RC08MicroController

The heart of the on-robot electrical system is the micro-controller. It is the central point from which commands are received from the wireless system, interpreted, and sent to the peripherals. Just as in 2007, an ARM based micro-controller is used in 2008, but unlike in 2007 the micro-controller will not be the sole device for all of the computational task. This year some tasks such as reading encoders are handled by a Field Programmable Gate Array (FPGA). The micro-controller will still have the task of decoding packets, interpreting them, and executing commands. Since the wireless system will be a two-way protocol the micro-controller will also monitor and report the status information for the robot such as battery health, kicker charge, ball presence, and errors.

Selecting a Micro-controller

Even though the LPC2138 proved to have good performance for a relatively chip price other, similar controllers were evaluated.

Tasks

• [ ] Generate an I/O spec

*[ ] This means we have to wait until all the other systems are fully spec'd and ready for design

• [ ] Find a part

*[ ] Evaluate based on number and type of I/O, availability of dev tools in linux, support in general community
     package size, current and voltage characteristics, and cost.

• [ ] Purchase and begin development with a dev kit
• [ ] Spec and find the support hardware. (Oscillator, LEDs, switches, etc.)
• [ ] Schematic design
• [ ] Fabricate demo
• [ ] Implement wireless protocol in firmware
• [ ] Build base station using dev kit
• [ ] Build remote control.
• [ ] Implement closed-loop motor control in firmware

Specifications

Micro-Controller

• Serial Programable/Or Mini-JTAG
• 3.3V power
• At least 3 timers
• I/O list
• Matrix of Potential Microcontrollers

Schematics

Schematics

Links

• Electrical System