S16: SkyNet - Revision history

Proj user2: /* References Used */

2016-05-24T16:46:13Z

‎References Used

Proj user2: /* Acknowledgement */

2016-05-24T16:42:47Z

‎Acknowledgement

Proj user2: /* Conclusion */

2016-05-24T16:41:29Z

‎Conclusion

Proj user2: /* Design & Implementation */

2016-05-24T06:34:54Z

‎Design & Implementation

Proj user2: /* Frame */

2016-05-24T06:32:37Z

‎Frame

Proj user2: /* Hardware Design */

2016-05-24T06:30:39Z

‎Hardware Design

Proj user2: /* SkyNet */

2016-05-24T06:24:53Z

‎SkyNet

Proj user2: /* SkyNet */

2016-05-24T06:21:19Z

‎SkyNet

Proj user2: /* Project Video */

2016-05-24T01:34:07Z

‎Project Video

Proj user2: /* Software Design */

2016-05-23T22:12:35Z

‎Software Design

@@ Line 388: / Line 388: @@
 === References Used ===
-List any references used in project.
 === Appendix ===

@@ Line 384: / Line 384: @@
 == References ==
 === Acknowledgement ===
-Any acknowledgement that you may wish to provide can be included here.
 === References Used ===

← Older revision		Revision as of 16:41, 24 May 2016
Line 371:		Line 371:

	== Conclusion ==		== Conclusion ==
		+
		+	This project gave the team a huge opportunity to develop embedded system skills as well as OpenCV computer vision programming. As this was the first time the team had designed and implemented a motor system and controls, this project presented many initial challenges. However, through much research, testing, and methodical design decision making, the team was able to successfully implement and control a set of stepper motors through a microprocessor and PWM driver. As OpenCV is becoming an innovative and popular tool in the industry, this project gave the team experience developing this cutting-edge motion tracking software. By working closely as a team in constant communication, component integration was seamless and the final product was very successful.
		+

	=== Project Video ===		=== Project Video ===

@@ Line 207: / Line 207: @@
 === Hardware Interface ===
-[[File:Cmpe244_S16_Skynet_ProjectHierarcy.jpg|300px|thumb|centre|Figure 5. Code Hierarchy and Interfacing]]
+[[File:Cmpe244_S16_Skynet_ProjectHierarcy.jpg|300px|thumb|centre|Figure 8. Code Hierarchy and Interfacing]]
 ==== Motor System Class ====
@@ Line 305: / Line 305: @@
 === Software Design ===
-[[File:Cmpe244_S16_Skynet_top_level_app.png | 900px | centre | thumb | Figure 6. Flow chart of the top level application]]
+[[File:Cmpe244_S16_Skynet_top_level_app.png | 900px | centre | thumb | Figure 9. Flow chart of the top level application]]
 === Implementation ===
@@ Line 330: / Line 330: @@
-[[File:Cmpe244_S16_Skynet_boundaries.png‎ | 900px | thumb| centre | Figure 7. Pan/Tilt Strategy]]
+[[File:Cmpe244_S16_Skynet_boundaries.png‎ | 900px | thumb| centre | Figure 10. Pan/Tilt Strategy]]
 == Testing & Technical Challenges ==

@@ Line 176: / Line 176: @@
 A custom frame was created to hold the motors and cameras in place. The frame was created in Fusion360, a CAD software for created 3D models. The design went through various changes and after two weeks a final design was created. The design was created with the intention to be as small as possible. Since the system used a large stepper motor for the horizontal rotation the frame ended up being very tall. One possible change in the future would be to add more functionality to the lower portion of the design.
-[[File:Cmpe244_S16_Skynet_Horizontal_Frame.jpg| 300px | thumb| right | Figure 2. Horizontal Frame]]
+[[File:Cmpe244_S16_Skynet_Horizontal_Frame.png| 300px | thumb| right | Figure 2. Horizontal Frame]]
 The frame design was created in four separate parts: horizontal frame, vertical frame, base, and base plate. The horizontal frame housed all of the electronics of the system. This included the Raspberry Pi 3, motor drivers, power circuit, pitch stepper motor, and yaw stepper motor. The vertical frame held the tracking camera and user camera in place. The vertical frame was attached to the pitch stepper motor. The base allowed the system to stand on its own and served as a intermediate connector to a possible tripod mount. The base plate was designed to cover the bottom of the base and allowed the system to be held by a tripod head.
-[[File:Cmpe244_S16_Skynet_Vertical_Frame.jpg| 300px | thumb| right | Figure 3. Vertical Frame]]
+[[File:Cmpe244_S16_Skynet_Vertical_Frame.png| 300px | thumb| right | Figure 3. Vertical Frame]]
 Once the 3D model of the frame was completed it was printed using a 3D printer. The horizontal frame took the longest to print by taking 20 hours to complete. The vertical frame was a fraction of the time taking only 3 hours to print. The fastest part to print was the base which took about 2 hours to print because of its symmetrical shape. In total it took roughly 25 hours to print the entire frame for the project.

@@ Line 175: / Line 175: @@
 ==== Frame ====
 A custom frame was created to hold the motors and cameras in place. The frame was created in Fusion360, a CAD software for created 3D models. The design went through various changes and after two weeks a final design was created. The design was created with the intention to be as small as possible. Since the system used a large stepper motor for the horizontal rotation the frame ended up being very tall. One possible change in the future would be to add more functionality to the lower portion of the design.
 The frame design was created in four separate parts: horizontal frame, vertical frame, base, and base plate. The horizontal frame housed all of the electronics of the system. This included the Raspberry Pi 3, motor drivers, power circuit, pitch stepper motor, and yaw stepper motor. The vertical frame held the tracking camera and user camera in place. The vertical frame was attached to the pitch stepper motor. The base allowed the system to stand on its own and served as a intermediate connector to a possible tripod mount. The base plate was designed to cover the bottom of the base and allowed the system to be held by a tripod head.
 Once the 3D model of the frame was completed it was printed using a 3D printer. The horizontal frame took the longest to print by taking 20 hours to complete. The vertical frame was a fraction of the time taking only 3 hours to print. The fastest part to print was the base which took about 2 hours to print because of its symmetrical shape. In total it took roughly 25 hours to print the entire frame for the project.
 ==== Power Unit ====
-[[File:Cmpe244_S16_Skynet_PowerUnit.jpg| 300px | thumb| right | Figure 1. Power Supply Unit]]
+[[File:Cmpe244_S16_Skynet_PowerUnit.jpg| 300px | thumb| right | Figure 4. Power Supply Unit]]
 A +12V supply was needed to power both of the motor drivers. A +12V wall adapter was used along with a pair of coupling capacitors to run power to the DRV8825 IC's. In addition, a +5V supply was required to power the Raspberry Pi 3 board, which controls the motor drivers over GPIO. To step down the 12 volts from the wall adapter, we used a 5V switching regulator because it could handle the heat and power capacity that would be required when running the motors.
 ==== Motor Driver ====
-[[File:Cmpe244_S16_Skynet_MotorDriver.jpg|300px|thumb|right|Figure 2. TI DRV8825 Motor Driver]]
+[[File:Cmpe244_S16_Skynet_MotorDriver.jpg|300px|thumb|right|Figure 5. TI DRV8825 Motor Driver]]
 The TI DRV8825 IC is capable of driving a bipolar stepper motor, so two of these chips were implemented for the pitch and yaw motors. The controller was powered with a 12V supply, as shown in the figure. This specific motor driver was chosen primarily because of its simple STEP/DIR interface. The driver would receive a direction signal along with a PWM signal. The frequency of the PWM signal dictates the speed at which the stepper motor would turn in the direction specified by the DIR pin. The motor driver also had microstepping capabilities so that we could coordinate the steps per rotation of each motor to deliver the maximum smoothness while turning the motor. The breakout board that carried the motor driver allowed for easy implementation and connection to the Raspberry Pi and PWM driver.
@@ Line 196: / Line 200: @@
 ==== PWM Driver ====
-[[File:Cmpe244_S16_Skynet_PWMdriver.jpg|300px|thumb|left|Figure 3. PCA9685 I2C Bus PWM Controller]]
+[[File:Cmpe244_S16_Skynet_PWMdriver.jpg|300px|thumb|left|Figure 6. PCA9685 I2C Bus PWM Controller]]
 Because the Raspberry Pi 3 only has one hardware PWM output pin, an external PWM driver was chosen to drive the PWM signals that controlled the two stepper motors. The PCA9685 16-channel PWM controller was chosen as the interface between the microcontroller and the two stepper motors. The PWM controller communicates with the Raspberry Pi over the I2C bus with just two wires. With this device, the PWM frequency could be adjusted between 24Hz and 1526 Hz, which was an acceptable range for the application of this project. The frequency was set by modifying the register that dictated the frequency prescaler in the equation in figure 4.
-[[File:Cmpe244_S16_Skynet_FrequencyDriver.jpg|200px|thumb|right|Figure 4. PWM Frequency Calculation]]
+[[File:Cmpe244_S16_Skynet_FrequencyDriver.jpg|200px|thumb|right|Figure 7. PWM Frequency Calculation]]
 === Hardware Interface ===

@@ Line 1: / Line 1: @@
 == SkyNet ==
-[[File:Cmpe244_S16_Skynet_Final_Assembly.jpg| 300px | thumb| right | Figure 1. Final Assembly]]
+[[File:Cmpe244_S16_Skynet_Final_Assembly.jpg| 300px | thumb | Figure 1. Final Assembly]]
 == Abstract ==

← Older revision		Revision as of 06:21, 24 May 2016
Line 1:		Line 1:
	== SkyNet ==		== SkyNet ==
		+	[[File:Cmpe244_S16_Skynet_Final_Assembly.jpg\| 300px \| thumb\| right \| Figure 1. Final Assembly]]

	== Abstract ==		== Abstract ==

@@ Line 368: / Line 368: @@
 === Project Video ===
-Upload a video of your project and post the link here.
 === Project Source Code ===