phase or when the array is completely filled which we define by acquiring 10000 values 5 4 3 External Data Dependences 5 4 4 Internal Data Dependences None 5 4 5 Process Pseudocode Encapsulates the and 3 axis directional information and sends boolean value to determine if the x has exceeded 30 degrees Button Press within the Data Input layer will look at the Data Processing object Launch variable to check if the IRBS is within its tilt threshold if not is has fallen over private void Enpasulate Data int x int y int z sets the local variable Launch to 1 which allows a launch if x gt 30 x lt 30 Launch 1 tipOver tipOver Length 1 x 1 Launch 0 disalows launch private void Encapsulate Data long speed int direction speed speed Length 1 speed direction direction Length 1 direction if speed Length gt 10000 Calculate_Wind
69. ned as values that exceed the realistic value for a given calculation in this case any orientation value where value lt or value gt 360 5 2 2 Interfaces The Verify Accelerometer module is a function within the Data Processing class It gets passed values x y and z from which we can derive the orientation given that the rocket will be calibrated on the IRBS pad These calculations are done in the Data Input layer to clarify this function received values in degrees Note that this will cancel out acceleration due to gravity from the SD 12 Rockets base frame This function returns void and calls the function Encapsulate Data if the values are within the threshold March 8 2013 31 Team Mass Rocket Recovery System 5 2 3 External Data Dependences None 5 2 4 Internal Data Dependences None 5 2 5 Process Pseudocode Nerifies that the x y z values in g forces are not lt 16 or gt 16 private void Verify Accelerometer int x int y int z If any of the three are out of bounds throw out all three if x 0 x 360 gt y lt gt z lt 360 Encapsulate Data x 2 5 3 Verify Data Verify Anemometer 5 3 1 Prologue Data that is received from the RPM and Direction module in the Data Input layer will be brought to this module for verification Verification includes filtering out extreme outliers Extreme outliers are defines as values that exceed the realistic value
70. o be used later in the program The long data type will represent the speed in Kilometers per hour and then converted to miles per hour 3 5 2 Interfaces The Davis Anemometer 7911 interfaces with an Arduino Mega digital pin for the wind speed data 3 5 3 External Data Dependences The RPM module is dependent only on the actual external wind speed 3 5 4 Internal Data Dependences The direction module is not dependent on any internal data 3 5 5 Process Pseudocode volatile unsigned long ContactTime Timer to avoid contact bounce in interrupt routine volatile unsigned long RPMTops RPM tops counter in interrupt routine void rpm debounce of REED contact With 15ms speed more than 150 km h can be measured if millis ContactTime gt 15 March 8 2013 22 Team Mass Rocket Recovery System RPMTops ContactTime millis convert to km h if RPMTops gt 0 and RPMTops lt 21 RPM RPMTops 1 2 if RPMTops gt 21 and RPMTops lt 45 RPM RPMTops 1 15 if RPMTops gt 45 and RPMTops lt 90 RPM RPMTops 1 1 if RPMTops gt 90 and RPMTops lt 156 RPM RPMTops 1 0 if RPMTops gt 156 and RPMTops lt 999 RPM RPMTops 1 0 convert to mp h RPM RPM 0 621371192 3 6 Accelerometer Input Accelerometer Reading 3 6 1 Prologue The purpose of the Accelerometer Reading module in the Accelerometer Input subsystem is to gather the
71. oad load 2 8 kg cm kg cm March 8 2013 63 to Team Mass 1324 Rocket Recovery System Connector Wire Length 7 178mm Dimensions 1 59 x 0 77 x 1 44 40 6 x 19 8 x 36 6mm Weight 1 47oz 41 79 3 Interfaces The HSR 1425CR Continuous Rotation Servo will interface with the Arduino Mega inside of the Launch Control Box It will use one digital pin on the Arduino see figures 13 1 and 13 2 of section 13 13 3 HS 645MG Servo Motor 13233 FIGURE 13 2 HS 645MG SERVO MOTOR Purpose The purpose of this servo is to tilt the launch pad to an appropriate angle into the wind 13 3 e e March 8 2013 2 Specifications Control System Pulse Width Control 1500usec Neutral Required Pulse 3 5 Volt Peak to Peak Square Wave Operating Voltage 4 8 6 0 Volts Operating Temperature Range 20 to 60 Degree C Operating Speed 4 8V 0 24sec 60 at no load Operating Speed 6 0V 0 20sec 60 at no load Stall Torque 4 8V 106 93 oz in 7 7kg cm Stall Torque 6 0V 133 31 oz in 9 6kg cm Operating Angle 45 Deg one side pulse traveling 400usec 360 Modifiable Yes 64 Team Mass Rocket Recovery System e Direction Clockwise Pulse Traveling 1500 to 1900usec e Connector Wire Length 11 81 300mm e Dimensions 1 59 x 0 77 x 1 48 40 6 x 19 8 x 37 8mm e eight 1 940z 55 29 13 3 3 Interfaces
72. ode private void Offset_Calculation int x int y int z desired_x desired x orinetation desired_y desired y orinetation desired_z desired z orinetation if the current orinetation exceeds 10 degrees of desired orientation if x 10 desired x y 10 desired y z 10 desired z call the Offset Fin Controller function and pass the desired orientation Offset_Fin desired_x 10 desired_y 10 desired_z 10 March 8 2013 53 Team Mass Rocket Recovery System else if x 10 gt desired x y 10 gt desired y z 10 gt desired z call the Offset Fin Controller function and pass the desired orientation Offset Fin desired x 10 desired y 10 desired z 10 10 5 Air Pressure Processing Calculate Altitude 10 5 1 Prologue Given that the SD 12 rocket must know its current altitude so that we know when to turn into the wind we are required to do some conversions from air pressure hPa feet above the IRBS This is required because the turn altitude as prescribed by the lookup tables in the IRBS Data Processing Layer were calculated using feet above the IRBS 10 5 2 Interfaces This function does the conversion from air pressure hPa to our altitude unit feet It then sends this altitude reading to the Target Interrupt module which will activate the turn process when the desired altitude is achieved 10 5 3 External Data Dependences None 10 5 4 Internal
73. onsibility is to get the button presses from the user input and the processed wind data It then formats the data and displays it on an LCD screen This layer consists of two subsystems Get Data and Display Output Get Data Subsystem consists of one module Get Processed State Display Output Subsystem consists of two modules Format Data and Print DP13 DP14 DP15 DP16 01 N6 To LCD LED FIGURE 4 1 USER INTERFACE DIAGRAM 4 2 Get Data Get Processed State 4 2 1 Prologue The purpose of the Get Processed State module in the Get Data subsystem is to get the processed wind data and make it available to the Format Data module of the Display Output subsystem 4 2 2 Interfaces The Get Processed State interfaces with the Set Wind Speed Set Wind Direction and Set Flight Data modules in the Set Data Subsystem of the Data Processing Layer 4 2 3 External Data Dependencies The module is dependent on the Set Wind Speed Set Wind Direction and Set Flight Data modules for the wind data It gets integer value of altitude and float values of pad angle wind speed and wind direction March 8 2013 25 Team Mass Rocket Recovery System 4 2 4 Internal Data Dependencies The module is not dependent on any data that is internal 4 2 5 Process Pseudo code void getWindData int altitude float w_speed float w_direction float pad_angle altitude sd getAlt get the altitude w Speed sd getSpd get the
74. re than 30 degress March 8 2013 40 Team Mass Rocket Recovery System 7 IRBS Network Get Data Get Flight Data Send Receive Pack Data Send Flight Data From RRM Unpack Data FIGURE 7 1 NETWORK DIAGRAM 7 1 Overview The IRBS Network integrates the IRBS system with the RRM system by receiving or sending packets to the RRM Network layer The layer encodes decodes packets receive from the Data Process layer to the RRM Network layer 7 2 Get Data Get Flight Data 7 2 1 Prologue Get Flight Data module is responsible for using the altitude to turn the angle that will be used by the rocket 7 2 2 Interfaces The module only interface with the Set Flight Data module 7 2 3 External Data Dependencies No external data 7 2 4 Internal Data Dependencies The module depends on the altitude data stored In the Set Flight Data module March 8 2013 41 Team Mass Rocket Recovery System 7 2 5 Process Pseudo code public void getFlightData int windAlt windAlt fd getAlt 7 3 Send Receive Pack Data 7 3 1 Prologue The module breaks down the flight data into packets that will be sent to the RRM system 7 3 2 Interfaces It interfaces with the Get Flight Data module 7 3 3 External Data Dependencies No external data 7 3 4 Internal Data Dependencies Depends on flight data 7 3 5
75. reading the switch1 status March 8 2013 26 Team Mass Rocket Recovery System int 552 variable for reading the switch2 status int SS3 0 variable for reading the switch3 status int LBS variable for reading the launch button status void gbs ButtonState getState SS1 getState switchState1 switch state for setup mode SS2 getState switchState2 switch state for preparation mode SS3 getState switchState3 switch state for launch mode LBS getState launchButtonState switch state for actual launch A Boolean value from the network layer to determine whether the data has been sent properly to the RRM if ack is true data has been sent if ack is false data has not been sent bool ack ack data getack 4 4 Display Output Print The purpose of the Print module is to display the relevant information to the user It displays the different modes of the system through LCD and LEDs and it also displays the wind speed wind direction altitude and pad angle on an LCD 4 4 1 Interfaces The module interfaces with the backlight positive LCD 16x2 through six digital pins The module also interfaces with the LED indicator through one digital pin It also interfaces with Get Processed State of the Get Data Subsystem 4 4 2 External Data Dependencies The module is not dependent on any data that is external 4 4 3 Internal Data Dependencies The module is dependent on the Format D
76. rieves data from the IRBS Data Processing Layer The layer either de multiplexes or multiplexes the data with the RRM Network layer IRBS Network layer consists of Send Receive Subsystem and Get Data Subsystem 2 3 The Rocket Recovery System 2 3 1 Network The RRM Network Layer is the first layer of the RRM system and it connects RRM system with the IRBS system The layer either multiplexes or de multiplexes the data with the IRBS Network layer RRM Network layer consists of Send Data Subsystem and Receive Data Subsystem 2 3 2 RRM Data Input The RRM Data Input Layer is responsible for handling the input data from the accelerometer barometer and the processed data from Network Layer The RRM Data Input layer consists of three subsystems The Accelerometer Input The Barometer input and the IRBS Processed Input 2 3 3 RRM Data Processing The purpose of the RRM Data Processing Layer is to emphasize modularity in the design structure of the system All processing of data will be encapsulated within this layer and the resulting comprehendible data will be made available to the hardware layer March 8 2013 6 Team Mass Rocket Recovery System 2 3 4 RRM Hardware Interface The RRM Hardware Layer is responsible for obtaining the air pressure and acceleration data from the RRM Data Process layer in determine the stability of the rocket and the servo opening for the landing 2 4 IRBS Module Decomposition 2 4 1 Overview The m
77. s only dependent on the physical direction of the anemometer during power up 3 3 4 Internal Data Dependencies The module will send data to both the format data module in the user interface layer as well as the RPM module in the data input layer 3 3 5 Process Pseudocode define PotPin define the input pin for the wind vane potentiometer define CalPin A1 define the input pin to initiate direction calibration startup Ground pin to calibrate void calibrate int PotValue 0 variable to store the value coming from the potentiometer int DirCorr 60 Correction on direction 360 to 360 byte DirCorrB1 2 bytes of DirCorr byte DirCorrB2 0 lcd print Now calibrating delay 1000 Wait 1 second March 8 2013 20 Team Mass Rocket Recovery System PotValue analogRead PotPin read the value from the potentiometer DirCorr map PotValue 0 1023 359 0 lcd setCursor 0 1 lcd print CAL value lcd print DirCorr DEC lcd print DE delay 2000 Wait 2 seconds DirCorrB1 DirCorr 255 if DirCorrB1 1 DirCorrB1 255 DirCorrB2 DirCorr 255 else DirCorrB1 DirCorr DirCorrB2 0 EEPROM write 1 DirCorrB1 EEPROM write 2 DirCorrB2 wait lcd setCursor 0 1 lcd print CAL OK if analogRead CalPin 512 goto wait lcd setCursor 0 1 lcd print Now rebooting 53 delay 1000 setup 3 4 Anemometer
78. sses nennen nennen enne 72 17 Launch Control Box Hardware Components ccssccccccssssssssnaecececseecsecnsaeeececeseeseasaeeeeeesssessesaeeeeeens 74 17 1 OVerVIew s nee ehe AS ae etui ead ei eS A eis 74 17 2 Ard ino Mega e t evt ntt ee vedette de e Yee related inte ees oa e Ee ee 74 17 3 Davis Anemometer Standard 87911 75 17 4 Rocker Switch SBST eere adr Per RT ete Fe ibn 76 17 5 Toggle Switch and Cover Illuminated nennen enirn 76 17 6 Concave Buttori Red i c ten ee cete ee teen eene e eR te c ee a ERE aevo sender re ene ra ee 77 17 7 RGB backlight positive LCD 16 2 78 178 LED err Ee recette te tr E e D ae et 78 17 9 Relay SPDT Sealed zehn eben 79 17 10 Battery Holder eR ER ERR DIR RUNI 80 17 11 9 olt Battery deterret ene PO ted 81 18 RRM Hardware DeSIQN cccssssccccecessessnseseeececessesenaeseeececesseseeaeeeeecssessnsaeaeseeeceseesnaaeaeeeeseeseusaaeaeeeeeens 82 March 8 2013 iv Team Mass Rocket Recovery System 19 RRM Hardware Components ccccesesssssececeeecessesenaeceeececeeseauaeseeeessesseaeaeeeeeceseeaaeaeeeeseeseeseaeaeeeesens 84 MESS 84 19 2 AAU e
79. t o te to e eut e oe ek ede ee AS 18 CMEMS UTIMUR 18 3 2 User Input Button State ee e bei Pe tote te tob e i ieia Pe ete Eod tbc ioo te 18 3 3 Anemometer Input Calibrate eesssssesesesseeeeeeeenen ener nnne 20 3 4 Anemometer Input Direction esses eene ener nennen nnne 21 3 5 Anemometer Input RPM ccccsesesesssssseeseeeseeseeseeeseeeseeseseeeseeeseeeeseeeeeeseeeeeeseeeeeeeeseeeeseeeeeeeeeees 22 3 6 Accelerometer Input Accelerometer Reading cccsscccccccsssesecssceceeecessessaaeseceeseessesaaeeeeeessesees 23 4 IRBS User Int rface Tert eet et eet eie Pe deep Dn 25 SPETeIMIII ae 25 4 2 Get Data Get Processed State eccccesssceesseceesceceeacesesneessaeceeaaesenaeessaeeeeaaeceeaaessaeeeeaaeeeeaaeseeaeeen 25 4 3 Display Output Format Data ccccccccccecsssssssseceeececeeseseeaeeececssesseeeaeeececsseesaeaeeeesesseeseaaeaeeeeeens 26 4 4 Display Output PEint a eoo erect cicer ee vetas 27 5 IRBS Data Processing eee eR c e hes a e eee 31 5 T OVervieW eee eA AeA aen eedem 31 5 2 Verify Data Verify Accelerometer ccccceessssecececessesesneaeeeeeesssesesaececeeecessesaaaeseeeessessesaaeeeeeessesegs 31 March 8 2013 11 Team Mass
80. tach it to the Intelligent Rotating Base Station The user will have to buy engines batteries and wadding separately The user will also have to do minor assembling 4 2 Software The software will be embedded in the Rocket Recovery Module and the Intelligent Rotating Base Station A user manual will be included for user s assistance RRS Battery The Rocket Recovery System battery life should last at least one Life launch cycle 5 4 RRS Outdoor The Rocket Recovery System will function outside in normal Use conditions 5 5 The Intelligent Rocket Base Station will have 3 modes with the i following time constraints for each standby no time constraint Preparation 2 minutes minimum 3 maximum Launch strictly 30 seconds The processing power of the microcontroller will be fast enough to Microcontroller make stability correction that ensure smooth flight through the end instructions of the burn per cycle 7 1 Documentation The RRS will come with a setup manual that outlines in detail the setup and launch procedures This manual will include safety guidelines to follow to ensure that the user is safe throughout the entire operation 7 4 Launch A launch procedure with outlined checks at each mode of the IRBS Procedure will be provided to ensure a successful launch 8 1 Rocket Engine The rocket must not use motor with more than 160 Newton seconds Power of total impulse an H motor of larger or multiple motors that all to
81. te EL TRE etu V re ue EE Te cea ade Dade EE aa 84 19 3 ADXL326 5V ready triple axis accelerometer 16g analog 85 19 4 85 Barometric Pressure Temperature Altitude Sensor 5V 86 19 5 HS 645MG Servo MOTOR co Ec sebo teret A ee tee be bee da tede do te Ee dote Bed dep ee uoo os 87 19 6 Battery Hold6r i creer neben eee eei IB DR 88 19 7 9 Volt Battery i et pott riv e On tI e ren tee Tie NER Ege ded 89 20 SD 12 Rocket Deslpgn 5 i Rt tr eR RR A eed e E 90 21 SD 12 Components 8 ce ee eee ec eaae e Eee eredi Deo usu Le Dr ae Raab aov po dae id hie 92 22 Traceability MatfiCes ert bn reu ates 93 23 Quality Assurance ep etae ro e RM RR ERI e REM RR IRIS 95 23 1 Test Plans and Procedures a 95 23 2 MOdule b IE Pee ier au 95 24 eet tbe ate dr eX TE P eR Re RN EVER Te 98 24 1 M 98 24 2 Packaging and Installation c cccccccscssssssssecececsessssansececeesesesseausececessesecesaesececessesssaeausececetseseaaes 98 24 3 Acceptance Criteria uut te tete dete qu Rede tenere RE a EUR cath 99 March 8 2013 V Team Mass Rocket Recovery System List of Figures Figure 1 1
82. wind speed w direction sd getDir get the wind direction pad angle sd getAng get the pad angle 4 3 Display Output Format Data 4 3 1 Prologue The purpose of the Format Data subsystem in the Display Output subsystem is to get the processed wind data from the Get Processed State module It formats the data so that it can be sent to the Print module for display This module also gets the different states of the switches and button from the Button State module It also gets the acknowledgement from the Set ACK module to check whether the data has been transferred successfully to the RRM 4 3 2 Interfaces The Format Data interfaces with the Get Processed State module in the Get Data Subsystem It also interfaces with the Button State module of the Data Input Layer to get the actual button presses and switch movements It also interfaces with the Set ACK module of the Send Receive Subsystem in the Network Layer 4 3 3 External Data Dependencies The module is dependent on the Get Processed State module for the processed wind data and Button State module for the button presses and switch movements It gets integer value of altitude and float values of pad angle wind speed and wind direction It also gets a Boolean value from the set ACK module 4 3 4 Internal Data Dependencies The module is not dependent on any data that is internal 4 3 5 Process Pseudo code get the button states int 551 variable for
83. wind speed data 6 2 5 Process Pseudo code public void getWindData float windDir angPad windDir wd getDir angPad wd getAng Rocket Recovery System 6 3 Hardware Processing Rotate Pan Servo 6 3 1 Prologue The module will use the average wind direction to regulate and rotate the servo to a required angle 6 3 2 Interfaces Rotate Pan Servo module interface with the Get Wind Data module 6 3 3 External Data Dependencies No external data 6 3 4 Internal Data Dependencies The module depends on the wind speed data 6 3 5 Process Pseudo code This is the objects for tilt servo Servo servoTilt void setup servoTilt attach 2 The Tilt servo is attached to pin 2 servoTilt write x Initially put the servos at angle not more than 30 degress March 8 2013 39 Team Mass Rocket Recovery System 6 4 Hardware Processing Rotate Tilt Servo 6 4 1 Prologue The purpose of the module is to use the wind speed data to regulate and rotate the servo to a specific angle 6 4 2 Interfaces The module interface with Get Wind Data module 6 4 3 External Data Dependencies No external data 6 4 4 Internal Data Dependencies Wind direction data 6 4 5 Process Pseudo code This is the objects for pan servo Servo servoPan void setup servoPan attach 3 The Pan servo is attached to pin 3 servoPan write x Initially put the servos at angle not mo

Detailed Design Specification (RRS: Rocket Recovery System)

Contents

Download Pdf Manuals

Related Search

Related Contents