Object Position and OrientationObject Position and OrientationTrackerTrackerAndrew Lee & Tiffany WangAndrew Lee & Tiffany Wang6.111 Introductory Digital Systems Lab6.111 Introductory Digital Systems LabFall 2005Fall 2005OverviewOverviewBlock DiagramBlock DiagramModules/FunctionalityModules/FunctionalityProject GoalsProject GoalsPresentation AgendaObjectiveObjectivedigital tracking system used to calculate and display thedigital tracking system used to calculate and display theexact position and orientation of an object within aexact position and orientation of an object within apredefined spacepredefined spaceProject SetupProject Setupobject modeled by small remote controlled carobject modeled by small remote controlled caruse of video processing to calculate position/orientation ofuse of video processing to calculate position/orientation ofcar as it moves within spacecar as it moves within spacemultiple virtually pre-defined terrains to navigatemultiple virtually pre-defined terrains to navigateobject position and terrain elements displayed on monitorobject position and terrain elements displayed on monitorOverviewBlock DiagramPosition CalculatorPosition Calculator- Analyzes video image to detect LEDs- determines coordinates of the car from the LED positionsInputs:- Video ImageOutputs: - Front_x_coord [9:0] - Front_y_coord [9:0] - Back_x_coord [9:0] - Back_y_coord [9:0]Synchronizer- Synchronize asynchronous button pushes to system clockInputs (from user):- Forward- Backward- Left- Right- Change_MapOutputs: - Forward_Sync - Backward_Sync - Left_Sync - Right_Sync - Change_SyncMaps- manages user map inputs, notifies Object Tracker of selected terrainInputs:- Map_Select [1:0] (from user)- Change_Sync (from Synchronizer)Outputs: - Map_Param [1:0] (to Object Tracker)ParameterParameterrace trackrace track1111minefieldminefield0011mazemaze1100openopen0000TERRAINTERRAINSWITCH 0SWITCH 0SWITCH 1SWITCH 1MapsOpenMazeMine FieldRace TrackObject Tracker- contains xvga module and modules for each terrain- provides feedback for car controller and screen display signalsInputs:- 65 MHz clock- Map_Param [1:0] (from Maps)- front_x_coord [9:0], front_y_coord [9:0], back_x_coord [9:0], back_y_coord [9:0] (from Position Calculator)Outputs: - to Movement: Forward_Halt, Backward_Halt, Right_Halt, Left_Halt - to Display: Vsync, Hsync, Blank, Pixel [2:0]Terrain Modules- holds specifications and element submodules for each terrain- performs boundary checking- determines feedback for car controller and screen display signalsInputs:- display (from xvga): vclock, hcount, vcount, hsync, vsync, blank- front_x_coord [9:0], front_y_coord [9:0], back_x_coord [9:0], back_y_coord [9:0] (from Position Calculator)Outputs: - control feedback: Forward_Halt, Backward_Halt, Right_Halt, Left_Halt - screen display: Vsync, Hsync, Blank, Pixel [2:0]Object Tracker- contains xvga module and modules for each terrain- provides feedback for car controller and screen display signalsInputs:- 65 MHz clock- Map_Param [1:0] (from Maps)- front_x_coord [9:0], front_y_coord [9:0], back_x_coord [9:0], back_y_coord [9:0] (from Position Calculator)Outputs: - to Movement: Forward_Halt, Backward_Halt, Right_Halt, Left_Halt - to Display: Vsync, Hsync, Blank, Pixel [2:0]Display- ADV7125 Triple 8-bit high speed video DAC- produce correct analog signals based on inputsInputs:- Vsync (from Object Tracker)- Hsync (from Object Tracker)- Blank (from Object Tracker)- Pixel [2:0] (from Object Tracker)- 65 MHz clockOutputs analog signals to monitorMovementMovement- Controls the movement of the carInputs:- Forward_Sync (from Synchronizer)- Backward_Sync (from Synchronizer)- Left_Sync (from Synchronizer)- Right_Sync (from Synchronizer)- Inhibit_Left (from Object Tracker)- Inhibit_Right (from Object Tracker)- Inhibit_Forward (from Object Tracker)- Inhibit_Backward (from Object Tracker)Outputs:- Forward (To Car)- Backward (To Car)- Left (To Car)- Right (To Car)Project GoalsAccurately sense and calculate the position and orientationAccurately sense and calculate the position and orientationof the carof the carAccurately display the car and terrain elements on screenAccurately display the car and terrain elements on screenFunctional terrain selection and displayFunctional terrain selection and displayProper boundary checking and feedback to controllerProper boundary checking and feedback to
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