Report - University of Florida
Contents
1. PWM freq 100 servo 250 diff 200 DutyCycle 0 HPWM 1 DutyCycle PWMfreq TK K 3K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KK SpeedDisplay LCDOUT FE 1 LCDOUT FE 80 LCDOUT ENTER SPEED LCDOUT SFE SCO LCDOUT 1 2 3 STOP TK K 3K K K K oR K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K Speedlnput if Button2 1 then DutyCycle 128 goto CalcPWM endif if Button3 1 then DutyCycle 192 goto CalcPWM endif if Button4 1 then 20 Apr 09 University of Florida EEL 4924 Spring 2009 Electrical amp Computer Engineering Page 13 13 Team DODGERS DutyCycle 255 goto CalcPWM endif if Button5 1 then DutyCycle 0 goto CalcPWM endif if DutyCycle lt gt 0 then countoff countoff 1 if countoff gt 20000 then solenoid 1 pause 350 solenoid 0 countoff 0 endif endif goto Speedinput TK K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K OK K K K K K K K CalcPWM HPWM 1 DutyCycle PWMfreq LCDOUT SFE 1 LCDOUT SFE 80 LCDOUT SFE SCO Icdout Duty Cycle DutyCycle pause 9000 goto SpeedDisplay TK K K K K K K K K K K K K K K OB K K K K K K K K RK K K K K K 20 Apr 092. This is controlled using a PWM signal that runs through a MOSFET The frequency of the balls is a constant pulse controlling a relay which activates and deactivates the solenoid These microcontrollers communicate with each other if there is no player in sight The first scans scan back on forth to search for the player while the second cancels firing until a player is found Entire System The flowchart in Figure 2 below explains pictorially the flow of information discussed in the previous sections Wiimote Laptop Computer Determines player s position through IR Program takes Wiimote input and sensing changes position into a serial 8 bit number Servomotor PIC for Tracker a Turns launcher left and right Serial input into built in UART Servomotor output The position is determined from serial input Tells other PIC if player is in sight LCD screen 18V supply Outputs messages and menus Pushbuttons Input for launcher speed PIC for launcher Moio LCD output for User interface e Launcher speed by pushbuttons e Motor PWM speed control e Solenoid control stops if player not in sight Solenoid Pushes ball through motors A MOSFET and Relay are used to control solenoid Figure 2 Flow of information chart University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 7 13 Team DODGERS Separation of Work Cris
3. lt 130 then dir 1 endif goto ServoOut 20 Apr 09 University of Florida Electrical amp Computer Engineering Page 11 13 EEL 4924 Spring 2009 20 Apr 09 Team DODGERS Appendix B Code used for menu launcher and solenoid Basic TK 3K 3K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KKK K K K K K KK K K 1 ES ES Name SpeedFreq BAS Author Cris Rivero Derek Fairbanks Date 03 24 2009 i Notes TK K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KKK K K KK K K osccon 01101011 adcon1 11111111 set digital pins DEFINE CCP1_REG PORTB DEFINE CCP1_BIT 2 Set LCD Enable bit DEFINE LCD_EBIT 2 TRISB O 1 dont shoot TRISB 1 1 TRISB 2 0 TRISB 4 1 TRISB 5 1 TRISB 6 1 TRISB 7 1 TRISA 6 0 used for servo pulse out TRISB 3 0 TK K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K n var BYTE servo VAR BYTE diff VAR BYTE Freq var byte University of Florida EEL 4924 Spring 2009 Electrical amp Computer Engineering Page 12 13 Team DODGERS countOff var word DutyCycle var byte PWM freq var word Button1 var PORTB 4 Button2 var PORTB 5 Button3 var PORTB 6 Button4 var PORTB 7 Button5 var PORTB 1 what number Solenoid var PORTA 6 DontShoot VAR portb 0 naming countOff 0 Solenoid 0 n 100
4. FINAL DESIGN REPORT Dodge This DODGERS Cristobal Rivero Derek Fairbanks 4 21 2009 Abstract Our project is to develop an automatic dodge ball game It consists of an infrared video camera computer ball launcher and various gears motors and lights The idea of the game is simple The computer targets a player using the video camera LEDs and tracking software Data is transferred to a microcontroller operated system to aim and fire a ball at the player The object of the game is for the player to test his her reflexes by dodging multiple balls The launching and tracking mechanism can be placed at a table about ten feet away from the player The player will be wearing safety lenses with an LED light attachment used for head tracking University of Florida EEL 4924 Spring 2009 Electrical amp Computer Engineering Page 2 13 Team DODGERS TABLE OF CONTENTS Product Features amp Objective Saneren eie aai aia eie aa e ari iaaa aie aanas Analysis of Competitive Products cccssscssscccessessssaeceeecesseseaeceeeceseeseaeaeeeeseessessessaaeeeeess Concept amp Technology eec inhaerere aeiio ianaeaieo rasita aasia iiaae Project Architectures cnan eae a aas a E E E n EN S par tiom OF WORK isiniessrroreti nnana e E baie E a shia a R i ea ie User s Maritiallssvaz ac Sidis cactccessectasl siataeeevsncebsi ol vas a aa oaae asare Sarsi aa Sodea eta iecldes Billio Materials ne eni e cect ctuisti A L EE A cite det eeas se
5. create a unique and fun experience Analysis of Competitive Products Since there are no tracking ping pong ball launchers that use Wii remote designs that we could find this will be a comparison to the designs that gave us ideas Note that our design is more simple and inexpensive as these commercial products Much of the design of this project was formed from ideas provided by the products listed below Tennis Ball Launcher The launching system two motors spinning wheels in opposite directions was inspired by the tennis ball launcher These systems start at around 300 Paintball Turret Further inspiration came from automatic paintball turrets that are becoming popular online Most used motion sensing with more sophisticated software these custom software applications run at 150 on their own University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 4 13 Team DODGERS Concept amp Technology Wii Remote vs Motion Color Sensing Camera The Wii remote was not the initial camera for this project Motion or color sensing was the preliminary mode of tracking the player However after extensive research and peer recommendations the Wii remote was chosen for tracking infrared light This decision was based upon cost and ease of implementation It is assumed that a good percentage of households now have the Wii console PIC 18F1320 vs ATMEL An ATMEL processor was initially chosen f
6. em will be tracking the player and will automatically begin launching ping pong balls University of Florida Electrical amp Computer Engineering Page 8 13 EEL 4924 Spring 2009 Team DODGERS Bill of Materials The cost and components for Dodge This system is shown in Table 1 Launcher Platform 10 00 Servo Motor 40 00 Wii Remote 40 00 Solenoid 3 00 DC Motors 8 00 LEDs amp Buttons 10 00 LCD Screen 10 00 PIC Processor 5 00 Relay 5 00 IR Glasses 20 00 TOTAL 151 00 Awesome Project Priceless Gantt Chart The Gantt chart for the Dodge This project is shown in Figure 3 8 9 Introduction team Research project proposal team Build targeting system Derek Build launch and pan system Cris Incorporate code to launch ball Build player interface Team Debugging Demo and final presentations team Planned Figure 3 Gantt chart for Dodge This project 20 Apr 09 10 11 12 13 14 15 16 University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 9 13 Team DODGERS Appendix A Code used for tracking and servomotor Basic IK 3K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KK K K K K K K KK K K Name Serial BAS z Author Derek Fairbanks Cris Rivero Date 2 11 2009 x No
7. es A a EE Gantt Chart a tea Hea ee ed ee ee Appendix A Code used for tracking and servomotor BaSIC ccccssscecesssceceeseeeeesaaes Appendix B Code used for menu launcher and solenoid BaSic cccccssscceesseceeeerees TABLE OF FIGURES Figure 1 Wii remote used for tracking c cccccccecsssesssseceeececesseseceeeescessesesaeeeeeesseessessaaees Figure 2 Flow of information Chart ccccssssccececessessaeeeceeeesssaeseeeeseessesseaeseeesesesssessaaeas Figure 3 Gantt chart for Dodge This project ccsessccccccesessessseeeeecsssessaeseeeeseesseessaees 20 Apr 09 University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 3 13 Team DODGERS Product Features amp Objectives The Dodge This robot finds application in the gaming domain and object tracking domain It has to find the object aim at it and then hit it with the ball at a desired speed The aim of the robot is to be entertaining for the audience and also engaging and challenging for the user Usually dodge ball is played with opposite teams trying to hit the other For the Dodge This robot there is only one player and he she is only dodging the ball never throwing There is nothing quite like the Dodge This robot There are tracking devices and turrets in the world There are also ball launchers and potato launchers However this machine combines the ability to track and launch to
8. omputer a program written in Visual C Johnny Lee is used to enable information from the remote to be transferred and manipulated by the computer Visual C The Visual C program used in this project was initially designed only to connect the Wii remote to the computer and output information to the user coordinates of IR camera battery life LEDs button pressing etc This program has been manipulated to open a communications port for the serial connection to the microprocessor The program then converts the x coordinate of a single infrared light captured by the camera into 8 bit values O left most position FF right most position This byte is then transferred serially to the microprocessor Launching Device The actual launching setup consists of a PVC T cap fed by a vertical tube A solenoid loads and shoots a ball through two wheels spinning in opposite directions which are driven by two 18V DC motors This University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 6 13 Team DODGERS entire system will be mounted on the panning device for targeting the player which is rotated by the large servo mentioned earlier PIC Microprocessor There are two PIC 18F1320 microcontrollers One reads the input from the computer and controls the servo motor The other controls the speed and frequency of the launcher The speed of the ball is determined by the rotational speed of the wheels
9. or this project However we came to the conclusion that the PIC 18F1320 would suit this project better because we had previous experience with the PIC microcontroller and the ATMEL had a learning curve we did not have time to devote to Overall the PIC provided all that was required for this project DC Brush Motors vs Air Pressure Two types of launching methods were thought of DC motors and air pressure Air pressure required several moving parts including plus pressure sealings Also a small pressurizer was out of our budget Upon learning that tennis ball launchers use motor powered wheels spinning in opposite directions this method was decided on University of Florida EEL 4924 Spring 2009 20 Apr 09 Electrical amp Computer Engineering Page 5 13 Team DODGERS Project Architecture The Wii Remote Initially a video camera was to be used along with face tracking or motion sensing software However time and financial constraints required the pursuit of a different tracking method infrared The Nintendo Wii remote was chosen because of its versatility and sensitive infrared camera As shown in Figure 1 below the infrared camera is at the front end of the remote The Buttons 1 and 2 can be used to prepare the remote to be paired with a computer via Bluetooth Infrared Camera Used to track the player j Buttons 1 amp 2 Used to pair with the computer Figure 1 Wii remote used for tracking Once paired with a c
10. tes z 1 TK K 3K K K K K K K K K K K K K K K K K K K K K K K K K K RB K K K K K K K K K K K K K K K K K K K KK KK K K K KK K K INCLUDE modedefs bas HK KEK REGISTER DEFINITIONS OSCCON 01101011 RCSTA 10010000 ADCON1 11111111 TK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KK serial VAR BYTE servo VAR BYTE diff VAR byte dir var byte dir 1 servo 150 LK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K TRISA 4 1 TRISB 5 0 TRISB 6 0 PORTB 6 0 TK 3K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K SerialRead SERIN PORTA 4 T9600 10 NoSeeEms 0 Z serial Will wait 10ms for input then continue to SeroOut if none PORTB 6 1 if servo gt serial 20 then servo servo servo serial 65 1 goto ServoOut endif University of Florida EEL 4924 Spring 2009 Electrical amp Computer Engineering Page 10 13 Team DODGERS if servo lt serial 20 then servo servo serial servo 65 1 goto ServoOut endif IK K 3K 3K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K ServoOut PORTB 5 0 pulsout PORTB 5 servo PAUSE 10 Final delay to make a 20ms pulse waveform for servo GOTO SerialRead TK K 3K K K K K K K K K K K K K K K K K K K K K K K K OK K K K K K K K K NoSeeEms PORTB 6 0 servo servo dir if servo gt 170 then dir 1 endif if servo
11. tobal Rivero Launching System e Built launching platform e Prepared launching system including choosing DC motors wheels and a solenoid e Developed Visual Basic code to control DC motors and solenoid with user interface Derek Fairbanks Tracking System e Paired Wii remote with computer e Edited C code to output Wii remote data serially to PIC e Developed Visual Basic code to input serial data and control servo User s Manual Step 1 Pair the Wii Remote Since the Wii remote communicates via Bluetooth the computer to pair with must also have Bluetooth connectivity Press the A and B buttons simultaneously Blinking LEDs means that the pairing process has begun Run a search with the Bluetooth software and choose the item labeled Nintendo Then check the box which chooses not to use a passkey The software should install the Wii remote as a peripheral During this process the two buttons may need to be pressed again Step 2 Plug in the USB Plug a USB cable in both the computer and the circuit board This must be done before the software is run or the computer will not send any information Step 3 Open Software Double click on the provided software If the information box opens the software package is working fine Step 3 Start Motors LED Glasses Flip the main switch and follow the LCD screen to choose the desired motor speed Flip the switch on the LED Glasses Once these steps are followed the syst
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