Digital Signal Processing Reference
In-Depth Information
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Turn East.
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Move forward 4 seconds.
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Turn Southwest.
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Move forward 6.6 seconds.
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Stop and repeat when the pushbutton is hit.
The mechanical compass has a small time delay due to the inertia of the magnetized
rotor. Just like a real compass, it will swing back and forth for awhile before
stopping. With care, the leads on the compass module can be plugged into a DIP
socket with wire wrapped power supply and pull-up resistor connections on a small
protoboard or make a printed circuit board for the compass with jumper wires to plug
into the Cyclone female header socket. Make sure the compass module is mounted so
that it is level and as far away from the motors magnets as possible.
16.
Interface a Sonar-ranging module to the FPGA-bot and perform the following
operation:
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Scan the immediate area 360 degrees by rotating the robot
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Locate the nearest object.
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Move close to the object and stop.
17.
Attach the Sonar transducer to an unmodified servo's output shaft. Use the new servo
to scan the area and locate the closest object. To sweep the unmodified servo back
and forth, a timing pulse that slowly increases from 1ms to 2ms and back to 1ms is
required. Move close to the nearest object and stop.
18.
Attach several IR ranging sensors to the FPGA-bot and use the sensor data to
develop a wall following robot.
19.
Interface additional sensors, switches, etc., to the FPGA-bot so that it can navigate a
maze. If several robots are being developed, consider a contest such as best time
through the maze or best time after learning the maze.
20.
Use the ΜP 3 computer from Chapter 8 to implement a microcontroller to control the
robot instead of a custom state machine. Write a ΜP 3 assembly language program to
solve one of the previous problems. Interface a time-delay timer, the sensors, and the
motor speed control unit to the ΜP 3 computer using I/O ports as suggested in
problem 8.6. The additional machine instructions suggested in the exercises in
Chapter 8 would also be useful.
21.
Use a Nios processor to control the robot with C code using the UP3 Nios II
reference design in Chapters 16 & 17.
