F16: Autonomous Fire Extinguishing Vehicle - Revision history

146 user1: /* Issue */

2016-12-21T17:03:24Z

‎Issue

146 user1: /* Water Pump */

2016-12-21T16:02:22Z

‎Water Pump

146 user1: /* PWM Control */

2016-12-21T16:00:27Z

‎PWM Control

146 user1: /* Testing & Technical Challenges */

2016-12-21T15:47:40Z

‎Testing & Technical Challenges

146 user1: /* Motor Power */

2016-12-21T15:44:36Z

‎Motor Power

146 user1: /* Issue */

2016-12-21T15:30:27Z

‎Issue

146 user1: /* Issue */

2016-12-21T14:06:03Z

‎Issue

146 user1: /* Conclusion */

2016-12-21T08:30:27Z

‎Conclusion

146 user1: /* References */

2016-12-21T08:27:32Z

‎References

146 user1: /* ADC Interface */

2016-12-21T08:15:17Z

‎ADC Interface

@@ Line 233: / Line 233: @@
 Calibrating the IR sensor to focus on a specific source of IR waves rather than all the ambient light around it. ADC readings from the IR sensor were sporadic and unpredictable in areas with spotty lighting. Sensitivity calibration ended up not being as helpful as indicated in affecting the analog output of IR sensor.
-[[File:Flame_SensorKJ_Fall_2016.jpg]]
+[[File:CmpE146_F16_T9_FlameSensor.jpg]]
 In order to make the sensing element directional it was necessary to block light from all undesired directions. We used a film canister to do this. Film is spoiled if it is exposed to any light. Therefore, film canisters are designed to block light. By placing the sensing element at one end of the film canister we were able to turn a sensing element with no direction into one with direction.
-[[File:Sensing_Direction_KJ_Fall2016.jpg]]
+[[File:CmpE146_F16_T9_SensingDirection.jpg]]
 The Flame sensing element is used to determine both the direction and distance of a fire. This is because the intensity of a light source is the inverse of the square of its distance. Flames emit visible light and light sources emit light radially. Therefore the greater the intensity of the light and the greater the temperature the closer the vehicle is to the flame. This is used to measure distance.
-[[File:Radial_Intensity_KJ_Fall2016.jpg]]
+[[File:CmpE146_F16_T9_RadialLight.jpg]]
 Using these settings both distance from the flame and the direction of the flame can be measured.

@@ Line 210: / Line 210: @@
 ====  Water Pump ====
 [[File:Water_Pump.jpg]]
 === Software Design ===

← Older revision		Revision as of 16:00, 21 December 2016
Line 207:		Line 207:

	The H-Bridge Motor Driver is powered by a 12V battery supply that has been regulated down to 5V with an LM7805. This allows both the 4.5V-7.4V voltage requirement of the Bogie Rover to be met while also ensuring enough current is being split among the six motors to adequately drive the Rover. The control signal bank is comprised of +5V, GND, DIR1, PWM1, DIR2 and PWM2 pins that allow motor control with either 3.3V or 5V logic. As shown in Figure 1, two GPIO pins are connected to the two DIR pins to allow easy GPIO switching to change motor direction. Two pins configured for PWM output are connected to the two PWM inputs, allowing for easy motor speed control. The output bank provides for two sets of motor control signals as well as external power input. In order to drive this specific Rover, the LM7805 output is connected to the POWER and GND pins on the driver's output bank, allowing approximately 5V and 2200 mA to be split among all six of the Rover's motors. The two MOTOR1 outputs are connected to the + and - inputs of the three motors on the left side of the Rover and the two MOTOR2 outputs are connected to the right side. This allows easy manipulation of either side of the Rover at once to allow for quick turning and movement.		The H-Bridge Motor Driver is powered by a 12V battery supply that has been regulated down to 5V with an LM7805. This allows both the 4.5V-7.4V voltage requirement of the Bogie Rover to be met while also ensuring enough current is being split among the six motors to adequately drive the Rover. The control signal bank is comprised of +5V, GND, DIR1, PWM1, DIR2 and PWM2 pins that allow motor control with either 3.3V or 5V logic. As shown in Figure 1, two GPIO pins are connected to the two DIR pins to allow easy GPIO switching to change motor direction. Two pins configured for PWM output are connected to the two PWM inputs, allowing for easy motor speed control. The output bank provides for two sets of motor control signals as well as external power input. In order to drive this specific Rover, the LM7805 output is connected to the POWER and GND pins on the driver's output bank, allowing approximately 5V and 2200 mA to be split among all six of the Rover's motors. The two MOTOR1 outputs are connected to the + and - inputs of the three motors on the left side of the Rover and the two MOTOR2 outputs are connected to the right side. This allows easy manipulation of either side of the Rover at once to allow for quick turning and movement.
		+
		+	==== Water Pump ====
		+	[[File:Water_Pump.jpg]]

	=== Software Design ===		=== Software Design ===

@@ Line 248: / Line 248: @@
 Attaching a 7805 with a heatsink mitigated many of the overheating issues. Installing a heatsink to the LM7805 instantly resolved power issues and the vehicle was able to traverse ground easily.
-===== Water Pump =====
+==== Water Pump ====
 Originally we were planning on using the H-Bridge MOSFET circuit to drive the water pump that would accompany the fire extinguishing vehicle. The water pump requires 12V DC and is rated for 1.1 Amps of current.  This poses a significant problem for a board that can’t supply the power and current required.  The solution was to have an electronic switch that can be activated through the use of a GPIO.
 ===== Transistor =====

@@ Line 246: / Line 246: @@
 ===== Issue =====
 Control of the six different DC motors provided on the vehicle was sporadic at best. Because each motor required a peak supply current of approximately 220 mA, the peak output current of the LM7805 voltage regulator often wasn't enough to supply all six of them without either overheating and/or stopping some motors from functioning.
-===== Solution =====
 Attaching a 7805 with a heatsink mitigated many of the overheating issues. Installing a heatsink to the LM7805 instantly resolved power issues and the vehicle was able to traverse ground easily.
 == Conclusion ==

← Older revision		Revision as of 15:30, 21 December 2016
Line 235:		Line 235:

	The Flame sensing element is used to determine both the direction and distance of a fire. This is because the intensity of a light source is the inverse of the square of its distance. Flames emit visible light and light sources emit light radially. Therefore the greater the intensity of the light and the greater the temperature the closer the vehicle is to the flame. This is used to measure distance.		The Flame sensing element is used to determine both the direction and distance of a fire. This is because the intensity of a light source is the inverse of the square of its distance. Flames emit visible light and light sources emit light radially. Therefore the greater the intensity of the light and the greater the temperature the closer the vehicle is to the flame. This is used to measure distance.
		+
		+	[[File:Radial_Intensity_KJ_Fall2016.jpg]]

	Using these settings both distance from the flame and the direction of the flame can be measured.		Using these settings both distance from the flame and the direction of the flame can be measured.

@@ Line 227: / Line 227: @@
 ====== Issue ======
 Calibrating the IR sensor to focus on a specific source of IR waves rather than all the ambient light around it. ADC readings from the IR sensor were sporadic and unpredictable in areas with spotty lighting. Sensitivity calibration ended up not being as helpful as indicated in affecting the analog output of IR sensor.
 ====== Solution ======
 This problem was somewhat mitigated by creating a makeshift apparatus with a film canister, forcing the sensor to focus its sensing in one specific direction at a time. The film canister prevents most outside IR waves from interfering with readings.

@@ Line 240: / Line 240: @@
 === Project Video ===
-Upload a video of your project and post the link here.
+*  [https://youtu.be/gImujFzDoJY Demo Run]
 === Project Source Code ===

@@ Line 247: / Line 247: @@
 == References ==
 === Acknowledgement ===
-Any acknowledgement that you may wish to provide can be included here.
+*[https://cmpe.sjsu.edu/profile/preetpal-kang Preetpal Kang]
 === References Used ===

@@ Line 199: / Line 199: @@
 </center>
-====  ADC Interface ====
+====  IR ADC Interface ====
 [[File: CmpE146 F16 T9 IR Sensor.jpg|400px|thumb|centre|Figure 3. SmartSense IR Sensor]]
 The IR sensor that was used allows both analog as well as digital output readings. For the purposes of this project, as outlined in Figure 1, the analog voltage output of the sensor is tied to an ADC pin in order to allow for much more precise readings. The board's 3.3V output was more than enough to meet the sensor's power requirements.
 ====  PWM Control ====