Capstone CDR Fall 2005 Team Doki Doki: Paintball Gun IR Sensing and Tracking Team Members: Matt Freeman James Kirby Juan Rivera
Dec 21, 2015
Capstone CDR Fall 2005
Team Doki Doki:Paintball Gun
IR Sensing and Tracking
Team Members:Matt Freeman
James Kirby
Juan Rivera
Capstone CDR Fall 2005
Presentation Outline• Project Overview• System Diagram
– Input subsystem– Processing subsystem– Output subsystem
• Schedule• Milestones• Division of Labor• Budget/Parts List
Capstone CDR Fall 2005
Project Overview
• Design a paintball gun auto-detection and tracking system
• Implement both manual control and automatic control based on IR sensing
• Stepper motors control gun movement
• Linear actuator pulls trigger
• Spartan-3 provides system control
Capstone CDR Fall 2005
System Diagram
IR Sensors
User Interface
DataADC
/MUX Spartan-3Data
Control
StepperMotors
Actuator
LCD
Gun
IRTransmitter
Capstone CDR Fall 2005
System Input
IR Sensors
User Interface
DataADC
/MUX Spartan-3Data
Control
StepperMotors
Actuator
LCD
Gun
IRTransmitter
Capstone CDR Fall 2005
IR Sensing
• IR λ emitted by humans is ~10μm– Requires exotic and expensive detectors
• Use matched IR detector/emitter pairs– Readily available, inexpensive
HgCdTe
Capstone CDR Fall 2005
IR Transmitters
• Transportable independent target• House in self-contained multiple LED flasher
– Has different modes of operation
• Two IR LEDs for transmission and one visible LED for alignment and power confirmation
Capstone CDR Fall 2005
IR Sensors
• Mount in an array on gun barrel• Both fine-tuning and coarse adjustment• Shield from light for best results• More precise final design
Capstone CDR Fall 2005
MUX
• One ADC, 8 analog inputs
• MC74HC4051: 8 to 1 analog switch
• Will require 8 cycles to refresh all IR readings
Capstone CDR Fall 2005
ADC
• IR sensors are analog, board input is digital
• AD7821: 8 bit parallel analog to digital converter
• VREF+/- allows for fine-tuning of voltage of one LSB
Capstone CDR Fall 2005
IR/MUX/ADC Schematic
EN6
A11
B10
C9
VDD16
VEE7
X3
X013
X114
X215
X312
X41
X55
X62
X74
74HCT4051
VIN1
WR/RDY6
MODE7
RD8
CS13
+VREF12
-VREF11
DB02
DB13
DB24
DB35
DB414
DB515
DB616
DB717
INT9
OFL18VDD
20
VSS19
AD7821
+3.3.V+5V
...7
...6
...5
...4
IR LSB1
......
...2
...3
IR MSB8
MUX LSB9
MUX10
MUX MSB11
GPIO
DIR2
OE22
VCCB23
VCCB24
A13
A24
A35
A46
A57
A68
A79
A810
B121
B220
B319
B418
B517
B616
B715
B814
74LVC4245/SO
DIR2
OE22
VCCB23
VCCB24
A13
A24
A35
A46
A57
A68
A79
A810
B121
B220
B319
B418
B517
B616
B715
B814
74LVC4245/SO
D1IR
D2IR
D3IR
D4IR
D5IR
D6IR
D7IR
D8IR
Capstone CDR Fall 2005
Manual Control Interface
• Modified 8-bit NES controller• Controls switching between operation modes• Controls manual and calibration functioning
Capstone CDR Fall 2005
Manual Control Interface
DS11
P17
P26
P35
P44
P513
P614
P715
P81
C10
P/S9
VCC16
Q62
Q712
Q83
VSS8
14021
U1
1
2
3
4
E1
B5S
1
J1
BTN
1
J2
BTN
1
J3
B2S
1
J4
B2S
Sel7
Right6
Left5
Down4
B1
......
A2
Up3
Start8
GPIO
A1+5V
DIR2
OE22
VCCB23
VCCB24
A13
A24
A35
A46
A57
A68
A79
A810
B121
B220
B319
B418
B517
B616
B715
B814
U2
74LVC4245/SO
+3V
• Parallel control hard-wired to MC14021B controller chip
• Input into board via 40-pin GPIO expansion port
Capstone CDR Fall 2005
System Processing
IR Sensors
User Interface
DataADC
/MUX Spartan-3Data
Control
StepperMotors
Actuator
LCD
Gun
IRTransmitter
Capstone CDR Fall 2005
Spartan-3 Breakdown
SPARTAN-3
RS-232
FPGA40-pinGPIO
MicroBlaze
Serial LCD
NES Control
IR Data
MUX/ADC
Motor Drivers
State Machine
Capstone CDR Fall 2005
State Machine
Calibration MoveUp
MoveRight
MoveDown
Manual
Automatic Fire
Reset=1
NESLeft=1NESSel=1
NESDown=1
NESUp=1
NESRight=1
NESB=1
NESRight=1
Transfer out of all move states and fire state controlled via variable PrevState
Automatic mode ignores all inputs except Reset and NESSel
NESUp=1
MoveLeft NESLeft=1
NESSel=1
NESDown=1
Capstone CDR Fall 2005
State Machine Implementation
• Big switch statement– Registers keep track
of both next state and previous state
• Digital lock prevents unwanted toggling
• Separate modules for clock division and display
Capstone CDR Fall 2005
Initial Software Testing
• First used Spartan-3 on-board I/O, then GPIO• Successful behavior of state machine observed
– Simulated and actual NES inputs all had correct effects– L/R and U/D position each visible on two 7-segment displays– Manual control working in software, yet to send pulses to motors
Capstone CDR Fall 2005
MicroBlaze
• MicroBlaze is a soft processor core from Xilinx for use in FPGAs
• Create an RS-232 interface for serial character LCD output
• Encapsulate Verilog state machine– Cannot directly interface with GPIO ports
Capstone CDR Fall 2005
System Output
IR Sensors
User Interface
DataADC
/MUX Spartan-3Data
Control
StepperMotors
Actuator
LCD
Gun
IRTransmitter
Capstone CDR Fall 2005
Stepper Motors
• Provide gun left/right and up/down movement• Chosen stepper motors have lots of torque• Allow the system to know the position of
sensor
Capstone CDR Fall 2005
Motor Driver Circuit
• Bipolar Stepper
Motor Driver• “H-bridge” design• Interface between
Spartan-3 and motors
Capstone CDR Fall 2005
Actuator
• Linear actuator physically pulls trigger• Chosen over servo motor for faster reaction
– Can fire multiple times per second
• Mount directly on gun behind trigger– Spring-loaded trigger pulls actuator back out
automatically after firing
Capstone CDR Fall 2005
LCD
• Character LCD chosen for ease of use• Serial RS-232 LCD to interface with MicroBlaze• Could display lots of different information
– Initially: Debugging info– Gun position– Shots remaining– IR signal strength
• Not system-crucial
Capstone CDR Fall 2005
Paintball Gun
• Mounted on a Lazy Susan for left/right rotation
• Will fire “safe” ammunition for indoor testing
Capstone CDR Fall 2005
Milestone 1
• Date: October 27th
• Goal: Manual operation fully functional– NES Controller properly interfaced– Proper state machine operation– Working motor driver circuits (wire wrap)– Motors control gun movement
Capstone CDR Fall 2005
Milestone 2
• Date: November 17th
• Goal: Automatic operation functional– IR detector array finalized– Control logic (MUX, ADC) configured– Automatic state on FPGA taking data from
IR sensors and sending out appropriate signals to motor drivers
Capstone CDR Fall 2005
Add-Ons for Expo
• Get serial character LCD configured via RS-232 using MicroBlaze
• Complete acrylic housing– Ability to see all “guts” of system
• Mount CMOS video camera on gun barrel
Capstone CDR Fall 2005
Division of Labor
• Matt – Circuit Design and System Integration
• James – Data Processing and Software Design
• Juan – Structure and Circuit Design and Implementation
Capstone CDR Fall 2005
Project Budget/Parts ListItem Description Estimated PriceStepper Motors (2) Vexta 2-Phase 1.1A motors $25Linear Actuator Ledex heavy-duty tubular solenoid $15IR Sensors & Mounts RadioShack matched IR emitter detectors $40Color CMOS Camera CM-2 from ElectronicKits.com $86Mounting Hardware For gun, motors, actuator $100Fiberglass Casing Stationary housing $50FPGA/Embedded Controller Xilinx Spartan-3 $125PCB 2-layer, allows for at least one revision $150Serial LCD ILM-216 from seetron.com $60
Digikey Purchases
PFETS: IRFZ44 and MTP2955 (20 each)BJTS: BC547B (20)MUX: 74HC4051NADC: AD7821Level shifters: LVC4245A (3)
$80
E-Store Purchases Perfboard, caps, etc. $40Aprilog Adapters 24SOD3SMTS (3, SOIC to DIP) $40Printing/Binding Costs User and technical manual $150Miscellaneous Electronics Unforeseen parts and repairs $150
TOTAL: $1,111