Digital Signal Processing Reference
In-Depth Information
Figure 13.16
The CMUCAM2 contains a color video camera on a chip and a microcontroller.
13.6 Assembly of the FPGA-bot Body
Assembly of the FPGA-bot can be accomplished in about an hour. A drill or
drill press, screwdriver, scissors, a soldering iron, and a wire stripper are the
only tools required. First, obtain the parts in the parts list. Next, drill out the
holes in the round Plexiglas base (part #15) as shown in Figure 13.17. The
mounting holes will move around depending on which FPGA board is used.
The DE2 board is a bit larger than the other boards and you may want to
increase the size of the plastic base to accommodate it or mount it on long
standoffs well above the servo wheels.
To prevent scratches, leave the paper covering on the Plexiglas until all of the
holes are marked and drilled out. The front of the base is on the right side in
Figure 13.17. The wheel slots are symmetric with respect to the center of the
circle.
Proper alignment of the four screw mounting holes for the FPGA board is
critical. Unscrew the four standoffs from the bottom of the FPGA board.
Carefully place it towards the rear of the plastic base as shown in Figure 13.17,
and mark the location of the screw holes using a pen or pencil. Any FPGA
board can also be used, but the mounting holes will be in different locations.
Leave extra space in front of the FPGA board on the plastic base for use by
forward facing sensor modules as seen in Figures 13.1 and 13.9. Double check
that the board clears the top of the servo wheels once it is mounted. Longer
standoffs can also be used to clear the wheels, if needed. Locate the cable and
switch holes as shown in Figure 13.17. Exact positioning on these holes is not
critical. If one is available, use an automatic center punch to help align the drill
holes. The board's expansion header pins should face towards the front of the
