Earl Grey and The Boston Tea PartyTeam MembersPurposeObjectivesConceptTurning the CarSystem OverviewSystem ArchitectureProcessor and MemoryFPGAMemory MappingSoftwareSoftware Speed AdjustmentSlide 14Slide 15Slide 16Slide 17Slide 18Slide 19Slide 20Slide 21Slide 22Sensor ChangesSensorsSensor DataRC Car InterfaceSpeed Control FunctionalitySpeed Control InterfaceSpeed Control Hardware DesignSteering InterfaceManual Control InterfaceUser Warning OutputPower SystemScheduleDeliverablesActual DeliverablesDivision of LaborParts and PricesPossible AdditionsWrap Up HaikuT122001010BACSlide 1Speaker NameEarl GreyEarl Grey and and The The BostonBoston Tea PartyTea PartyEarl GreyEarl Grey and and The The BostonBoston Tea PartyTea PartyPresentThe EntourageThe EntourageT122001010BACSlide 2Speaker NameTeam MembersTeam MembersCasey GoldEllen PrommersbergerNathan WinderSteven AndersonTom MonikowskiEllenT122001010BACSlide 3Speaker NamePurposePurposeEase tedium of stop-and-go trafficImprove safety of rush hour drivingEllenT122001010BACSlide 4Speaker NameObjectivesObjectivesUse sensors to determine position of car relative to other vehiclesControl acceleration and breaking based on distance away from leading vehicleControl steering to follow lead carDemonstrate concept on RC vehicleEllenT122001010BACSlide 5Speaker NameConceptConceptEllenT122001010BACSlide 6Speaker NameTurning the CarTurning the CarEllenT122001010BACSlide 7Speaker NameSystem OverviewSystem OverviewCaseyT122001010BACSlide 8Speaker NameSystem ArchitectureSystem ArchitectureCaseyT122001010BACSlide 9Speaker NameProcessor and MemoryProcessor and Memorya d d r1 1VCCa d d r1 2VCCVSS1M ODB /VST BY2E5ST RB/R/ W6EXTAL7XTAL8XIRQ1 8IRQ1 9PD0 /RXD2 0PD1 / T XD2 1PD2 /M ISO2 2PD3 /M OSI2 3PD4 /SCK2 4PD5 /SS2 5VDD2 6PA7 / PAI /OC12 7PA6 / OC2 /OC12 8PA5 / OC3 /OC12 9PA4 / OC4 /OC13 0PA3 /OC5 /I C4 /OC13 1PA2 /IC13 2PA1 /IC23 3PA0 /IC33 4PE0 /AN04 3PE4 /AN44 4PE1 /AN14 5PE5 /AN54 6PE2 /AN24 7PE6 /AN64 8PE3 /AN34 9PE7 /AN75 0VRL5 1VRH5 2RESE T1 7M ODA /L I R3ST RA/A S4PB0 / ADDR84 2PB1 / ADDR94 1PB2 / A DDR1 04 0PB3 / A DDR1 13 9PB4 / A DDR1 23 8PB5 / A DDR1 33 7PB6 / A DDR1 43 6PB7 / A DDR1 53 5PC0 /A DDR0 /DATA 09PC1 /A DDR1 /DATA 11 0PC2 /A DDR2 /DATA 21 1PC3 /A DDR3 /DATA 31 2PC4 /A DDR4 /DATA 41 3PC5 /A DDR5 /DATA 51 4PC6 /A DDR6 /DATA 61 5PC7 /A DDR7 /DATA 71 6U1M C6 8 HC11 Ea d d r1 3D1DIODEVCCa d d r1 4a dr0a dr1d a t0a d d r8a dr2d a t a 0d a t a 1d a t1a d d r9a dr3a d d r1d a t a 2d a t a 3SW 1SW _ PB _ SP STa d d r1 0a dr4d a t a 4a d d r[0 : 1 5 ]d a t a 5a d d r1 1a dr5d a t a 6p u _ 2 5d a t a 7a d d r1 2d a t2a dr6d a t a 0d a t a 1a d d r1 3a d d r0d a t a 2C4Ca dr7d a t a 3a d d r1 4a d d r1p u _ 2 4d a t3a d d r2d a t a 4a d d r3a d r 8a d d r1 5d a t a 5a d d r4a d d r5a d d r6p u _ 2 3d a t a 6a d d r7A01 0A19A28A37A46A55A64A73A82 5A92 4A1 02 1A1 12 3A1 22A1 32 6A1 42 7CE2 0I/ O01 1I/ O11 2I/ O21 3I/ O31 5I/ O41 6I/ O51 7I/ O61 8I/ O71 9VCC2 8OE2 2W E1U3AT 2 9C2 5 6Sp e edd a t a 7d a t4a d r 9Se n s o r0D01 1D11 2D21 3D31 5A1 17A84A1 39A1 28A1 06A02 1A12 3A22 4A32 5A42 6A51A62A73A95A1 41 0D41 6D51 7D61 8D71 9VCC2 8OE2 2W E2 7CE2 0U4CY6 2 2 5 6p u _ 2 2a d r 1 0d a t5p u _ 2 1R1 1R1 2R1 3R1 4OE1L E1 1Q12Q25Q36Q49Q51 2Q61 5Q71 6Q81 9D13D24D37D48D51 3D61 4D71 7D81 8U1 57 4 HC3 7 3a d r 1 1a d d r1 5 _ fp gap u _ 2 0d a t6A02A13A24A35A46A57A68A79OE1 9DIR1B01 8B11 7B21 6B31 5B41 4B51 3B61 2B71 1U1 67 4 HC2 4 5C1CAPACITORC2C3p u _ 2 7a d r 1 2Se n s o r1d a t7a d d r1 4 _ fp gaVDDSe n s o r2p u _ 3 2a d r 1 3d a t a 1Se n s o r3OUT5Y18 .0 M HzVDDa d d r1 3 _ fp gaSe n s o r4d a t a 21 2U1 3 A7 4HC1 4p u _ 3 3Se n s o r53 4U1 3 B7 4HC1 4OE_ ROM _ fp g aa d d r0a d r 1 4d a t a 3d a t a 0a d d r1Se n s o r6a d d r2p u _ 3 4a d d r0RW_ to _f p g ad a t a 4a d d r3d on e F PGAa d d r49 8U1 3 Da d r 1 5a d d r5d ata [ 0 :7 ]d a t a 5a d d r2a d d r6Switcha d d r71 1 1 0U1 3 Ea d d r3d a t a 6a d d r8a d d r4ECL K_ to _fp g aa d d r9a d d r5a d d r1 0W E_ RAM _ fp gaa d d r1 1a d d r6123U1 4 A7 4HC0 8a d d r1 2d a t a 7VCCa d d r7a d d r1 35 6U1 3 C7 4HC1 4a d d r1 4a d d r8OE_ RAM _ f pg aa d d r9A02A13A24A35A46A57A68A79OE1 9DI R1B01 8B11 7B21 6B31 5B41 4B51 3B61 2B71 1U1 77 4 HC2 4 5a d d r1 01 MRCaseyT122001010BACSlide 10Speaker NameFPGAFPGAdoneFPGADOUTSteeringControlCLRRW_to_fpgaECLK_to_fpgaaddr13_fpgaVCCaddr14_fpgaaddr15_fpgaI/O3I/O4I/O5I/O6I/O7I/O8I/O9I/O/SGCK110I/O/PGCK113I/O14I/O/TDI15I/O/TCK16I/O/TMS17I/O18I/O19I/O20I/O23I/O24I/O25I/O26I/O27I/O28I/O/SGCK229MODE32I/O/PGCK235I/O/HDC36I/O/LDC37I/O38I/O39I/O40I/O/INIT41I/O44I/O45I/O46I/O47I/O48I/O49I/O50I/O/SGCK351DONE53PGM55I/O56I/O/PGCK357I/O58I/O59I/O60I/O61I/O62I/O65I/O66I/O67I/O68I/O69I/O70I/O/DIN71I/O/SGCK4/DOUT72CCLK73O/TDO75I/O77I/O/PGCK478I/O79I/O80I/O81I/O82I/O83I/O84U8XCS10D01D22CLK3TDI4TMS5TCK6D4/CF7OE/RST8D69CE10D712CE O13D514D315D116TDO17VCC18VCCO19VCC20U12XC18V256SpeedControlWE_RAM_fpgaOE_RAM_fpgaCCLKOE_ROM_fpga123456TDITMSTCKTDOVCCGNDJ1 HEA DER 6RC SpeedControlRC SteeringControlDA C CSIntWarningFinalWarningVCCCaseyT122001010BACSlide 11Speaker NameMemory MappingMemory MappingImplement on FPGA Code using VerilogCaseyT122001010BACSlide 12Speaker NameSoftwareSoftwareAccept values from sensors•Interpret as distances or hits/missesConditionally determine the course of action•Speed and turningHandle user warningsTomT122001010BACSlide 13Speaker NameSoftwareSoftware SpeedSpeed AdjustmentAdjustment Two major components to speed adjustments:Relative velocitiesIdeal distanceTomT122001010BACSlide 14Speaker NameSample of forward car stop-go pattern01234560 1 2 3 4 5 6 7 8 9Time (Seconds)Speed (Mph)Forward car speedSoftware Speed AdjustmentSoftware Speed AdjustmentTomT122001010BACSlide 15Speaker NameSpeed comparison of Forward and test car for t=0.1,D=0.1,V=0.101234560 1 2 3 4 5 6 7 8 9Time(Seconds)Speed (Mph)Car speed (mph)Forward car speedSoftware Speed AdjustmentSoftware Speed AdjustmentTomT122001010BACSlide 16Speaker NameIdeal and actual distances between cars for t=0.1,D=0.1,V=0.12025303540450 1 2 3 4 5 6 7 8Time (Seconds)Distance (inches)Ideal distance (inches)Actual distance (Sensor 4)Software Speed AdjustmentSoftware Speed AdjustmentTomT122001010BACSlide 17Speaker NameTest car acceleration for t=0.1,D=0.1,V=0.1-6-4-202468100 1 2 3 4 5 6 7 8 9Time (Seconds)Acceleration (ft/s^2)Total Acceleration (ft/s^2)Software Speed AdjustmentSoftware Speed AdjustmentTomT122001010BACSlide 18Speaker NameCar speed for