THEME - Hard & Soft 2000 Infra-Red Controlled Vehicle Project Aim
To design and construct a
vehicle that can automatically follow a path defined by four different infra-red sources. Vehicle Hardware
The vehicle will consist of a pair of geared DC motors to provide propulsion
and steering, a directional infra-red sensor to monitor the I-R source, a DSP card to process and analyze the I-R signals and a motor card to provide adequate power for the motors.
ADSP EZ-KIT Lite DSP card - this is the main vehicle controller card, details of which are given in the Analog devices books provided.
Motor Driver Card is a custom made board for
the vehicle project and provides the following facilities: four high current outputs (6V/500mA) to control the two drive motors; generates a single variable pulse width modulator (PWM) for motor
speed control; provides two high current general purpose outputs (6V/300mA); provides a regulated supply for the sensor card. Sensor Card
This simply amplifies the signal from the I-R
sensor to a suitable level for the CODEC input of the DSP card. You should design and construct thus card. Not more than two op. amplifiers can be used in the card. Software
A control
program is required which will monitor the signal received from the I-R sensor, identify the different sources and drive the vehicle to each one in turn. You have complete freedom to design and
develop this software as you wish. Simple signal recognition can be done by comparing the frequency spectrum to a set of known spectrum patterns (templates) stored in memory. Each template
would contain the key frequency components of the sound that represents a particular source. If a signal is found to match one of these templates, then the corresponding source has been
recognised. Software is supplied to assist with this, if you wish to use it. Another approach to signal source recognition would be to use digital filters to analyze the signals.
You may wish to design a more sophisticated system. The pseudo-code below show in a simplified form the stages required for the controlled vehicle. while (infinite) do
repeat
SampleSignal()
until Threshold()
Perform FFT on data
if
(* it is a signal source) then
Output appropriate data to motor port
end |
