F19: Tower Defense in Space

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ABSTRACT

My abstract goes here.

INTRODUCTION AND OBJECTIVES

RC CAR OBJECTIVES

TEAM OBJECTIVES

CORE MODULES OF TOWER DEFENSE
LED Matrix User Input Game Logic Hardware

PROJECT MANAGEMENT ADMINISTRATION ROLES
Team Lead Finance Manager Git Repository Manager Wiki Report Manager Bill of Materials Manager

TEAM MEMBERS & RESPONSIBILITIES
Team Members	Administrative Roles	Technical Roles
[Ryan Zelek]	Team Lead a role
[Zach Smith]
[Chong Hang Cheong]
[Polin Chen]

SCHEDULE

TEAM MEETING DATES & DELIVERABLES
Week#	Date Assigned	Deliverables	Status
1	10/15/19	Share team contact information<br\> Create Git Repository<br\> Set up group Slack channel<br\> Invite Preet to Slack<br\> Establish Code Guidelines and Standards<br\>	Complete Incomplete Complete Incomplete Complete
2	10/22/19	Identify hardware components (BOM) Begin purchasing major items Finalize game architecture	Incomplete Incomplete Incomplete
3	10/29/19	Solidify individual roles and responsibilities Begin implementing basic code structure	Incomplete Incomplete
4	11/5/19	Interface the software with the hardware	Incomplete
5	11/12/19	First hardware design implementation complete	Incomplete
6	11/19/19	Complete first draft of individual subsystems PCB sent out for fabrication	Incomplete Incomplete
7	11/26/19	Integration of major subsystems	Incomplete
8	12/3/19	Testing and Validation	Incomplete
9	12/10/19	Reserve time for debugging issues Identify and fix critical bugs (hardware and software) Finish any optimizations and visualization features	Incomplete Incomplete Incomplete

BILL OF MATERIALS (GENERAL PARTS)

MICRO-CONTROLLERS
PART NAME	PART MODEL & SOURCE	QUANTITY	COST PER UNIT (USD)
32x64 RGB LED Matrix	[1]	2	$49.95

HARDWARE INTEGRATION PCB

Hardware Design

The hardware integration PCB was designed with two goals:

1. Minimize the footprint of the onboard electronics
2. Minimize the chances of wires disconnecting, during drives

To accomplish these goals,

The board consisted of n layers:

layer name

Technical Challenges

Design

• Balancing priorities between HW design and getting a working prototype

Assembly

• Wireless antenna connector on master board not accounted for in footprint, it may have to be removed to avoid interference with one connector.

Bill Of Materials

HARDWARE INTEGRATION PCB
PART NAME	PART MODEL	QUANTITY	COST PER UNIT (USD)

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TEST

In order

Hardware Design

During

We used

MASTER CONTROLLER

Hardware Design

The master

Master Module Schematic

LCD Showing speed, steer and state information

Software Design

Master State Machine

• LCD di

Technical Challenges

• Qui

Bill Of Materials

MASTER CONTROLLER
PART NAME	PART MODEL	QUANTITY	COST PER UNIT (USD)
LCD	N/A	1	Supplied by Preet Kang

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MOTOR CONTROLLER

Hardware Design

The motor board
1 pin
1 pin f
1 pin

The ESC was included with the RC we purchased and it was interfaced with 3 pins:
1 pin fo

Manag

Managing wheel spin was a more complicated process. The ESC also requires a PWM signal in order to operate, but is not as simple as the servo's operation.
In or
S

Speed Control Timing Diagrams

Speed Timing Diagrams

Steering Control Timing Diagrams

Steering Timing Diagram

Motor Controller Schematic

Motor Module Schematic

Software Design

Periodic Callback: Init (beginning of program)

Periodic Callback: 1Hz (every 1sec)
- Che
Periodic Callback: 10Hz (every 100ms)
- Sen

Technical Challenges

SJOne PWM

W

Encoder

The

Bill Of Materials

MOTOR CONTROLLER
PART NAME	PART MODEL	QUANTITY	COST PER UNIT (USD)
Motor Encoder	Nidec Copal Optical Rotary Encoder	1	$63.16

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SENSOR CONTROLLER

Hardware Design

Pin connection of Different sensors to SJOne Board

Placement of Sensors on RC Car

Sen

Sensor Controller Schematic

Sensor Module Schematic

CAD Design

We g

Sensor Guard to Minimize Interference

Sensor Guard Mount showing Vertical Adjustment

Placement for the Ultrasonic Sensors

We r

Sensor Value Conversion

In or

Sensor Graphical Representation

Software Design

Flowchart

The f

Flowchart of Sensor Module

Timing Diagram

Timing Diagram

Technical Challenges

Sensor Interference

We saw :

• Higher

• Instead of l

Power Deficiency

At first

Unstable HR-04 Readings

At fi

ADC Supply Voltage

The mid

Slow car response to obstacle due to large queue size (running average)

During

Bill Of Materials

SENSOR CONTROLLER
PART NAME	PART MODEL	QUANTITY	COST PER UNIT (USD)
Infrared Sensor	Infrared Proximity Sensor	1	$13.95
Front-left-right Distance Sensor	MB1010, LV-MaxSonar-EZ1	2	$29.95
Front-middle Distance Sensor	MB1000, LV-MaxSonar-EZ0	1	$29.95

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CONCLUSION

This pr

Project Video

RUN-D.B.C project video

Project Source Code

RUN-D.B.C project source code

Advice for Future Students

• FORM YOUR TEAM AS EARLY AS POSSIBLE AND START WORKING ON THE PROJECT AS EARLY AS POSSIBLE (WEEK 1 IF POSSIBLE)
• If you are