Knightro Kart Liz Lyons Mike Scherban Oscar Orihuela What Is Knightro Kart An interactive Android controlled vehicle race system consisting of two independent cars and controllers Vehicles are controlled by Android powered mobile devices or tablets ID: 774210
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Knightro Kart Liz LyonsMike ScherbanOscar Orihuela
What Is Knightro Kart? An interactive, Android controlled vehicle race system consisting of two independent cars and controllers.Vehicles are controlled by Android powered mobile devices or tabletsConsists of two independent vehicles, a track utilizing infrared, and two independent remote controls
System Block Diagram
System Specifications Bluetooth Communication Range <30 m Vehicle Speed 20 MPH max Battery Life >1 hr Number of Users 2
Remote ControlMobile device will be used in landscape mode. It will utilize hardware level sensor data, and interpret them to tell the MSP430 how to direct the vehicle.
Why Android?Essentially Free – No new hardware costs, free SDK, familiar languages Open source platform, easy to learn Programming Language Devices Readily Available? Familiarity Cost to Develop Android Java/XML Yes High Free iOS Objective-C NoMedium$99/yearWindows Phone.NET framework/ Visual C++/XNANoLowFree
Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market
Target APIs 10 (Android 2.3.3 Gingerbread and higher), approximately 88.2% of Android market
Remote Control RequirementsAndroid Device Must: Have Bluetooth CapabilityContain Accelerometer SensorsHave Touch ScreenRun Android 2.3.3 Gingerbread or newer OS
Handling Accelerometers Accelerometers are seen by the devices relative to an imagined coordinate system. We will be using the Y (left/right) and Z (forward/back) axis values to control the cars.
Handling Accelerometers Must apply low-pass filter to isolate gravity, and then a high-pass filter to remove gravity from the readings. Also helps to smooth out values.
Wireless Communication Choices Bluetooth (Class 2) Wi-Fi Direct Wi-Fi (traditional) Protocol LMP, L2CAP, SDP IEEE 802.11 a/g/n IEEE 802.11 Communication Distance Radio dependent, ≈ 10 meters min 200 meters MAX 200 meters MAX Speed 3 Mbps MAX250 Mbps MAX250 Mbps MAXAPI Requirement5 or higher14 or higher1 or higherPower 2.5 mW Varies Varies, may be 40x Bluetooth ISM Band 2.4 to 2.485 GHz 2.4 GHz or 5 GHz 2.4 GHz or 5 GHz Difficulty Low High High
ConnectingAndroid devices will be able to connect to one and only one car. Will use received values from the MSP430 to enhance UI with more info such as vehicle speed and current lap.
Bluetooth Remote control application sends information to the MSP 430 via Bluetooth.Sends one byte at a time, byte value depends on accelerometer values Ascii Value Direction Accelerometer Values Y Forward Z > 1.5 R Back Z < 0
Bluetooth ModuleRoving Networks RN-41 Minimal configurationBaud rateBuilt in antennaAutomatically pushes data via UART RX/TX pinsRuns own Bluetooth stackLow power30 mA connected 3.3V 100m range
Microcontroller MSP430G2553Atmega168 w/ Arduino 3.3V 5V 16KB flash 16KB flash C, Assembly C, Assembly 16MHz 16MHz UART & PWM support UART & PWM support 2.75” 2.75”
Microcontroller MSP430G25533.3V 16KB flash C, Assembly 16MHz UART & PWM support Same voltage as Bluetooth module More feature rich IDE No special bootloaders required
Microcontroller MSP430G2553 (28 pin TSSOP)Surface mount package Function # of Pins UART 2 Infrared 1 LEDs 5 Motors 4 Misc. 2
Programming and DebuggingJTAG used to take advantage of viewable registers and memory locations, and disassembly Connect through TI USB FET device
Motor SignalsTakes advantage of MSP430 hardware PWM support PWM used to add variable speed Slow Fast!
Microcontroller Comm.9600 BaudrateRX/TX between BT and MSP430 crossedInterrupts will be used for phone MSP430 and infrared signal
Low Power ModeBluetooth Module separate from MSP430 Allows BT pairing while MSP430 is asleepMSP430 goes to sleep at power on and when not in race modeTurns off clocksButton on the car or command from phone will wake the car for use
MSP430 Software Flowchart
Printed Circuit BoardMost components will be on a custom printed circuit board designed in Eagle
Printed Circuit Board LEDs MSP430 JTAG BT Module and status LEDs Power
TrackRace car will contain an IR phototransistor Biased by IR lightAt the START line for the Race Track, there will be a line of IR LEDs that will set off IR phototransistorBy setting off the IR phototransistor on the car, it will allow user to know how many laps the car has travelled during the race
Race Car 9v power supplyrequiredPotential to travel20 mph 2 D.C motors1st Motor controlling FWD & REV motion 2 nd Motor controlling turning Left & Right 17 inches Long 7 inches Wide 8 Inches Tall
H-BridgeServes as mediator between MSP430 & Race car motors MSP430 will receive commands from Mobile Application and send high / low signals to the H-bridge connected to the motors causing the motors to spin in a certain directionEX: Clockwise / Counter-clockwise / Stand Still
H-Bridge - TypicalTypical H-Bridge configuration Inner Circle = MotorSwitches represent TransistorsMotor is at a stand still
H-Bridge - ClockwiseDue to the directional flow of the circuit, the H-bridgeis causing the D.C Motor connected to it to spinclockwise
H-Bridge – counter clockwiseDue to the directional flow of the circuit, the H-bridgeis causing the D.C Motor connected to it to spincounter-clockwise
SN754410 H-Bridge Designed to drive inductive loads such as DC MotorsChosen for its capability to manageboth D.C Motors in a single chipManufacturer: Texas InstrumentsCost: $2.161 Chip per car needed . .
SN754410 Layout
D.C Motor VS Servo Motor Race car will require 2 motors 1st Motor controls – FWD & REV motion – D.C Motor2nd Motor Controls – turning capabilitiesFor the purpose of Knightro Kart, D.C motors will be sufficient as well as better for our wallets & Handbag D.C Motor Servo Motor Less Expensive More Expensive Requires Less Voltage to function Requires Higher Voltage to function Slower Reaction Time Faster Reaction Time
Power Supply Power Supply Voltage Regulator SN754410 9V 5V Race Car 9V Does Not Require MSP430 9V 3.3V
DesirablesSpeedometer Phone to Phone CommunicationRace Standing Notifications
Speedometer (optional)
Magnetic Reed SwitchSwitch opens at close proximity of a magnetSends PWM signal back to MSP430 Switch will be attached to axelof Race carLow power magnet will be attached to rim or inner wheel of the race car
Budget and Financing to Date Total Cost To Date: $364.60
Current Progress
Plans For CompletionComplete Soldering Complete CodeAssemble VehiclesTestConstruct IR Start Line