EECE 387:Junior

Design Project
Group 21:
Dean D Kouris
Aaron Wida
Joshua N Singh
Mohammad Imran

Stages of Development
Brainstorming

Design Requirements
Digital Control Selection
Printed Circuit Board (PCB) Functionality
Mechanical Design

Design Process

Characterization
Power Management
Circuit Analysis/Calculations
Component Selection
Algorithm Development

Hardware and Assembly

Testing/Modifications
Lessons Learned
Results/Conclusion

Design Requirements
Printed Circuit Board
All components must be surface mount with a few exceptions
(headers, sockets, reflectivity sensors, etc.)

Power Management
Power supplies must provide suitable voltage to components.

Motor Drive/Control
Complete directional control (forward, reverse, left, and right).

Line Detection/Line Tracking

Robot must differentiate between intersections.
Hysteretic Thresholding must be utilized (comparator).

Digital Control
FPGA
Microprocessor
Embedded Microprocessor on FPGA

Digital Control Selection

Options
Controllers
FPGA
Microprocessor
Arduino UNO

Programming
Languages
VHDL
C
Assembly

PCB Functionality
Necessary
Components?
Power Supply?
Controller
interface?
Possible I/O
Expansion
Convenience vs.
Overpopulation
Precautions/Back
ups

Mechanical Design

Physical Dimensioning
Reflectivity Sensor Setup/Placement
Power Supply and FPGA mounting
PCB Location
IR LED
Ease of access
Stability

Trackster Robot

Modified for
Design

Characterization
CPB
Reflectivity Sensors
Height(2mm vs. 5mm)
Output Current
Readings
White and Black
Background

IR Communications
Basys 2 interface with
IR LED and Receiver

Motor
Stall current
Peak current

Power Management
Component power
consumption
Motors
Voltage range (max 12V)
9.6V/motor
Sufficient Current source

Basys2 input voltage

range (3.5-5.5V)
Battery selection

1.2V Rechargeable
NiMH
Discharge rate
4.5V to PCB and Basys

Click icon to add picture

Block Diagram

Circuit
Analysis/Calculations
Implementing
Hysteresis
Inverting Schmitt
Trigger
Threshold Values
Resistor values

Component Current
Draw
Voltage Regulation
Thermal Dissipation
Part Tolerances

Component Selection
H-Bridge Pmod83
IR25_21C IR LED
TSOP382 IR Receiver
TCRT1000 Sensor
TLV70033-Q1 3.3V
Regulator
MCP6L01 Quad Op-Amp
Right Angle Headers
Considerations
Tolerance Range
Input Voltage Range
Output Voltage Range

Algorithm Development
Board Analysis
Pulse Width
Modulation
Line Detection
Line Tracking
Module
Communication
Interfacing
Sensors
IR Communication
H-Bridges

Hardware and Assembly

PCB Soldering
Ensure Solid
Connections

Mounting

Sensors
PCB
Basys2
Power Supplies

Wiring
Bus wires
Robot (Top View)

(Original Sensor
Layout)

Testing/Modifications
Hardware
Working Power System
Unit Testing
Sensor readings
Output of comparator to Basys2
3.3V (bit 0), 0V (bit 1)
Software
Detecting start signal from module
Altering states of modules to team color
Line Detection/Tracking

Testing/Modifications
Obstacles Encountered

Discovered flaw in original schematic

Incorrect Comparator Outputs
Sensor values oscillating when testing on board
Sensors were far more sensitive than we believed
Adjustment of distance between sensors
Weak durability of robots treads
Bad connections through bus-wires
Six sensors proved to make testing more difficult rather than
efficient

Debugging Process
Jumped wires connected to power back to ground as originally
intended.
Decoupling Capacitor used to eliminate comparator output
oscillations
Hot glue and bus wires allowed for ease of sensor adjustments
Increased stability of sensors using zip tie, hot glue, and wood

Testing/Modification
Original Layout

Final Modified Layout

Lessons Learned
Circuit analysis and principles are key to understanding
hardware.
Further research into various components could have made
the testing process easier.
Using a different type of reflectivity sensors,regulators,etc.

Sometimes less is more

Discovered six sensors was far more than what was necessary to
complete the project. Having to work around sensors that
werent utilized extended the debugging process.

Spending a little more can go a long way

Better alternatives to wood and hot glue could have been used.
Purchasing bus wires would have provided secured connections.

Communication amongst team members is vital

Objectives get delayed when members arent fully aware of what
is required to be accomplished.

Results/Conclusions
Requirements were satisfied
Majority of milestones achieved
Numerous modifications were
applied in debugging process to
complete objectives
Valuable learning experience

Questions/Comments?