What`s a robot?
Contents
1. Figures from AmigoBot User Manual New AlteraBot Architecture Digital Design Lab customization Commercial AmigoBot product AmigoBot Interface Board DDL daughterboard Future 2012 sensors and actuators e FPGA through daughterboard directly interacts with robot H W Very effective embedded architecture e Many potential DDL projects The Fall 2010 project DONE Digital Design Lab customization Commercial AmigoBot product otudents focused on measuring wheel rotation angular position and velocity One of the best solutions has now been incorporated into the distribution for future projects The Spring 2011 project DONE Digital Design Lab customization Commercial AmigoBot product Students added the ability to use pulse width modulation varying duty cycle to control motor speed Again best student design will be available for future distribution The Summer 2011 project Sonar Digital Design Lab customization Commercial AmigoBot product You will add the ability to measure distance to obstacles using sonar As with last two semesters the end product is an I O peripheral for SCOMP sonar transducers in the Amigobot These sonar transducers are similar to those used in the first Polaroid autofocusing cameras 1970 s They emit a ping a chirp at 50 kHz actually when a h2. PINGO ECuO0 Pings and echoes in Amigobot Cine are actually NOT short pulses i like this ECHO1 PING2 Wait 50 ms after first ping 9 5 Wait another 50 ms before pinging again and so on Multiplexed implementation of sonar in the Amigobot e here is only one PING signal for all 8 sonar transducers o Itis called SONAR INIT o Drive it high to start a ping o Keepit high for about 40 ms and wait 10 ms before next ping e here is only one ECHO signal o Itis called SONAR ECHO o It goes high when an echo is sensed o It stays high until SONAR INIT above is lowered e he interface electronics use a three bit signal to control which transducer is connected o Itis called SONAR SEL 2 0 One more sonar signal e l tis necessary to wait before listening for the echo o The high energy of a ping creates immediate Pulse repetition rate period echo like noise wee 7 o This is common with sonars and radars a Ring down steno andecho j Analog We My M Mw I i o It dissipates in about 1 2 ms M IW M M e here is an additional signal called mn NU NM SON AR LISTEN Yam an oe Somas n ean eens 1 ne ager not Core o Assert it drive it high 1 2 ms after SONAR INIT o De assert lower it simultaneously with SONAR INIT e he 1 2 ms period is also called a blanking interval o Andthe SONAR LISTEN signal could be called a blanking signal Outputs from DE2 sonar signal usage Selec
3. eT E em x gt nN perm eevee coa mL aa ope mo OT emm Vet UB is TOI suma toe asia ug vr aoa pa jm ee UB BANI Avery Basic gl LCO iplamerralin Changing ta requires understanding tt he CE2 reference marus and the wterences tothe LCD parts provided LE ec ea ono these uncta 7 nmnart displays cf or tn a wey to ese one om oe pus eee ere Sr Kaap both rsctors ot for s project and phaseldrecton af sorre coeant vakse oonar region of previous BDF L QUIPUT S TP E 3 LI 1 QULP TP1 EE i c NN INT 1 xm 9 oe EI mu 0 sous T pce N PULL SONAR LISTEN i OUTPUT NAR 0 owe I S I Hm se IO WRITE A 15 0 ECHO ADOR 2 0 Note that any time you want to debug a signal you can J hook up a pin like TP1 test point 1 and view it both in the simulator and with test equipment in the lab e Project development time is short e Historically creating a basic I O device seems to be a hurdle for students e This Sonar device helps by providing basic functionality o Pings one transducer amp can report echo in ms Basic structure of SONAR VHD LIBRARY Library USE Entity w PORT USE e Declarations etc ENTITY SONAR IS Mu Gonder Four main concurrent regions Afairly familiar tri state driver ARCHITECTURE behavior OF SONAR IS BEGIN 2 Combinational logic IO B
4. in the format described on the UPCP and in the workbook e Your proposal will be graded like any other report for style formatting content etc Your proposal should be detailed e Your proposal should explicitly describe how you plan to implement your sonar device o Include some figures such as a state diagram block diagrams e Should describe how it interfaces with SCOMP o registers functions programmability o Again include relevant figures e Should describe your demo SCOMP program o input output features o Again include a figure such as a flowchart e Should describe any unique or advanced features Experiment before proposing e During your first project day in the lab conduct these activities o Investigate the design file template provided o Drill down into the details of the devices e O decoder e SCOMP with 8 level stack all commands e SONAR Starting point for your device o Observe sonar waveforms on scope and logic analyzer e All of these could be the basis of an exam problem Thoughts for proposal e t is never too early to prototype some ideas for your approach o What might be too hard e Assign task responsibilities as you decide what is most interesting to each team member o Sonar measurement device o Sonar I O interface o SCOMP programming o Other unique features Prelab activities for last Prelab Quiz e Read Chapter 15 of textbook as noted earlier e Study these slides carefully e Wat
5. Final Design Project ECE2031 Summer 201 1 Final project e You have now built an entire computer within the DE2 board e Now we Will o Put it on a robot o Develop a custom peripheral and o Demonstrate it AmigoBots e Acommercially available robot for education e Usually used with high level programming tools e For most users not us an external PC interfaces through a serial port usually with wireless adapter e We will discuss three versions 1 The manufactured original version 2 The first AlteraBot used for several years in DDL 3 The newest version where you will be among the first developers The ORIGINAL AmigoBot Features e differential drive o 2 drive wheels and motors rear caster mime Nodi Mii e 8rangefinding sonars azo m proximity sensors uv AM xt e twin 500 tick motor Mi hee JF encoders wheel d rotation sensors m e Hitachi H8S microcontroller dual serial ports 1Mb onboard RAM speaker rechargeable battery Figures from AmigoBot User Manual History of 2031 robot usage e Simple robots similar to textbook chapter 13 pre Collins e AmigoBot purchase with UP2 boards added as onboard FPGA controller AlteraBot 2002 e Used for about 15 projects over 20 semesters 2003 2009 e Now being redesigned in a series of new projects 2010 2011 Why the upgrade e Obvious
6. US lpm bustri IO IN CS AND NOT IO WRITE 3 This process issues a ping after LATCH CS AND IO WRITE dus a A _START signal and SONAR NUM lt 000 times the return PINGER PROCESS CLOCK RESETN 4 This process could be used INPUT HANDLER PROCESS RESETN LATCH 4 to allow host to write values to the device END behavior Note that PROCESS statements can have labels schematic interpretation of same 4 This process could be used to allow host to write values to the device De SONAR_CONTROL 15 0 l es ESD a a a a hL aa IO WRHE eS mm PO rre ir 1 Afairly familiar tri state driver All Sonar related signals are here T SONAR RESULTD 15 0 This mes doos NOT exist 3 This process issues a ping after in the design and is provided just a PING_START signal and to aid in interpretation of the times the return SONAR VHD sample waveforms e Actual signals from robot shown below o Top is DE2 generated INIT ping starts at rising edge o Bottom is echo o Delay is 7 89 ms TekRun ui Trigd i i amp 62 0ps P as 4 oJ D xoa i M ae vae wy im f T AD W cw vic a o 7 95ms 3 36 V l T A7 89ms O0kS s BDB 10 0ms a AR lij v30 0300ms 10k points 1 80 V f 7Jul 2011 Frequency 19 92 Hz 18 03 03 Frequen
7. better FPGA more features e Less obvious better system architecture o Serial robot to F PGA interface was always limiting o FPGA did not control robot directly e Instructor provided code that implemented a fake register based interface e Students wrote SCOMP programs that performed INs and OUTs with I O registers e Hidden code took care of details of sending receiving serial data streams with onboard Hitachi microcontroller Old AlteraBot Architecture Digital Design Lab customization Commercial AmigoBot product AmigoBot Microcontroller Board All robot comms went through serial channel e Was not an effective embedded architecture Robot needed higher communication bandwidth oystem on Programmable Chip Design e SOC or SOPC design is the ultimate embedded computing approach e A customized computer and customized peripherals all reside on a chip e Read textbook Hamblen et al Chapter 15 e The old A teraBot design was a compromise with existing hardware not a good SOPC design Remaining base AmigoBot Features e differential drive o 2 drive wheels and motors rear caster e 8rangefinding sonars proximity sensors e twin 500 tick motor encoders wheel rotation sensors speaker rechargeable battery a ee Ww w tara V OCC TANE E TUM Pema ain y E X J 3 E LU Ji M eo i d d A en E imar n a Vis ad S _ T a A n a L i a
8. ch for a posting on the project download page regarding lab activities for first day of project Clarifications e YOU are not responsible for inherent inaccuracies of sonar transducers o Your measurements will be compared only to those of other students demonstrating in the same arena e Additional clarifications will be posted on the web site or as direct answers to email o When a general question is asked everyone gets copied on the response
9. cy 19 92 Hz a 200v 20v Project Decision Space e You can choose how to use l O locations o One 16 bit register As many as 16 16 bit registers some read write some read only some write only e You can choose how to record echoes ms cm mm o What would a user want o How much accuracy is usable e You can enhance the LCD and 7 segment outputs as well as use LEDs o Do not consider video output audio or other complex DE2 features you will run out of time e You can include special features of your own design programmability scaling etc Robot puce details CUM ta an Fustibultans a a Brun LAM v Robots will be D nnanenib located at selected workstations instead of CADETs o Please do not move them Power switch is on bottom directly beneath speaker Red LED is power indicator o If itis on robot is on and it is NOT charging o Turn robot off and make sure charger is plugged in when not in use Green LED indicates that motor is enabled more on this later Yellow LED is not used at this time Black and red pushbuttons are not used at this time When robot has power DE2 has power too you might have to turn on the DE2 using its red button Project phases and key dates e Introductory exercises July 13 14 in your regular lab section o Investigate project starting point provided for you e Brainstorm your approach and turn in proposal on July 18 19 e Complete your design e Fi
10. igh voltage square wave is input across their two terminals This is ultrasonic but you will hear a click as a side effect o Ultrasonic ranging and sonar ranging are often used synonomously Transducers produce a small signal when an echo is detected One of 8 transducers How sonar works in the Amigobot e The DE2 produces and receives only digital signals e Internal electronics handle the voltage generation and detection e Time delay prior to echo indicates distance to reflecting object e Figure shows a generic implementation our signals described next T Must ignore this later lt lt Pulse repetition rate period Tri rigger d Lo Ring dow 1st echo 2nd echo Analog WM Mn m M where I l IN i TET d distance c speed of sound and Figure 4 3 Timing diagram for the E 2208 series ranging module showing T round trip delay analog and digital output signals in relationship to the trigger input Courtesy of Massa Products Corp c 340 m s Idealized usage of multiple sonars e here are 8 transducers so they have to take turns o The echo from one is indistinguishable from another o So before pinging again wait for the longest possible detectable echo at least 6 meters Id 45610 Tsao aif 35 ms e Example below shows a conservative 50 ms between pings which you should emulate o ECHOO indicates an object at distance d oas x 340 m s 2 55 m 0 ps 80 0 ms 160 0 ms 200 0 ms
11. ject starting point e Start with SCOMP that is provided to you which includes the following o It implements all instructions o it has an additional DE2 I O device working LCD o it implements an 8 level subroutine call stack o it has a minimal but functional sonar peripheral e Modify as needed but as a minimum o design your sonar peripheral o interface your sonar peripheral to SCOMP o develop your demo program Top level BDF of project files provided epa waa Improved I O Address decoding Sonar COE cow cmn mex p ALL VO decoding is donee hes ramas of arg ANOINAND decoders or oreperion sprem round ta shensi You ray need more oratios but ne VELCTR EN is provided This SONAR deco ia sapiate tor you to bagin Pe project ILS NOT wht yos shadis end up wh butik wer vei eecug biniodsco you to basie sorar function Y ote Isa any tm you wast 1o dabug a sign you can Book up a pin fike TP test poe 1 and ew it tot ia dre senator and wif est ezcipesart isa iab Tine pa Tha s grat piace to urere asy cer dock wgra duit yai may naod SE eu secu et feqeey 14000 M 2 mr T ws pramon I er ansa me rem oma eame EL 2 eaves nt ue SCOMP me Wort EM om NOTE VOADOR Q4 Haec diga mae m cpm eoa umma I ana s HO eo a merj 1 fees mn dm ar asic or eu RE a
12. nal demonstration July 27 28 o Make a PowerPoint presentation explaining what worked amp what didn t o Demonstrate your solution Points for your demo run will factor into your grade o Turn in formal report the following Monday August 1 To Instructor Bourgeois by noon Project Demo e Separate from your oral PowerPoint presentation e Stand at workstation in defined test arena showing o ease of user interface o sonar readings changing as a result of moving objects Project Schedule 11 12 Finish Lab 8 Finish Lab 8 18 19 10 LAB CLOSED 17 LAB CLOSED 24 LAB CLOSED 31 LAB CLOSED Project work Project work 25 26 Project work Project work August 1 Open hours re 13 Pre project Exercises amp Brainstorming 20 Project work 27 Project Demos and presentations Project background in July 7 8 lecture 14 15 Pre project Presentation and Exercises amp communication tips Brainstorming 21 22 Project work Written exam in lecture 28 29 Project Demos Design Report Tips and presentations 9 LAB CLOSED 16 LAB CLOSED 23 LAB CLOSED REPORTS DUE MONDAY NOON Brainstorming proposal next week e Get with your project team groups of four or five e Use collaborative process described in the Design Logbook and other information provided on the UPCP e Review these slides and come up with a technical approach and management plan e Write proposal
13. t a sonar transducer with SONAR_SEL here changes from 111 to 000 Wait about 5 ms then assert SONAR INIT Wait 1 2 ms blanking interval then assert SONAR_LISTEN Wait for SONAR_ECHO to be asserted timing it After SONAR_INIT has been asserted for 40 ms de assert it and SONAR_LISTEN simultaneously Repeat for next sonar SONAR SEL 111 000 SONAR INIT SONAR LISTEN SONAR ECHO Project requirements I O Peripheral e Create a peripheral for SCOMP that provides sonar data e Manage all 8 sonar transducers o Drive the SONAR INIT and SONAR LISTEN signals e Causing valid pings and listening for echoes o Drive the SONAR SEL 2 0 signals e Choosing which sonar transducer to use sequencing between them o Measure time until echoes are returned for each sensor o Retain most recent echo data for each sensor e Provide data to SCOMP o Use I O address amp data buses o Respond to requests for latest echo data for each sensor o Provide data in known units time distance Project requirements SCOMP e Manage the region of the I O address space occupied by the sonar device o Use a base address OxAO and use as many adjacent locations as needed OxA1 OxA2 e Write an SCOMP program that demonstrates your device o Display readable sonar readings o Interact by moving objects in front of one or more sonar transducers o A demo arena will be defined that makes it convenient to move objects to known locations Pro
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