S16: SkyNet

Grading Criteria

• How well is Software & Hardware Design described?
• How well can this report be used to reproduce this project?
• Code Quality
• Overall Report Quality:
  • Software Block Diagrams
  • Hardware Block Diagrams

    Schematic Quality

  • Quality of technical challenges and solutions adopted.

Meeting notes

This section is temporary and will only exist on the wiki during development.

Abstract

SkyNet is a tracking tripod mount that will follow a given target using computer vision technologies. The system utilizes two brushless motors that are controlled by inputs given from a Raspberry Pi 3. The Raspberry Pi 3 utilizes the OpenCV open source library to calculate the deviation of a tracked object from the center of its view. It will then control the motors to correct the camera position such that the target will always be in the center of the video. The mount will be able to hold any standard 5-inch phone (should aim for universal mount) for video recording.

Objectives & Introduction

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Team Members & Responsibilities

• Steven Hwu
  • OpenCV
• Jason Tran
  • OpenCV
• Andrew Herbst
  • Brushless Motor system
• Vince Ly
  • Brushless Motor system

Schedule

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Week#	Due Date	Task	Completed	Notes
1	3/29	- Create Parts list and place order (Motors, Cameras, etc.) - Compile OpenCV C++ code and run examples on Raspberry Pi 3	Completed	- Ordered parts on 3/27 - OpenCV library is building on both development PCs (Steven/Jason) TODO: - Run OpenCV on Raspberry Pi 3
2	4/5	- Create motorized unit - Create the CAD model for 3D printing - Create the breakout board for the motor controller - Be able to track an object in frame (Highlight object)		- Successfully tracked an object in HSV color space. - looking into different object tracking options - CAD model will be created with Autodesk Fusion 360
3	4/12	- Control motors VIA user input - Extrapolate movement of object
4	4/19	- Sync-up on how to command motors (scaling, etc.) - Create API interface to control motors - Create communication tasks to control motors
5	4/26	- Integration of control system and motor unit
6	5/3	- Control Calibration - Use case test
7	5/10	- Finish Report/Slide deck(?)

Parts List & Cost

ECU:

   RaspBerry Pi 3 Rev B

Brushless Motors:

   x2 4008-70Kv Brushless Gimbal Motor ~$20
       - http://www.hobbyking.com/hobbyking/store/__43041__4008_70Kv_Brushless_Gimbal_Motor_Ideal_for_mid_Style_Cameras_like_the_Nex6_.html

Controllers:

   A4941 ~$2
       - http://www.allegromicro.com/en/Products/Motor-Driver-And-Interface-ICs/Brushless-DC-Motor-Drivers/A4941.aspx
   
   DRV11873
       - http://www.ti.com/lit/ds/symlink/drv11873.pdf

Phone mount:

   Vince's cheap ass mount ~Free

Whole Enclosure:

   ??? ~???

Design & Implementation

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Hardware Design

A custom frame was created to hold the motors and cameras in place.

Hardware Interface

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Software Design

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Implementation

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Testing & Technical Challenges

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My Issue #1

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Conclusion

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Project Video

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Project Source Code

• Sourceforge Source Code Link

References

Acknowledgement

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References Used

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Appendix

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