SSttrriikkeerr EEL 4914 Senior Design I Group 8 Cruz, Efrain Decamp, Loubens Narvaez, Luis Thomas, Brian Competitive Autonomous Air-Hockey Gaming system Table of Contents Table of Contents .................................................................................................. i 1 Executive Summary .......................................................................................... 1 2 Project Description ............................................................................................ 3 2.1 Motivation ................................................................................................................. 3 2.2 Goals and Objectives ................................................................................................. 4 2.3 Requirements and Specifications ........................................................................... 4 2.3.1 User Interface .................................................................................................... 4 2.3.2 Audio and Visual Effects .................................................................................... 6 2.3.3 Tracking System ................................................................................................. 7 2.3.4 Software .............................................................................................................. 9 2.3.5 System Hardware .............................................................................................. 10 2.3.6 Puck Return Mechanism ................................................................................... 11 2.3.7 Communication ................................................................................................ 12 3 Research ......................................................................................................... 13 3.1 Existing Technology and Products .......................................................................... 13 3.2 Puck Position Tracking System .............................................................................. 13 3.2.1 XBOX360 Kinect ............................................................................................. 14 3.2.2 CMUcam .......................................................................................................... 15 3.2.2.1 CMUcam Software ........................................................................................ 17 3.2.2.2 Pixy Hardware Interface ................................................................................ 20 3.2.3 Communication ................................................................................................ 21 3.3 Puck Return Mechanism ......................................................................................... 22 3.3.1 Design Overview .............................................................................................. 22 3.3.2 Goal Sensors ..................................................................................................... 22 3.3.3 Motor for Conveyor Belt .................................................................................. 30 3.3.4 Interfacing with a Microcontroller ................................................................... 33 3.4 Robot Arm ............................................................................................................... 34 3.4.1 Design Overview .............................................................................................. 34 3.4.2 Processor ........................................................................................................... 34 3.4.3 Communication from Position Tracker ............................................................ 34 3.4.4 Hardware .......................................................................................................... 35 i 3.4.5 Software ............................................................................................................ 43 3.5 Air Hockey Table .................................................................................................... 44 3.5.1 Harvard Action Arena 7’ Air Hockey Table .................................................... 44 3.6 Audio System .......................................................................................................... 44 3.6.1 Speakers ............................................................................................................ 44 3.6.2 Audio Controller ............................................................................................... 44 3.7 Video System .......................................................................................................... 46 3.7.1 Cameras ............................................................................................................ 48 3.7.2 Display Monitor ................................................................................................ 49 3.7.3 Video Controller ............................................................................................... 49 3.7.4 Graphics for Display Monitor........................................................................... 54 3.7.5 LED Strip Lighting ........................................................................................... 54 3.8 Communication System .......................................................................................... 58 Table 12 – Wireless Communication System Comparisons ............................... 58 3.8.1 Bluetooth .......................................................................................................... 59 Table 13 - Bluetooth Power Classes .................................................................. 59 3.8.2 Wireless Fidelity (Wi-Fi) .................................................................................. 61 3.8.3 Zigbee ............................................................................................................... 61 3.8.4 Interfacing with System Controllers ................................................................. 61 3.8.3 Software ............................................................................................................ 66 3.9 System Microcontroller ........................................................................................... 66 3.9.1 T.I. MSP430FG4618 ........................................................................................ 66 3.9.2 Arduino ............................................................................................................. 67 3.9.2 I/O Assignments ............................................................................................... 69 3.9.3 Communication to User Interface ..................................................................... 71 3.10 PCB ....................................................................................................................... 71 3.11 Power Supply ........................................................................................................ 72 3.11.1. Transformer ................................................................................................... 72 3.11.2 Voltage Regulator ........................................................................................... 74 3.12 User Interface ........................................................................................................ 75 3.12.1 Android ........................................................................................................... 75 3.12.2 iOS .................................................................................................................. 76 3.12.3 Windows Phone .............................................................................................. 76 ii 3.12.4 Receiving Data From Striker .......................................................................... 76 4 Design Summary of Hardware and Software .................................................. 77 4.1 System Overview .................................................................................................... 77 4.2Wireless Communication ......................................................................................... 80 4.3 Puck Tracking System ............................................................................................. 82 4.4 Visual Display ......................................................................................................... 88 4.4.1 Hardware .......................................................................................................... 88 4.5 Software Design ...................................................................................................... 90 4.6 Goal Sensors ............................................................................................................ 94 4.7 Power Supply .......................................................................................................... 95 4.8 Robot Arm ............................................................................................................... 96 4.9 Puck-Return ............................................................................................................. 98 100384908 ..................................................................................................................... 99 5 Prototype and Testing ................................................................................... 100 5.1 Puck Tracking (Pixy)