navigation and thrust systems for auvsi...
TRANSCRIPT
![Page 1: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/1.jpg)
Navigation and Thrust Systems for AUVSI RoboBoat
Team: Michael S. Barnes, Evan J. Dinelli, Daniel R. Van de Water
Advisors: Dr. Gary Dempsey and Mr. Nick Schmidt
Department of Electrical and Computer
Engineering
April 26th, 2016
![Page 2: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/2.jpg)
Presentation Outline
• Background
• Evan Dinelli• Navigation Subsystem
• Remote Control (RC) Unit
• Dan Van de Water• Motor Control Unit
• Michael Barnes• Power Transistors
• Summary and Conclusions
• Questions and Answers (Q & A)
2
![Page 3: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/3.jpg)
Presentation Outline
• Background• History
• Objective
• Block Diagram
• Division of Labor
• Evan Dinelli
• Dan Van de Water
• Michael Barnes
• Summary and Conclusions
• Questions and Answers (Q & A)
3
![Page 4: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/4.jpg)
History
• AUVSI – Association for Unmanned Vehicle System International
• International RoboBoat Competition
• Bradley University has attended twice
4Images taken from [1] and [2].
![Page 5: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/5.jpg)
Objective
• Design and Build a System that Serves as the Framework for RoboBoat
5Images taken from [1] and [2].
![Page 6: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/6.jpg)
Block Diagram
6
![Page 7: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/7.jpg)
Block Diagram
7
![Page 8: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/8.jpg)
Block Diagram
8
![Page 9: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/9.jpg)
Boat
• Catamaran • Pontoon design
• Motor locations
• T100 Thrusters
9
![Page 10: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/10.jpg)
Boat
• Catamaran • Pontoon design
• Motor locations
• T100 Thrusters
10
![Page 11: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/11.jpg)
T100 Thrusters
11Image taken from [3].
![Page 12: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/12.jpg)
Motor Control Unit
12
![Page 13: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/13.jpg)
Division of Labor
13
Task Person Assigned to Task
Navigation System Evan
Remote Control Evan
Motor Control Daniel
Power Transistors Michael
![Page 14: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/14.jpg)
Functional Requirements
14
Functional Requirements Specifications
GPS and CompassGPS Accuracy: < ±2 m
Compass Accuracy: < ±2°
Remote Control
Rate: ≥ 5 Commands / sec
Mode Signal
Software Kill Signal
Motor ControlRate: ≥ 5 Commands / sec
Physical Kill Switch
![Page 15: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/15.jpg)
Presentation Outline
• Background
• Evan Dinelli• Navigation Subsystem
• Specifications
• Block Diagram
• GPS
• Compass
• RC Unit
• Dan Van de Water
• Michael Barnes
• Summary and Conclusions
• Questions and Answers (Q & A)
15
![Page 16: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/16.jpg)
Functional Requirements
16
Functional Requirements Specifications
GPS and CompassGPS Accuracy: < ±2 m
Compass Accuracy: < ±2°
Remote Control
Rate: ≥ 5 Commands / sec
Mode Signal
Software Kill Signal
Motor ControlRate: ≥ 5 Commands / sec
Physical Kill Switch
![Page 17: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/17.jpg)
Block Diagram
17
![Page 18: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/18.jpg)
Block Diagram
18
![Page 19: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/19.jpg)
Block Diagram: Navigation
19
![Page 20: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/20.jpg)
Block Diagram: Navigation
20
![Page 21: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/21.jpg)
Block Diagram: Navigation
21
![Page 22: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/22.jpg)
Raw GPS Data
22
Serial Stream Directly From GPS Sensor
![Page 23: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/23.jpg)
GPS Output
23
Serial Stream Directly From MCU
![Page 24: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/24.jpg)
Verification of GPS Data
24
Screenshot of Google Maps
![Page 25: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/25.jpg)
Block Diagram: Navigation
25
![Page 26: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/26.jpg)
Compass Output
26
![Page 27: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/27.jpg)
Verification of Compass Data
27
![Page 28: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/28.jpg)
Block Diagram
28
![Page 29: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/29.jpg)
Functional Requirements
29
Functional Requirements Specifications
GPS and CompassGPS Accuracy: < ±2 m
Compass Accuracy: < ±2°
Remote Control
Rate: ≥ 5 Commands / sec
Mode Signal
Software Kill Signal
Motor ControlRate: ≥ 5 Commands / sec
Physical Kill Switch
![Page 30: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/30.jpg)
Block Diagram: RC Unit
30
![Page 31: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/31.jpg)
RC Unit
• Futaba T6EX and the R617FS
• 2 Joy Sticks
• 2 Switches
• 2.4 GHz
31Images taken from [3] and [4].
![Page 32: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/32.jpg)
RC Unit
32Image taken from [4].
![Page 33: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/33.jpg)
Mode Signal
33Image taken from [4].
![Page 34: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/34.jpg)
Mode Signal
34
![Page 35: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/35.jpg)
Mode Signal
35
![Page 36: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/36.jpg)
Motor Shutdown Signal
36Image taken from [4].
![Page 37: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/37.jpg)
Motor Shutdown Signal
37
![Page 38: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/38.jpg)
Motor Shutdown Signal
38
![Page 39: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/39.jpg)
Motor Movement Commands
39Image taken from [4].
![Page 40: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/40.jpg)
How the Remote Works
• Each Potentiometer Maps to a Channel, 1 - 4
• Two Switches Map to Channels 5 - 6
Image taken from [5]. 40
![Page 41: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/41.jpg)
Software Flowchart
41
![Page 42: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/42.jpg)
Motor Movement Commands
42
![Page 43: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/43.jpg)
Motor Movement Commands
43
![Page 44: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/44.jpg)
Presentation Outline
• Background
• Evan Dinelli
• Dan Van de Water• Motor Control Unit
• Specifications
• SPI Communication
• Block Diagrams
• Michael Barnes
• Summary and Conclusions
• Questions and Answers (Q & A)
44
![Page 45: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/45.jpg)
Functional Requirements
45
Functional Requirements Specifications
GPS and CompassGPS Accuracy: < ±2 m
Compass Accuracy: < ±2°
Remote Control
Rate: ≥ 5 Commands / sec
Mode Signal
Software Kill Signal
Motor ControlRate: ≥ 5 Commands / sec
Physical Kill Switch
![Page 46: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/46.jpg)
Block Diagram
46
![Page 47: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/47.jpg)
Block Diagram
47
![Page 48: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/48.jpg)
Block Diagram: Motor Unit
48
![Page 49: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/49.jpg)
Block Diagram: Motor Unit
49
![Page 50: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/50.jpg)
Block Diagram: Motor Control
50
![Page 51: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/51.jpg)
Block Diagram: Motor Control
51
![Page 52: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/52.jpg)
Predriver
52
LM7805
Predriver
Image taken from [6].
![Page 53: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/53.jpg)
Predriver
53
LM7805
Predriver
Image taken from [6].
![Page 54: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/54.jpg)
Parallel SPI Communication
54
Receiving Message
Sending Message
![Page 55: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/55.jpg)
Parallel SPI Communication
55
Receiving Message
Sending Message
![Page 56: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/56.jpg)
Interrupts
56
Interrupts Priority FunctionReset 1 Reset Microcontroller
Watchdog Timer 9 Reset
Timer 2 12 Reset Watchdog, PWM Generation
Timer 0 19 1 ms Interrupt
SPI 20 Serial Transfer Complete
USART RX 21 Receive Complete
![Page 57: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/57.jpg)
Interrupts
57
Interrupts Priority FunctionReset 1 Reset Microcontroller
Watchdog Timer 9 Reset
Timer 2 12 Reset Watchdog, PWM Generation
Timer 0 19 1 ms Interrupt
SPI 20 Serial Transfer Complete
USART RX 21 Receive Complete
![Page 58: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/58.jpg)
Interrupts
58
Interrupts Priority FunctionReset 1 Reset Microcontroller
Watchdog Timer 9 Reset
Timer 2 12 Reset Watchdog, PWM Generation
Timer 0 19 1 ms Interrupt
SPI 20 Serial Transfer Complete
USART RX 21 Receive Complete
![Page 59: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/59.jpg)
Interrupts
59
Interrupts Priority FunctionReset 1 Reset Microcontroller
Watchdog Timer 9 Reset
Timer 2 12 Reset Watchdog, PWM Generation
Timer 0 19 1 ms Interrupt
SPI 20 Serial Transfer Complete
USART RX 21 Receive Complete
![Page 60: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/60.jpg)
Interrupts
60
Interrupts Priority FunctionReset 1 Reset Microcontroller
Watchdog Timer 9 Reset
Timer 2 12 Reset Watchdog, PWM Generation
Timer 0 19 1 ms Interrupt
SPI 20 Serial Transfer Complete
USART RX 21 Receive Complete
![Page 61: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/61.jpg)
Parallel SPI Communication
61
Receiving Message
Sending Message
PWM Update
![Page 62: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/62.jpg)
Parallel SPI Communication
62
Receiving Message
Sending Message
PWM Update
![Page 63: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/63.jpg)
Motor Control Unit
63
![Page 64: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/64.jpg)
Block Diagram: Motor Control
64
![Page 65: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/65.jpg)
Predriver
65
LM7805
Predriver
Image taken from [6].
![Page 66: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/66.jpg)
Predriver
66
LM7805
Predriver
Image taken from [6].
![Page 67: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/67.jpg)
Predriver
67
LM7805
Predriver
Image taken from [6].
![Page 68: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/68.jpg)
Predriver
68
LM7805
Predriver
Image taken from [6].
![Page 69: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/69.jpg)
Presentation Outline
• Background
• Evan Dinelli
• Dan Van de Water
• Michael Barnes• Power Transistors
• Summary and Conclusions
• Questions and Answers (Q & A)
69
![Page 70: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/70.jpg)
Motor Unit
70
![Page 71: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/71.jpg)
BLDC Motors
71Video taken from [7].
![Page 72: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/72.jpg)
BLDC – MOSFET Schematic
72Image taken from [8].
![Page 73: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/73.jpg)
BLDC – MOSFET Schematic
73Image taken from [8].
![Page 74: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/74.jpg)
BLDC – MOSFET Schematic
74Image taken from [8].
![Page 75: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/75.jpg)
BLDC – MOSFET Schematic
75Image taken from [8].
![Page 76: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/76.jpg)
BLDC – MOSFET Schematic
76Image taken from [8].
![Page 77: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/77.jpg)
BLDC – MOSFET Schematic
77Image taken from [8].
![Page 78: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/78.jpg)
N-Channel MOSFETs
78Image taken from [10].
![Page 79: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/79.jpg)
N-Channel MOSFETs
79Image taken from [10].
![Page 80: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/80.jpg)
N-Channel MOSFETs
80
VGS
VDS
Screenshot of oscilloscope
![Page 81: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/81.jpg)
N-Channel MOSFETs
81
![Page 82: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/82.jpg)
Design Considerations
• MOSFET Switching Time• Dead Time
• Shoot Through
82
![Page 83: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/83.jpg)
Design Considerations
• MOSFET Switching Time• Dead Time
• Shoot Through
83
![Page 84: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/84.jpg)
MOSFET Switching Time
84Image taken from [9].
![Page 85: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/85.jpg)
MOSFET Switching Time
85Image taken from [9].
![Page 86: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/86.jpg)
MOSFET Switching Time
86Image taken from [9].
![Page 87: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/87.jpg)
MOSFET Switching Time
87Image taken from [9].
![Page 88: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/88.jpg)
MOSFET Switching Time
• Turn On Time:
•𝑅𝐺 =𝑡𝑟
𝐶𝑔𝑠+𝐶𝑔𝑑 ln1
1−𝑉𝑔𝑝
𝑉𝑔𝑠𝑎𝑝𝑝
− 𝑅𝑔𝑎𝑝𝑝
• Turn Off Time:
•𝑅𝐺 =𝑡𝑓
𝐶𝑔𝑑+𝐶𝑔𝑠 ln𝑉𝑔𝑠𝑎𝑝𝑝
𝑉𝑔𝑝
− 𝑅𝑔𝑎𝑝𝑝
88
![Page 89: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/89.jpg)
Design Considerations
• MOSFET Switching Time
• N-Channel MOSFETs• High Side
• Low Side
89
![Page 90: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/90.jpg)
N-Channel MOSFETs – High Side
90Image taken from [9].
![Page 91: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/91.jpg)
N-Channel MOSFETs – High Side
91Image taken from [10].
![Page 92: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/92.jpg)
N-Channel MOSFETs – High Side
92Image taken from [9].
![Page 93: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/93.jpg)
N-Channel MOSFETs – High Side
•ΔVBOOT = VDD − VF − VGSMIN
•𝑄𝑇𝑂𝑇𝐴𝐿 = 𝑄𝐺𝐴𝑇𝐸 + 𝑖𝐿𝐾𝐺𝑆 ∗ 𝑡𝑂𝑁 + 𝑄𝐿𝑆
•𝐶𝐵𝑂𝑂𝑇 =𝑄𝑇𝑂𝑇𝐴𝐿
ΔVBOOT
93
![Page 94: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/94.jpg)
N-Channel MOSFETs – Low Side
94Image taken from [9].
![Page 95: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/95.jpg)
N-Channel MOSFETs – Low Side
95Image taken from [10].
![Page 96: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/96.jpg)
Phase A Predriver Interface
96
![Page 97: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/97.jpg)
Presentation Outline
• Background
• Evan Dinelli
• Dan Van de Water
• Michael Barnes
• Summary and Conclusions
• Questions and Answers (Q & A)
97
![Page 98: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/98.jpg)
Summary And Conclusions
• Framework for RoboBoat• Navigation
• Thrust
98Image taken from [11].
![Page 99: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/99.jpg)
Summary And Conclusions
• GPS and Compass Data Processing
• RC Commands
• Master-Slave Communication
• Designed Power Transistor Circuit
99
![Page 100: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/100.jpg)
Presentation Outline
• Background
• Evan Dinelli
• Dan Van de Water
• Michael Barnes
• Summary and Conclusions
• Questions and Answers (Q & A)
100
![Page 101: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/101.jpg)
Navigation and Thrust Systems for AUVSI RoboBoat
Team: Michael S. Barnes, Evan J. Dinelli, Daniel R. Van de Water
Advisors: Mr. Nick Schmidt and Dr. Gary Dempsey
Department of Electrical and Computer
Engineering
April 26th, 2016
101
![Page 102: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/102.jpg)
References
• [1] http://www.auvsifoundation.org/foundation/competitions/competition-central/roboboat
• [2] http://www.bradley.edu/inthespotlight/story/?id=b46cf284-2bd9-4efb-917e-ba6ca565cf84
• [3] http://www.bluerobotics.com/thruster/
• [3] http://www.amazon.com/Futaba-2-4Ghz-Helicopter-Aircraft-Transmitter/dp/B0015H6FOC
• [4] http://images.amain.com/images/large/fut/futl7627.jpg
• [5] http://www.electricaleasy.com/2015/01/how-does-servo-motor-work.html
• [6] http://www.allegromicro.com/~/Media/Files/Datasheets/A4960-Datasheet.ashx
• [7] https://www.youtube.com/watch?v=oFI7VW6WGR4
• [8] Jamie Dunn, “Determining MOSFET Driver Needs for Motor Drive Applications,” Microchip Technology Inc., 2003.
• [9] http://www.allegromicro.com/~/Media/Files/Datasheets/A4960-Datasheet.ashx
• [10] http://volga.eng.yale.edu/index.php/main/semiconductors
• [11] http://www.auvsifoundation.org/competitions/competition-central/roboboat/past-roboboat-competitions
• [12] https://higherlogicdownload.s3.amazonaws.com/AUVSI/fb9a8da0-2ac8-42d1-a11e-d58c1e158347/UploadedFiles/RoboBoat_2014_final_rules.pdf
• [13] http://www.gpsinformation.org/dale/nmea.htm
• [14] http://www.robot-electronics.co.uk/htm/cmps10i2c.htm
102
![Page 103: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/103.jpg)
References
• [15] AUVSI Foundation. (2015). RoboBoat - Rules [Online]. Available: https://higherlogicdownload.s3.amazonaws.com/AUVSI/fb9a8da0-2ac8-42d1-a11e-d58c1e158347/UploadedFiles/RoboBoat_2015_final_rules.pdf
• [16] NEMA Data [Online]. Available: “AUVSI foundation” Available: http://www.auvsifoundation.org/home
• [17] ATmega1284 Datasheet [Online]. Available: http://www.atmel.com/images/Atmel-8272-8-bit-AVR-microcontroller-ATmega164A_PA-324A_PA-644A_PA-284_P_datasheet.pdf
• [18] “Atmega 644A Datasheet” http://www.atmel.com/Images/Atmel-8272-8-bit-AVR-microcontroller-ATmega164A_PA-324A_PA-644A_PA-1284_P_datasheet.pdf
• [19] Futaba T66EX 2.4 GHZ Datasheet [Online]. Available: http://manuals.hobbico.com/fut/6ex-2_4ghz-manual.pdf
103
![Page 104: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/104.jpg)
Extra Slides
104
![Page 105: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/105.jpg)
Competition Area
105Image taken from [12].
![Page 106: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/106.jpg)
Constraints - AUVSI
106
2013 2014 2015
Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
![Page 107: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/107.jpg)
Constraints and Requirements
107
Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Cost
GPS and compass
Mode switch
Reusable
![Page 108: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/108.jpg)
Constraints and Requirements
108
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
![Page 109: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/109.jpg)
Specifications
109
Nonfunctional Requirements
Reusability
Water Resistance
Functional Requirements Specifications
GPS and CompassGPS Accuracy: < ±2 m
Compass Accuracy: < ±2°
Remote Control
Rate: ≥ 5 Commands / sec
Mode Signal
Software Kill Signal
Motor ControlRate: ≥ 5 Commands / sec
Physical Kill Switch
![Page 110: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/110.jpg)
System Block Diagram
110
![Page 111: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/111.jpg)
Subsystem Block Diagram
111
![Page 112: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/112.jpg)
Navigation System Block Diagram
112
![Page 113: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/113.jpg)
Navigation Subsystem Schematic
113
![Page 114: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/114.jpg)
RC Unit Schematic
114
![Page 115: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/115.jpg)
MCU and Compass Interfacing
115
ATmega1284 CMPS10
SDA, receiveVIL,min = 0.99V SDA,
transmit3.3V levels
VIH,max = 1.98-3.83V
SDA, transmitVOH,min = 2.3V SDA,
receive3.3V levels
VOL,max = 0.6V
![Page 116: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/116.jpg)
MCU and GPS Interfacing
116
ATmega1284 Adafruit Ultimate GPS
RxVIL,max = 0.99V
TxVOH,min = 2.3V
VIH,min = 1.98V VOL, max = 0.6V
TxVOH,min = 2.3V
RxVIH,min = 1.98V
VOL,max = 0.6V VIL,max = 0.99V
![Page 117: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/117.jpg)
MCU and MAX3232 Interfacing
117
ATmega1284 MAX3232
Rx VIL,max = 0.99VTx
VOH,min = 2.7V
VIH,min = 1.98V VOL, max = 0.4V
Tx VOH,min = 2.3VRx
VIH,min = 1.8-2.4V
VOL,max = 0.6V VIL,max = 0.6-1.2V
![Page 118: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/118.jpg)
Baud Rate
𝐸𝑟𝑟𝑜𝑟 % =𝐵𝑎𝑢𝑑𝑅𝑎𝑡𝑒𝐶𝑙𝑜𝑠𝑒𝑠𝑡𝑀𝑎𝑡𝑐ℎ
𝐵𝑎𝑢𝑑𝑅𝑎𝑡𝑒− 1 ∗ 100%
(1)
𝐵𝑎𝑢𝑑𝑅𝑎𝑡𝑒𝐶𝑙𝑜𝑠𝑒𝑠𝑡𝑀𝑎𝑡𝑐ℎ =𝑓𝑜𝑠𝑐
16∗𝐵𝑎𝑢𝑑𝑅𝑎𝑡𝑒− 1
(2)
118
![Page 119: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/119.jpg)
USART Registers
119
Important Registers for USART Initialization
UBRR1H, UBRR1L Set Baud Rate
UCSR1B Enable Receiver and Transmitter
UCSR1C 2 Stop Bits
Important Registers for USART Data Transmission
UCSR1A, UDRE1 Wait for Empty Buffer
UDR1 Where to Send Data
![Page 120: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/120.jpg)
NEMA 2.0
120Image taken from [13].
![Page 121: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/121.jpg)
NEMA 2.0
121Image taken from [13].
![Page 122: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/122.jpg)
Raw GPS Output
• GPS Readings• Asynchronous Serial
• 9600 Baud Rate, 1 Hz Transmission
• No Parity, 1 Stop Bit
122
Serial Stream Directly From GPS Sensor
![Page 123: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/123.jpg)
Parsed NMEA Sentence
• Algorithm:• Find Second Comma
• Parse:• Latitude
• Degrees
• Minutes and Seconds
• Format
• Repeat for Longitude
123
Serial Stream Directly From GPS Sensor
![Page 124: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/124.jpg)
Parsed NMEA Sentence
• Algorithm:• Find Second Comma
• Parse:• Latitude
• Degrees
• Minutes and Seconds
• Format
• Repeat for Longitude
124
Serial Stream Directly From GPS Sensor
![Page 125: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/125.jpg)
Parsed NMEA Sentence
125
Serial Stream Directly From GPS Sensor
![Page 126: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/126.jpg)
Final GPS Results
• Data Packet:• Latitude
• Longitude
• Compass Bearing (future work)
126
Serial Stream Directly From GPS Sensor
![Page 127: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/127.jpg)
RC Design Approach
• Measure Pulse-Widths• Timer1, INT2, PCINT1:2, PCINT
• Mode and Kill Switches
• Convert to Motor Command
127
RC Receiver Output, Channels 1, 3, 5, & 6
![Page 128: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/128.jpg)
CMPS10 Compass Registers
128Image taken from [14].
![Page 129: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/129.jpg)
SCL Frequency
• 𝑆𝐶𝐿 𝑓𝑟𝑒𝑢𝑒𝑛𝑐𝑦 =𝐶𝑃𝑈 𝐶𝑙𝑜𝑐𝑘 𝐹𝑟𝑒𝑞𝑞𝑢𝑒𝑛𝑐𝑦
16+2 𝑇𝑊𝐵𝑅 ∗4𝑇𝑊𝑃𝑆
• SCL Frequency (F_SCL) = 100 KHz
• In Software:• #define TWBR_val ((((F_CPU / F_SCL) / Prescaler)
- 16 ) / 2)
129
![Page 130: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/130.jpg)
I2C Write Command
• Send Start Bit
• Load Address of I2C Device and Transmit
• Load Register Number and Transmit
• Load Write Data and Transmit
• Stop Bit
130
![Page 131: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/131.jpg)
I2C Read Command
• Send Start Bi
• Load Address of I2C Device
• Transmit Data
• Send Repeated Start Bit
• Transmit Address of I2C Device
• Set Read Bit (w/ Odd Address)
• Clear Transmit Interrupt Flag
• Transmit Nack (Last Byte Request
• Read the Target Data
• Send Stop Bit on I2C Bus
131
![Page 132: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/132.jpg)
RC Channels
132
Screenshot of oscilloscope
![Page 133: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/133.jpg)
RC Channels
RC
ChannelInterrupt ISR Action
1 PCINTA Chk = 0 on Rising-edge
2 PCINTB Chk = 1 on Rising-edge
3 PCINTA Chk = 2 on Rising-edge
4 PCINTB Chk = 3 on Rising-edge
5 PCINTAChk = 4 on Rising-edge and
Chk = 5 on Falling-edge
6 INT2 Calculate Value of Pulse-width(Within ISR)
133
![Page 134: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/134.jpg)
RC Timing
• Oscilloscope Channel 1 Toggled at the Start of RC Data Transmission
• 66.5 ms to Transmit an RC Motor Command
134
Screenshot of oscilloscope
![Page 135: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/135.jpg)
RC Motor Command Scheme
• Neutral “Dead” Zone
• Header
• Data Bits
• Footer
• 8-bits Total
135
![Page 136: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/136.jpg)
Kill Motors Command
136
![Page 137: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/137.jpg)
Autonomous Mode Command
137
![Page 138: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/138.jpg)
RC Motor Commands
138
![Page 139: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/139.jpg)
PWM Control
139
Forward
Backward
Left
Right
Motor 1 Motor 2
Motor 3 Motor 4
![Page 140: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/140.jpg)
SPI Communication
140Figure taken from [15]
![Page 141: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/141.jpg)
Interrupt Driven Code
• PWM
141Figure taken from [15]
![Page 142: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/142.jpg)
Watchdog Timer
142
ISR(TIMER2_COMPA_vect){OCR2A = pwm2;__asm__("wdr;");
}
![Page 143: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/143.jpg)
Watchdog Timer Information
143
![Page 144: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/144.jpg)
Motor Control Current Draw
• A4960 TOTAL: 30.253
• VDD 16 mA
• VBB 14 mA
• Reference Current 3 uA
• VBRG 250 uA
• LM7805 8 mA
• Atmega1284P 7.5 mA TOTAL: 8.2502 mA• PRUSART0 88.5 uA
• PRTW1 230.3 uA
• PRTIM3 105.5 uA
• PRTIM1 113.7 uA
• PRSPI 212.2 uA
• Atmega644A 9 mA TOTAL: 10.165 mA• PRTW1 315 uA
• PRTIM3 300 uA
• PRTIM1 150 uA
• PRSPI 400 uA
TOTAL: 121.012 + 8 + 8.2502 + 40.66 = 177.92222 mA = 178 mA
144
![Page 145: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/145.jpg)
Power Loss Calculation
•Conducting Loss:
•𝑃𝐶 = 𝑅𝐷𝑆𝑜𝑛 ∗ 𝑖𝐷2
•Switching Loss:
•𝑃𝑠 =𝐶𝑟𝑠𝑠∗ 𝑉𝑖𝑛
2∗𝑓𝑠𝑤∗𝐼𝐿𝑂𝐴𝐷
𝐼𝐺𝐴𝑇𝐸
145
![Page 146: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/146.jpg)
Battery
•Lithium Iron Phosphate
•15 Amp Hour Battery (x2)
•Max Current Output Limited to 25 A
•Batteries Turn Off at 11 V
•Max Voltage of 13 V
146
![Page 147: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/147.jpg)
Detailed Budget
147
![Page 148: Navigation and Thrust Systems for AUVSI RoboBoatee.bradley.edu/projects/proj2016/nats/assets/docs/NATS_FinalPresentation.pdf · Navigation and Thrust Systems for AUVSI RoboBoat Team:](https://reader030.vdocuments.net/reader030/viewer/2022040315/5e1cc6209ecd79714e5dbe98/html5/thumbnails/148.jpg)
Reusability
• Future Work• GPS and Compass Unit Integration
• Fix Predriver Errors
• Integrate MOSFET and Motor Control
• Construct
• Water Resistance
148