ECE Team Report Intel-Cornell Cup USA Spring 2015 Made for students, by students Tyler Walker • Steve Bryden Alex Rucker • Ashwath Laxminarayana • Claire Chen • George Li Harshit Gulati • Judy Stephen • Laura Ng • Mikhail Rudinskiy Rameez Qurashi • Shela Wang • Siyu Liu • Sungjoon Park Syed Tahmid Mahbub • Tony Chau • Vaidehi Garg Xiaohan Liu • Yu-Che Eric Hsueh • Yuqi Mark Zhao REPORT | INTEL-CORNELL CUP USA | ACADEMIC ADVISOR: DR. DAVID SCHNEIDER Table of Contents 1 FPGA .........................................................................................................................................4 1.1 PID CONTROLLER ............................................................................................................................. 4 1.1.1 Introduction ............................................................................................................................. 4 1.1.2 Quadrature Encoder Interface................................................................................................. 4 1.1.3 PID Controller Interface ........................................................................................................... 7 1.1.4 PWM Output Interface ............................................................................................................ 8 1.2 MATRIX MULTIPLIER ......................................................................................................................... 8 1.2.1 Single Cycle Version Code ........................................................................................................ 9 1.2.2 Multiple Cycle Version Code .................................................................................................. 10 2 INTRODUCTION TO LINUX ........................................................................................................ 11 2.1 LIST COMMAND IN LINUX ................................................................................................................ 11 2.2 DIRECTORY COMMANDS IN LINUX ..................................................................................................... 12 2.2.1 The ‘mkdir’ command ............................................................................................................ 12 2.2.2 The ‘rmdir’ command ............................................................................................................ 12 2.2.3 Moving between Directories ................................................................................................. 12 2.3 FILE COMMANDS IN LINUX ............................................................................................................... 13 2.3.1 Creating a file in Linux ........................................................................................................... 13 2.3.2 Removing a file in Linux ......................................................................................................... 13 2.3.3 VI Editor ................................................................................................................................. 14 2.4 OTHER USEFUL COMMANDS ............................................................................................................ 15 2.4.1 The ‘mv’ Command ............................................................................................................... 15 2.4.2 The ‘cp’ Command ................................................................................................................. 16 2.4.3 The ‘shutdown’ Command .................................................................................................... 16 2.4.4 The ‘pwd’ Command ............................................................................................................. 16 2.4.5 The ‘head’ Command ............................................................................................................ 17 2.4.6 The ‘tail’ Command ............................................................................................................... 17 2.5 FURTHER READINGS ....................................................................................................................... 17 3 INTEL EDISON .......................................................................................................................... 17 3.1 MRAA LIBRARY INSTALLATION ......................................................................................................... 17 3.2 TRANSFERRING FILES TO THE EDISON ................................................................................................. 18 3.3 PS4 CONTROLLER VIA BLUETOOTH .................................................................................................... 20 3.4 EDISON PWM WITH MRAA ............................................................................................................ 25 3.5 EDISON IO WITH MRAA ................................................................................................................. 26 3.6 MINI MODBOT APPLICATION ........................................................................................................... 27 3.7 EDISON TIMING ............................................................................................................................. 28 3.8 EDISON EXTERNAL INTERRUPTS ........................................................................................................ 32 3.9 MISCELLANEOUS – EDISON .............................................................................................................. 33 3.9.1 Elinks web browser ................................................................................................................ 33 3.9.2 Installing other applications .................................................................................................. 34 4 LOCALIZATION ......................................................................................................................... 34 4.1 IBEACONS ..................................................................................................................................... 34 4.1.1 Design Approach ................................................................................................................... 34 4.1.2 RSSI ........................................................................................................................................ 35 4.1.3 Estimote................................................................................................................................. 35 4.1.4 BLE Mini ................................................................................................................................. 36 4.1.5 Intel Edison ............................................................................................................................ 36 4.1.6 Data Collection ...................................................................................................................... 41 4.1.7 Future Work .......................................................................................................................... 43 4.2 EXTENDED KALMAN FILTER .............................................................................................................. 43 4.2.1 Extended Kalman Filter ......................................................................................................... 44 4.2.2 푸 = 푾푾풕풓 ........................................................................................................................... 49 4.2.3 System Models ...................................................................................................................... 51 4.2.4 Extended Kalman Localization .............................................................................................. 55 4.2.5 Testing ................................................................................................................................... 57 4.2.6 Conclusion ............................................................................................................................. 61 4.3 GSM COMMUNICATION FOR R2 VOICE RECOGNITION .......................................................................... 62 5 MODBOT MOTOR CONTROL ..................................................................................................... 69 5.1 HIGH LEVEL DESIGN ........................................................................................................................ 69 5.1.1 Program/ Hardware Design .................................................................................................. 70 5.1.2 Hall Effect Sensors for Velocity Measurement ...................................................................... 73 5.1.3 Maxon Motor Results & Conclusion ...................................................................................... 82 6 POD-RACER SIMULATOR BASED ON SMALL SCALE MODELS ....................................................... 83 6.1 HIGH LEVEL DESIGN ........................................................................................................................ 83 6.2 POWER SYSTEM ............................................................................................................................. 86 6.3 LOCALIZATION ............................................................................................................................... 89 6.4 INTEL EDISON FOR MOTOR CONTROL AND