Group 4 Brett Rankin Paul Conboy Samantha Lickteig Stephen Bryant Goals To create a portable interactive chess board where gameplay will be fully automated Each piece will be moved by a claw suspended above the board ID: 237821
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Slide1
Interactive Automated Chess Set
Group 4: Brett Rankin Paul Conboy Samantha Lickteig Stephen BryantSlide2
Goals
To create a portable interactive chess board where gameplay will be fully automated.Each piece will be moved by a claw suspended above the boardPerson vs. ComputerSlide3
Specifications
90% chess piece movement accuracyTotal weight <100 lbs12”x12” playing gridSlide4
Features and FunctionsLED lights will be used to light up the squares on the boardRGB, individual squares, communication with the user(s)Slide5
Features and FunctionsPlayer modes:1.) Player vs. Computer2.) Player vs. Player3.) Computer vs. ComputerSlide6
Block DiagramSlide7
Physical Chess TableSlide8
MechanicalThree Motion AxisOne Gripper Sliding A Frame StructureOverhead GantryStability and Consistent Repeatable Motion Control NeededSlide9
Gripper ClawGripper with Servo GoalsPurchase gripper and servo this was not a design itemOne Micro Controller I/O output to command gripper open and closed Pulse width command signal with a 20 ms period. The pulse on time will very to open and close the gripper.Slide10
Stepper Motors
Two Motor Types both 12 Volt Bi-polar Stepper Motors.Torque Value for X & Y Axes rated at 2.4Kg*cmPlan to Measure Force, Coefficient of Static and Dynamic Friction of our system Slide11
Motor ControlDesign Goals Single Modular Design for all Three Axes
Easy to bread board Avoid surface mount technologyMust be practical to install heat sinkMinimize micro controller I/O countBased on proven reference designSlide12
Motor Control Schematic
L297L298Slide13
Stepper ResolutionEach step equals 1.8 degrees of angular displacement.
200 steps per revolutionNo feedback needed with stepper motorsX and Y axes have the same size gears and motors, so the scaling is the sameZ axis needs one half revolution of the large gear.1REV = 1.978in 1Step ≈ .01inSlide14
Motion Control CircuitsX and Y Axes Over travel switchesE-Stop Switch
X,Y and Z Axes Home Sensors to provide the micro controller with a starting reference.Gripper Open and or Closed sensorHome and Gripper position sensors Digital Discrete InputsSlide15
LED GridPurpose:The grid of LEDs have a dual function, to add a lighting aesthetic to the board and visual cues for the player based on what is happening in the game. The board itself does not have painted on black and white squares, like most chess boards, but rather it has the LEDs under the board turn on or off in a checkerboard pattern to make the distinction between squares.
The visual cues the LEDs give the player is to change color based on whether or not a piece is in danger of being taken, if one of the players are in check, or if a pawn has changed into another piece via the opponent’s side of the board.Slide16
LED GridParts to use:MAX7219 8X8 grid LED Driver Plcc6 3 in 1 SMD LEDSlide17
LED GridSlide18
Hall Effect Sensor GridPurpose:For the microcontroller to understand where the chess pieces are Hall Effect sensors are put under the board and grave yard.The sensors will read whether or not the chess piece, which has a magnet embedded into it, is on particular squares. Slide19
Hall Effect Sensor GridParts to use:4 to 16 Demultiplexer8 to 1 MultiplexerUni-polar linear Hall Effect sensors
4 way Discrete Wire-to-Board surface mounted terminal blocks1k resistorsSchottky DiodeSlide20
Hall Effect Sensor GridSpecifications:4 to 16 Demultiplexer(HEF4514): VDD 5VDC A0
-A3, EL = 5VDC O0-O15 5VDC E(NOT), VSS= 0V8 to 1 Multiplexer(74HC151N)2.0 VCC,S2-S
0
6.0
2.0
I
0
-I
7
6.0
E(NOT) = 0V
Uni
-polar linear Hall Effect sensors(OH090U):
V
cc
,
V
out
= 5VDC
Magnetic Hysteresis = 10 to 100 GaussSlide21
Hall Effect Sensor Grid
Is an Optocoupler Needed?:
4 to 16 Demultiplexer(HEF4514):
An
o
ptocoupler
will be required to communicate with Microcontroller due to a voltage requirement of
the demultiplexer being
greater than 3.3VDC.
8 to 1 Multiplexer(74HC151N)
Can directly communication with the Microcontroller due to 3.3VDC being within
the multiplexer’s operating range.Slide22
Hall Effect Sensor GridSlide23
Hall Effect Sensor GridHall Effect Sensor Modular DesignSlide24
Hall Effect Sensor GridSlide25
Hall Effect Sensor GridSlide26
User InterfaceDisplays messagesPrompts the userInforms the userWill have buttons for input selections
Serial LCD Module 20x4 Blue with White Backlight for
ArduinoSlide27
Microcontroller RequirementsMust run an onboard minimalist chess engineLarge development communityEasy access to dev
tools.Slide28
Microcontroller Specifications60 I/O pins 4 hardware timers4 USART
60 KB flash4 KB SRAMSlide29
Xmega128A18KB SRAM78 I/O pins8 UART for Serial8 Timers for PWM128KB Flash memoryAVRFreaks support communityAtmel Tutorials, Atmel software suiteSlide30
Development ToolsA1Xplained BoardFor testing individual componentsAtmel StudioUSB gatewayHad to program using Atmel FLIP
No debuggingSlide31
In System ProgrammingOrdered an AVR-ISP-MK2Program in system with PDIAlso has debugging capabilitiesSlide32
SoftwareSlide33
Main ModuleSlide34
Main ModuleUse only high level method calls Describes high level gameplay processOrchestrates interaction between I/O and EngineTranslates “moves” between chess engine and I/O module representationsSlide35
Chess ModuleSlide36
Chess ModuleContains internal state of chess gameAccepts player moves and creates AI movesShould use < 4 KB RAM
Micro-Max open source chess engineSmallest chess engine in the worldOur goal was not to understand, but to interface.
Slide37
I/O ModuleSlide38
I/O ModuleContains functions to interface with individual I/O devicesExposes high level interface to main moduleSlide39
Motor ControllerAll motor I/O functions grouped togetherHigh level interface including “move piece”Slide40
Software ProgressProgramed A1Xplained over USBCreated scaffolding for whole projectPorted and created interface to chess
engineHave claw servo workingWe have single stepper motor to moveCreated test suite for individual component testingGot LCDs working with ArduinoSlide41
Anticipated ProblemsMotor controllerCurrently runs with 1 of 4 wires disconnectedChanging I/O configurations as we goRepeatability
Integration issuesActually putting everything on the boardSlide42
Test PlanWe have developed a written test planAcceptance Test Plan (ATP) where the Acceptance Test Results (ATR) are the final test resultsSlide43
Budget to DateSlide44
Sponsors
Igus Allied ElectronicsSlide45
$346.90Total Spent to Date Slide46
Total Progress