Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Wireless Rover
Ryan Damico, Carl Mahler, Ryan Manuel

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Presentation Overview

• System Organization
• Base Station
• Rover
• Wireless System
• Video Processing
• Q&A

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

System Overview

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Base Station

Goals
• Provide control to the robot through a
PlayStation 2 controller
• Store a history of the robot’s movements
• Be able to reverse that history on command

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Base Station

Block Diagram
reset
Divider (20 Hz)
clock

Controller FSM

Robot Display
RAM Values Values
Calculator Calculator

Wireless Video
Interface Processing

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Base Station
Base Station FSM
INIT
!reverse reverse
WAIT

READ
READ DATA FROM
DATA FROM CALCULATE RAM
CONTROLLER MOTOR
SPEED

TRANSMIT
SPEED RECEIVE CALCULATE
AND OTHER ROVER DISPLAY
COMMANDS DATA DATA

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Base Station
Controller FSM
!start

READ_UD READ_LR
Right Joystick Left Joystick
WAIT READ_UD
start Right Joystick

Init Controller READ_LR

Right Joystick

Request Data READ

BUTTONS2

Get Ready READ

For Data BUTTONS1
Data Received
8 bits of data are sent/received serially in each state Command Sent

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Base Station

Storing Robot Histories

• History is placed in RAM in a Stack (LIFO)
• To decrease storage space, store speed of
motors and number of cycles at that speed
• To reverse history, commands are repeated
in reverse order from memory

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Rover
Specifications
• Full range of movement at
varying speeds
• Gripping claw to pick up
and retrieve objects
• Receives remote
commands
• Transmits video,
telemetry, and sensor data

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Rover
RoverCam

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Rover
Sensor and Command Data
INPUTS OUTPUTS
• Temperature • L motors
• Heading • R motors
• L motor speed • Claw motor
• R motor speed • Claw servo
• Search light
• (Video)

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Rover
Block Diagram

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Wireless System
Transmission Protocol
• Serial transmission
• Start and end frames signify the beginning
and end of a transmission
• Tags identify the destination of a data block

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Rover
Control FSM

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Display

Overview
• Provide visual display for the
operator with two components Laksdjfl;a sdjflkajs dfl;kjadsl;fjl;dkj alsdkfjal;ksdjfl;kajsd as;dlk a;sd;lkf as;ld alsdkjf;laskjdf

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A dasdf

• Camera Feed from rover

Ad
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S
Sdf asdf
adsfdasfadsfj
12312312098
A

Adfa
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• "Box" overlay containing

Aldsjkflakj
A
Adslfkjaklsdjf
A

measurement data Laksjdfl;aksj

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asdlfkjalsdkjfkl

• Mix two components with 094835039845

203948509384905

transistor mixing circuit 0293809830453

• Output individual signals to

RAM for storage and backtrack

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Display

Video Extraction
• Camera with wireless Tx mounted on rover
• NTSC video received as composite signal
• Signal timing (vertical and horizontal sync)
extracted using GS4981 chip
• Send timing to composition section
• Send original signal to mixer and RAM

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Display

Video Composition
• Verilog modules for rectangle and character
generation
• Receive measurement data from rover (via
control station) to display
• Creates "overlay" frame
• Send output to mixer and RAM
• Mixer combines the signals on the output
display

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Display

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004

Wireless Rover Overview » Base Station » Rover » Wireless » Display » Q&A

Q&A

6.111 ▪ Introductory Digital Systems Laboratory 28 April 2004