infraled Zeppelin Nick Wagner, Austin Jurgensmeyer, and Christopher Record 12/16/08

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infraled Zeppelin Nick Wagner, Austin Jurgensmeyer, and Christopher Record //08 The infraled Zeppelin is a blimp capable of autonomous and remote control flight.

1 infraled Zeppelin Nick Wagner, Austin Jurgensmeyer, and Christopher Record //08 The infraled Zeppelin is a blimp capable of autonomous and remote control flight. In either mode, the blimp uses the pulse width output of an ultrasonic range finder along with a proportional control algorithm to decide on a servo position that will maintain a set altitude during flight. In RC mode, a transmitter sends serial control codes to the blimp which are interpreted and enacted. The transmitter displays the commands availible on a 0x character lcd display. These commands consist of forward, reverse, left turn, right turn, take off, and land and are selected via the use of a key keypad. In autonomous mode, the blimp makes its own directional decisions by use if an infrared beacon and infrared phototransistors. The blimp employs a signal to noise ratio algorithm to make these decisions. The control system of the blimp consists of different elements: a serial buffer, altitude controller, directional controller, and the main controller. The serial buffer recieves rf serial commands and stores them until the main controller is ready. It then employs a software based handshaking. Once the command is sent from the serial buffer to the main controller, the buffer is ready to receive the next command.

2 The altitude controller takes input from the ultrasonic range finder and then processes it using the following system of equations: >00 & <900 h =. > 900 h = 0 < 00 h = 00 where alt is the raw altitude from the sensor and pulse is the pulse width sent to the servo to set the appropriate correction angle to the thrust bar. The altitude controller also communicates to the main controller over two wires. Both wires use simple binary communication and correspond to taking off and landing states. When either wire is high, the altitude controller sets the thrust bar to either vertical up or vertical down states corresponding to the respective wire. The directional controller takes input from infrared phototransistors and outputs logic level states to the main controller. When the infrared phototransistor receives a pulse from the infrared beacon, the output goes low. The directional controller counts low pulses from each of the phototransistors and compares them to see which has the larger number of pulses. The controller then outputs the results of this comparison by making one of the four wires high. Each of the four wires corresponds to a direction, north, south, east, and west. When in autonomous mode, the main controller reads each of those four wires to see which direction it needs to travel and sets the motor states expected. The main controller is the link between all of the specialization controllers. It first checks the mode switch to see if the blimp is in autonomous or RC mode. When the serial buffer sends information to the main controller, such as takeoff or landing, it communicates those actions to the altitude controller. When the serial buffer sends directional commands, the main controller interprets them and sets the correct logic levels for the motor controller. In autonomous mode, the main controller interprets information sent by the directional controller and sets the correct logic levels for the motor controller. The menu driven display of the transmitter lets the user choose which command set is active. The transmitter is primarily used in RC mode. In that menu, the user is capable of going forwards, backwards, left, right, take off and land. In auto mode, the user can choose to take off or land. The commands are sent serially through an RF transmitter and received by the serial buffer on the blimp. Other features on the transmitter include power and data transfer led s, a speaker which plays a nice startup tune and beeps on error, an LCD for communicating data, and a keypad for inputting data.

The IR phototransistors selected for the sensor array on the blimp contained noise suppression which our original beacon design was not able to avoid, thus our new design came about.

3 The IR phototransistors selected for the sensor array on the blimp contained noise suppression which our original beacon design was not able to avoid, thus our new design came about. In the current design of the beacon, two timer circuits are used to modulate the IR LED array. The first of which modulates the signal necessary to the IR phototransistors at khz. The second timer modulates the power to the first timer to get around the noise suppression. In the current design, when a pulse from the beacon is received, the level on the phototransistor goes low. It is these pulses that are counted for directional decisions.

4 Appendices A. Transmitter PIC Basic Code B. Serial Buffer PIC Basic Code C. Altitude Controller PIC Basic Code D. Directional Controller PIC Basic Code E. Main Blimp PIC Basic Code

5 Appendix A Transmitter PIC Basic Pro Code '**************************************************************** '* Name : BlimpTX.BAS * '* Author : AustinJ, ChrisR, NickW * '* Notice : Copyright (c) 008 * '* : All Rights Reserved * '* Date : 0/9/008 * '* Version :.0 * '* Notes : * '* : * '**************************************************************** 'Tell the pic where to find the LCD Define LCD_DREG PORTD Define LCD_DBIT Define LCD_RSREG PORTE Define LCD_RSBIT 0 Define LCD_EREG PORTE Define LCD_EBIT 'Using a line LCD DEFINE LCD_LINES 'Variable names to keep track of info. key VAR Byte alt_tens VAR Byte alt_ones VAR Byte alt VAR Byte counter var byte airborn VAR bit dontexit VAR bit ' Lets give some pins some names! col var PORTB.0 col var PORTB. col var PORTB. row var PORTB. row var PORTB. row var PORTB. row var PORTB. tx var PORTD.0 txled var PORTD. ADCON0 = ADCON = 'Turn off A to D 'Turn off A to D TRISB = %000'Set PORTB outputs and inputs TRISD = % 'Set PORTD outputs TRISE = $00 'Set PORTE outputs OPTION_REG = $f SEROUT tx,, ["D"] 'Send dummy bit to make serout work.

6 HIGH col : HIGH col : HIGH col pause 00 PrintIntro: lcdout $fe,, "InfraLED Zeppelin" lcdout $fe, $c0, "Austin J." lcdout $fe, $9, "Chris R." lcdout $fe, $d, "Nick W." Pause 00 Sound PortD., [99, 0, 90,, 90,, 9, 0, 90, 0, 0,, 98, 0, 99, 0] pause 000 presssomething: lcdout $fe,, ") Goto RC Mode" lcdout $fe, $c0, ") Goto Auto Mode" dosound key = while key== GOSUB getkey if (key > ) & (Key <> ) (key == 0) then gosub wend if key == Then rcmode if key == then goauto goto presssomething END goauto: pause 000 lcdout $fe,, ") Takeoff" lcdout $fe, $c0, ") Land" lcdout $fe, $9, ") Exit" key= while key== GOSUB getkey if (key > ) & (key <> ) (key == 0) Then gosub dosound EndIf wend if key == Then gosub takeoff if key == then gosub land if key == then printintro goto goauto rcmode: dontexit = pause 000

7 rcloop: lcdout $fe,, " ) Forward" lcdout $fe, $c0, " ) Left ) Right" lcdout $fe, $9, " ) Back" lcdout $fe, $d, ")TkOff 8)Lnd #)Exit" key = while key== GOSUB getkey wend if key == THEN gosub forward if key == then gosub left if key == then gosub back if key == then gosub right if key == then gosub takeoff if key == 8 then gosub land if (key == ) (key == ) (key == 0) (key > 8) & (key <> ) THEN gosub dosound if key == then dontexit = 0 IF dontexit = THEN rcloop key = goto printintro forward: SOUND PORTD.,[0,0,00,0] for counter = to 0 pause 0 HIGH txled SEROUT tx,, ["&for*"] LOW txled next counter left: SOUND PORTD.,[0,0,00,0] for counter = to 0 pause 0 HIGH txled SEROUT tx,, ["&lef*"] LOW txled next counter back: SOUND PORTD.,[0,0,00,0] for counter = to 0 pause 0 HIGH txled SEROUT tx,, ["&bck*"] LOW txled next counter

8 right: SOUND PORTD.,[0,0,00,0] for counter = to 0 pause 0 HIGH txled SEROUT tx,, ["&rig*"] LOW txled next counter land: SOUND PORTD.,[0,0,00,0] for counter = to 0 pause 0 HIGH txled SEROUT tx,, ["&lan*"] LOW txled next counter takeoff: SOUND PORTD.,[0,0,00,0] for counter = to 0 PAUSE 0 HIGH txled SEROUT tx,, ["Atak*"] LOW txled next counter dosound: PAUSE 0 SOUND PORTD.,[00,0,0,0] Key = getkey: Low col : High col : High col IF (row == 0) Then key = IF (row == 0) Then key = IF (row == 0) Then key =

9 IF (row == 0) Then key = 0 High col : Low col : High col IF (row == 0) Then key = IF (row == 0) Then key = IF (row == 0) Then key = 8 IF (row == 0) Then key = 0 High col : High col : low col IF (row == 0) Then key = IF (row == 0) Then key = IF (row == 0) Then key = 9 IF (row == 0) Then key =

10 Appendix B Serial Buffer PIC Basic Code '**************************************************************** '* Name : BLIMPInterp.BAS * '* Author : AustinJ, ChrisR, NickW * '* Notice : Copyright (c) 008 * '* : All Rights Reserved * '* Date : /9/008 * '* Version :.0 * '* Notes : The following code turns the PIC into a serial * '* : buffer for the wireless RF receiver. * '* : * '**************************************************************** DEFINE OSC 8 OSCCON. = 'Sets the internal oscillator frequency to 8 MHz OSCCON. = OSCCON. = ansel = 0 conversion 'Turns off analog to digital conversion. Refer to 'Threaded Design Example A. p.9-99 of the textbook 'for an example of how to configure and use A/D Choice VAR Byte[] 'Store each command in a byte array. rx VAR PORTB. 'Input tx var PORTB. 'Output CTS VAR PORTB. 'Input RTS VAR PORTB. 'Output Output TX Input rx input cts output rts serout tx, 8, ["D"] right. 'Send a dummy variable to make serout work LOW RTS 'Make sure RTS is low so that MainBlimp doesn't time out. mainloop: SERIN RX,, [WAIT("&"),STR Choice\\"*"] 'Wait until we receive something 'familiar from the RF receiver. 'Handshaking over CTS and RTS. This makes sure we send what we need to 'MainBlimp HIGH RTS 'Set RTS high to inform MainBlimp that there is data in the buffer.

11 WHILE(CTS == 0) 'Wait until MainBlimp is ready to receive the data. Pause WEND Pause 0 'Pause a bit to make sure SERIN is ready. SEROUT tx,, ["&",CHOICE(0),Choice(),Choice(),"*"] 'Regurgitate LOW RTS 'Clear RTS goto mainloop

12 Appendix C Altitude Control PIC Basic Code '**************************************************************** '* Name : ALTITUDE * '* Author : [select VIEW...EDITOR OPTIONS] * '* Notice : Copyright (c) 008 [select VIEW...EDITOR OPTIONS] * '* : All Rights Reserved * '* Date : /9/008 * '* Version :.0 * '* Notes : * '* : * '**************************************************************** ultrasonic var PortB. take_off var PortB. land VAR PortB. servo var PortB.0 PORTB = 0 TRISB = %00000 TRISA = % ' Set PORTA to all input Pause 00 ' Wait. second 'Servo maximum and minimum pulse lengths servomin var byte servomax var byte pulse var word waittime var byte 'Altitude control variables setalt var word inval var word avg var word setalt = 00 servomax = 00 servomin = 0 waittime = startloop: IF (land == ) then doland IF (take_off == ) then takeoff goto startloop end takeoff: pulse = servomax pulsout servo, pulse pause waittime pulsout servo, pulse pause waittime pulsout servo, pulse

13 pause waittime pulsout servo, pulse pause waittime pulse = servomin + (servomax + servomin)/ Goto maintain_alt end maintain_alt: gosub getalt if (take_off == 0) then startloop pulsout servo, pulse goto maintain_alt getalt: avg = 0 pulsin ultrasonic,, inval avg = avg + inval pulsin ultrasonic,, inval avg = avg + inval avg = avg/ pulse = 0-*avg pulse = pulse/00 if avg > 0 then pulse = 0 if avg < 0 then pulse = 00 RETURN goup: if(pulse > servomin) THEN pulse = pulse - godown: if(pulse < servomax) THEN pulse = pulse + doland: pulse = servomin pulsout servo, pulse pause waittime pulsout servo, pulse pause waittime

14 pulsout servo, pulse pause waittime pulsout servo, pulse pause waittime goto startloop end

15 Appendix D Directional Control PIC Basic Code '**************************************************************** '* Name : DirectionalControl * '* Author : AustinJ, ChrisR, NickW * '* Notice : Copyright (c) 008 * '* : All Rights Reserved * '* Date : /9/008 * '* Version :. * '* Notes : * '**************************************************************** DEFINE OSC 8 OSCCON. = 'Sets the internal oscillator frequency to 8 MHz OSCCON. = OSCCON. = ansel = 0 'Turns off analog to digital conversion. Refer to 'Threaded Design Example A. p.9-99 of the textbook 'for an example of how to configure and use A/D conversion IRN var Portb.0 IRS var Portb. IRE var Portb. IRW var Portb. b0 VAR Portb. b VAR Portb. b var Portb. b VAR Portb. COUNTS var word[] counter var word result var bit[] result var byte decresult var byte TRISB = %0000 portb = 0 loop: COUNTS[0] = 0 COUNTS[] = 0 COUNTS[] = 0 COUNTS[] = 0 for counter = to 9000 if (IRN = 0) then COUNTS[0] = COUNTS[0] + if (IRS = 0) then COUNTS[] = COUNTS[] + if (IRE = 0) then COUNTS[] = COUNTS[] + if (IRW = 0) then COUNTS[] = COUNTS[] + pauseus 0 next counter IF (counts[0] > counts[]) THEN

16 result = 0 ELSE result = IF (counts[] > counts[]) THEN result = ELSE result = if result = 0 then result[0] = 0 result[] = 0 result[] = 0 result[] = 0 if result = then result[0] = 0 result[] = result[] = 0 result[] = 0 if result = then result[0] = 0 result[] = 0 result[] = result[] = 0 if result = then result[0] = 0 result[] = 0 result[] = 0 result[] = b0 = result[0] b = result[] b = result[] b = result[] pause 00 goto loop

17 Appendix E Directional Control PIC Basic Code '**************************************************************** '* Name : MainBlimp.BAS * '* Author : [select VIEW...EDITOR OPTIONS] * '* Notice : Copyright (c) 008 [select VIEW...EDITOR OPTIONS] * '* : All Rights Reserved * '* Date : /9/008 * '* Version :.0 * '* Notes : * '* : * '**************************************************************** ADCON0 = 'Turn off A to D ADCON = 'Turn off A to D ' Define PINS rxdata var PortB.0 rxcts var PortB. rxrts var PortB. IRN VAR PortB. IRS VAR PortB. IRE VAR PortB. IRW VAR PortB. mode var PortB. takeoff VAR PortC.0 land var PortC. thrustaa var PortD.0 thrustab VAR PortD. thrustba VAR PortD. thrustbb VAR PortD. direction var byte Choice VAR Byte[] 'RX Data Storage TRISB = %0 TRISC = % TRISD = % LOW thrustaa :Low thrustbb :LOW thrustab :low thrustba :low rxcts high takeoff :Low land IF mode = 0 then rcmode automode: IF (rxrts = ) THEN gosub rxinterpdata IF ((Choice[0] = "t")&&(choice[] = "a")&&(choice[] = "k")) THEN high takeoff LOW LAND GOSUB goforward

18 pause 000 IF ((Choice[0] = "l")&&(choice[] = "a")&&(choice[] = "n")) THEN Low takeoff pause high land gosub goforward 'if (takeoff = ) THEN if (IRN = ) then GOSUB goforward IF (IRS = ) then GOSUB autoback IF (IRE = ) THEN GOSUB goright IF (IRW = ) THEN GOSUB goleft pause 000 'ENDIF goto automode rcmode: IF (rxrts = ) THEN gosub rxinterpdata IF ((Choice[0] = "t")&&(choice[] = "a")&&(choice[] = "k")) THEN LOW Land pause high takeoff GOSUB goforward choice = 0 pause 000 IF ((Choice[0] = "l")&&(choice[] = "a")&&(choice[] = "n")) THEN Low takeoff pause high land gosub goforward choice = 0 IF ((Choice[0] = "f")&&(choice[] = "o")&&(choice[] = "r")) THEN gosub goforward IF ((Choice[0] = "b")&&(choice[] = "c")&&(choice[] = "k")) THEN gosub gobackward IF ((Choice[0] = "l")&&(choice[] = "e")&&(choice[] = "f")) THEN gosub goleft IF ((Choice[0] = "r")&&(choice[] = "i")&&(choice[] = "g")) THEN gosub goright ENDIF goto rcmode 'Both motors forwards

19 goforward: if (direction <> "N") then LOW thrustaa LOW thrustab low thrustba Low thrustbb PAUSE 00 ENDIF high THRUSTAA LOW THRUSTAB HIGH THRUSTBA LOW THRUSTBB choice = 0 direction = "N" 'Both motors backwards gobackward: if (direction <> "S") then LOW thrustaa LOW thrustab low thrustba Low thrustbb PAUSE 00 ENDIF LOW THRUSTAA HIGH THRUSTAB LOW THRUSTBA HIGH THRUSTBB choice = 0 direction = "S" 'Right motor forward, left motor back goright: if (direction <> "E") then LOW thrustaa LOW thrustab low thrustba Low thrustbb PAUSE 00 ENDIF LOW THRUSTAA HIGH THRUSTAB HIGH THRUSTBA LOW THRUSTBB Choice = 0 DIRECTION = "E" 'Left motor back, right motor forward goleft: if (direction <> "W") then

20 LOW thrustaa LOW thrustab low thrustba Low thrustbb PAUSE 00 ENDIF high THRUSTAA LOW THRUSTAB LOW THRUSTBA HIGH THRUSTBB Choice = 0 DIRECTION = "W" autoback: gosub goleft rxinterpdata: High rxcts pause SERIN rxdata,, [WAIT("&"),STR Choice\\"*"] LOW rxcts RETURN

21 //008 ::0 PM f=0.90 C:\Program Files\EAGLE-..0\blimp.sch (Sheet: /) PICF88 PICF8 PICF88 PICF8 K K K K pf pf pf pf Mhz Mhz K SN0.V BATT LM80 00uF MCLR OSC RA0 RA 8 RA RA T0CKI/RA RB0 RB RB 8 RB 9 RB 0 RB RB RB OSC VSS VDD IC MCLR OSC RA0 RA 8 RA RA T0CKI/RA RB0 RB RB 8 RB 9 RB 0 RB RB RB OSC VSS VDD IC MCLR OSC RA0 RA 8 RA RA T0CKI/RA RB0 RB RB 8 RB 9 RB 0 RB RB RB OSC VSS VDD IC MCLR/THV RA0/AN0 RA/AN RA/AN RA/AN RA/T0CKI RA/AN RE0/RD/AN 8 RE/WR/AN 9 RE/CS/AN 0 OSC/CLKIN OSC/CLKOUT RC0/TOSO RC/TOSI RC/CCP RC/SCK 8 RD0/PSP0 9 RD/PSP 0 RD/PSP RD/PSP SDI/RC SDO/RC TX/RC RX/RC PSP/RD PSP/RD 8 PSP/RD 9 PSP/RD 0 INT/RB0 RB RB PGM/RB RB RB 8 PGC/RB 9 PGD/RB 0 IC VDD VSS R R R R C C C C Q Q IRW IRE IRS IRN US SRVO R S 8 RX VCC VCC 8 EN SIGA SIGB MA MB EN 9 SIGA SIGB 0 MA MB GND IC M M + - BATT + - 9V IC GND IN OUT S C

22 GND 9V R R k k IC DISCH TRSH RESET CV TRIG ICM OUT V+ GND 8 R0 k GND VO VI 80T IC C.uF C.0uF T TIPB R k IC DISCH TRSH OUT k R9 RESET CV V+ 8 T TIPB T TIPB R k TRIG GND ICM C.uF C R.8 R.8 R.0uF LED LED LED LED LED8 LED LED LED LEDLEDLED0LED9 LEDLEDLEDLED.8 R8.8 //008 :9:9 PM f=.0 C:\Program Files\EAGLE-..0\Beacon.sch (Sheet: /)

23 //008 :: PM f=.0 C:\Program Files\EAGLE-..0\transmitter.sch (Sheet: /) PICF8P K 8L0Z. uf MHz pf pf K ALP 00uF MCLR/THV RA0/AN0 RA/AN RA/AN RA/AN RA/T0CKI RA/AN RE0/RD/AN 8 RE/WR/AN 9 RE/CS/AN 0 OSC/CLKIN OSC/CLKOUT RC0/TOSO RC/TOSI RC/CCP RC/SCK 8 RD0/PSP0 9 RD/PSP 0 RD/PSP RD/PSP SDI/RC SDO/RC TX/RC RX/RC PSP/RD PSP/RD 8 PSP/RD 9 PSP/RD 0 INT/RB0 RB RB PGM/RB RB RB 8 PGC/RB 9 PGD/RB 0 IC VDD VSS R VI VO IC GND VSS VDD CONTRAST RS E R/W D0 D 8 D 9 D 0 D D D D LED TX R C XTL C C PW KEYPAD Q R + - SP LED R C Parallel LCD Display V

' The PicBasic Pro Compiler Manual is on line at: '

' The PicBasic Pro Compiler Manual is on line at: ' ---------------Title-------------- File...4331_encoder4.pbp Started...1/10/10 Microcontroller Used: Microchip Technology 18F4331 Available at: http://www.microchipdirect.com/productdetails.aspx?category=pic18f4331