ECET 365 Week 5 Lab DeVry
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ECET 365 Week 5 Lab DeVry
Lab 5:
Converting Requirements to a Work Schedule
Objectives
- Determine the timing requirements for data to and from subsystems.
- Change a procedural subroutine to an interrupt-driven subroutine.
- Compare the interrupt-driven system operation to the procedural system.
Parts List
- Robotic Car Kit with visual sensor
- Freescale Tower Kit with S12G128 CPU board
- PC with IDE software (e.g. CodeWarrior Development Studio V5.1)
- Alternative Robotics Kit or other kit if applicable
- Oscilloscope with X10 probe
Introduction
- A system can use many ways to ensure that operations are controlled. A procedural code program can manage the data to and from devices within the main program, or it can use interrupt requests to cause the CPU to jump from the main program to a subroutine.
- We will take the code for the Smart Car and modify it to use an interrupt service routine. We will then compare the performance of the two approaches by measuring the period of the SI pulse on the video sensor.
Deliverables
Answer all
questions in Week 5 Lab Cover Sheet here (Links
to an external site.)Links to an external site..
Submit
your Week 5 Lab Assignment.
You
can also download the cover sheet for Week 5 Lab in the Files section of the
Course Menu.
Required
Software
CodeWarrior
Development Studio for S12(x) V5.1
Access the
software at http://www.nxp.com/ (Links
to an external site.)Links to an external site. (Links
to an external site.)Links to an external site..
Lab Steps
STEP 1:
Procedures
- Robotic Car Subsystems
- The interacting subsystems are the visual sensor subsystem, the steering subsystem, and the CPU board subsystem. We need to ensure that the motor subsystem does not affect the other systems.
- Set the assembled car on blocks so that the motor wheels can move freely. Consider that the front wheels must have room to move side to side, and that the back wheels will be powered.
- Load the car program into the CPU board. Ensure that the video sensor inputs and outputs are connected to the CPU board. Also, ensure that the servo inputs are correctly connected.
- In a previous lab, we have tested the steering with an index card that has a 1-inch-wide stripe down the center of the card. This time, we will test the system with the wheels powered.
- Test the system with the subsystems powered, but the motor power to the H-bridges disconnected. Troubleshoot the system if it does not operate satisfactorily. Once the steering system works correctly, proceed to the next step.
- Load the CPU with the first program shown in Appendix A of the Construction Notes for the Robotic Car (see the Files section of the Course Menu). If a test track is available, run the Robotic Car program and observe the operation. If a test track is not available, set up the car on a block so that the wheels are free to turn. Use the test index card with the center black stripe. Observe the operation of the car as the stripe is moved left and right.
- Load the CPU with the second program shown in Appendix A. Run the program and observe the operation of the Robotic Car as the index card center stripe is moved left and right.
- Observations – Complete the following questions in the Week 5 Lab Cover Sheet and submit your Lab Assignment.
- Compare the operation of the first program with the operation of the second program.
- Explain why the timing has changed.
- What changes should be made to the second program to enhance the Robotic Car performance?
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