Michael Madavane Russell McLoughlin
Mar 26, 2015
Michael Madavane
Russell McLoughlin
Plan Build a autonomous car, a “GuideBot”, that follows a
set of directions to navigate an obstacle course Distance sensor avoids walls/obstacles. SD card to store directions
– compose instructions on PC in text editor
– Store on SD card and insert into GuideBot Motors and more to move
Car Setup
Sharp Distance Sensor Analog output Voltage Range:
0.3V-3V ADC Digital Value range:
10-600
Sensor Distance Module ADC module called distance Virtual timer for multiple
reading Buffer stored in buf0 Average > 300
Quad Half-H Driver Analog output Enable input used
for left/right A from Arduino 1Y and 2Y to Motor Thermal shutdown PWM Driver will be
used to control the duty cycle and speed of the motor.
SD Card
• Low level module – initialize card– read sector, write sector
• File system Package – FAT32– Open, read, seek & write files
• Asynchronous I/O– Supply pointer to buffer– fill/empty buffer as requested– post event when data is ready or job is
done
Main Events Main Module requests instruction file from file system File system posts event when file has been retrieved Main module starts issuing commands to navigation
modulesWaits for one command to finish before executing
next
• Motor module turns motors on/off to execute directions
• Distance Sensor raises an event when it detects wall/obstacleNavigation module stops forward motion when
receives distance sensor event
SD Interface
SPI
FAT
Distance Sensor
Raise event when close to wall
Main
Handled Events:File ready
Instruction done
NavigationModule
ReadWrite
HardwarePWM Direction
Hardware
Nav module interface:Speed (0-100)
Left, Right, Stop(Raise event when
finishes task)
Block Diagram
Motor 1 Motor 2
Distance SensorSD Card
H-bridge
Arduino