P07302: Motor Controller Subsystem


Table of Contents

P07302: Motor Controller Subsystem

This is a project within the Systems & Controls Technology Track, to develop a Modular, Scalable, Open Architecture Microcontroller based Platform for Vehicle and Robot motor control.

This project will be initiated during the Fall Quarter, 2006-1, with two other closely related projects. Additionally, these projects have significant overlap with projects from the Vehicular Systems Track (P07200).

Related Projects
Project Title Start Term End Term
P07301 Systems and Controls: Vehicle Data Acquisition (DAQ) Subsystem 2006-1 TBD
P07303 FUTURE: Systems and Controls: Wireless Communications 2007-1 TBD
P07200 Vehicle Systems Technology Track 2006-1 On-going
P07201 Motor Module - Robotic Platform 10kg (RP10) 2006-1 2006-3
P07202 Motor Module - Robotic Platform 100kg (RP10) 2006-1 2006-2

Team Members / Team Organization

Advisory Panel
Name Discipline Role email
Ed Hensel ME Customer echeme@rit.edu
George Slack EE Guide gbseee@rit.edu
Pratapa Reddy CE Consultant pvreee@rit.edu
Design Team
Name Discipline Role email
Dev Shenoy CE Project Manager d3x74.shenoy@gmail.com
Richard Cooper CE Subsystem 6 Lead richard.cooper3@gmail.com
Ashish Karani EE Subsystem 3 Lead ashishvk@gmail.com
Laetitia DeSnots EE Subsystem 1 Lead lxd4589@rit.edu
Stephen Tallau CE Subsystem 5 Lead swt0923@rit.edu
Matt Oesterling EE Subsystem 2 Lead meo2662@gmail.com
Rahul Gupta EE Subsystem 4 Lead rahulgupta23@gmail.com
Subsystem # Description Lead Members
1 I/O Filter Laetitia DeSnots Matt Oesterling, Rahul Gupta
2 PC104 Processor interface Matt Oesterling Richard Cooper, Dev Shenoy
3 Auxiliary Device Ashish Karani Laetitia DeSnots
4 Power Supply Rahul Gupta Ashish Karani, Laetitia DeSnots
5 Linux OS & Motor Controller Software Stephen Tallau Richard Cooper, Dev Shenoy
6 SPI PLD Richard Cooper Stephen Tallau, Dev Shenoy

Project Readiness Package

The Project Readiness Package defines customer needs and expectations, project deliverables (including time frame), budget, and personnel / organizations affiliated with the project. It will serve as the primary source of information for students necessary during Phase 0 (Planning) to develop a SD I plan and schedule including specific deliverables and due dates. The Project Readiness Package will also support Faculty evaluation of project suitability in terms of depth, scope, and student / faculty resources by discipline.

P07302 Project Readiness Package

Original P07302 Project Readiness Package

Project Analysis

The P07302 project summary can be obtained here: P07302 Project Summary (.doc)

The P07302 project needs assessment can be obtained here: P07302 Needs Assessment (.doc)

The P07302 project design specifications can be obtained here: P07302 Design Specifications (.xls)

Project Planning / Deployment

The 11-week project plan can be obtained below:

P07302 Design Plan (.mpp)

P07302 Design Plan (.pdf)

Concept Development

The P07302 concept development document can be obtained here: P07302 Concept Development Document (.doc)

The proceedings from the first Design Review can be obtained here: P07302 Design Review 1 (.doc)

MSD II Design Review

All documents for this Design Review can be found below:

Design Review Agenda (.doc)

Design Document / Pre-Read (.doc)

Design Review Issues/Resolutions (.xls)

Test Plan / Results

The Test Plan can be found here: Test Plan (.doc)

The Regression Testing Document can be found here: Regression Testing (.doc)

Technical Paper

The P07302 Technical Conference Paper can be obtained here: P07302 Conference Paper (.doc)

Bill Of Materials

The P07302 Bill of Materials Spreadsheet can be found here: P07302 Bill of Materials (.xls)


The P07302 Project Poster can be obtained here: P07302 Poster (.ppt)

Project Reviews

The P07302 Project Review for MSD I can be obtained here: MSD I Project Review (.ppt)

The P07302 Project Review for MSD II can be obtained here: MSD II Project Review (.ppt)


The CPLD VHDL Parallel Project Implementation can be found here: CPLD Project (.rar)

The CPLD VHDL CAN Project Implementation Revisions can be found here:

CPLD CAN Project Rev. 1 (.rar)

CPLD CAN Project Rev. 2 (.rar)

The C code run on the PC104 can be found here: C-Code (.rar)

PCB Layout Material

The P07302 Motor Control and Power Board Schematics and Layouts can be found here: Schematics and Layout (.zip)

The P07302 Motor Control Pin Connections for the PCB: Pin Connections (.xls)

Useful Resources

Instructions on how to reinstall Linux on the PC104 can be found here: Reinstall Instructions (.doc)

The XC2-XL (CPLD) Reference Manual can be found here: XC2-XL RM (.pdf)

The CAN Controller Reference Manual can be found here: CAN RM (.pdf)