Raymond Engle Stanley Hanke. We will be developing a remote-controlled, self- balancing robot Wireless communications will be managed by the eBox.

Raymond Engle Stanley Hanke We will be developing a remote-controlled, self- balancing robot Wireless communications will be managed by the eBox Motor controls will be managed by the mbed with an H-bridge Desktop computer will run a GUI program to connect to the eBox wirelessly eBox will pass operator commands to the mbed via RS-232 serial Linear shaft encoder and gyroscope is used to provide feedback to the mbed Mbed microcontroller will use state- space integral control to determine corrective course of action GUI interface running on a PC sends data packets containing commands over wifi to the eBox Commands received by the eBox are forwarded to the mbed for execution Mbed microcontroller eBox x86 embedded PC Sparkfun breakout boards: RS-232 Serial Gyroscope H-bridge 2x Phidgets DC motors Lead-Acid Battery Chassis Wireless Router Duct tape Due to complexities of timing with the state-space controller, we are unsure whether the mbed has sufficient real-time requirements Because of our unfamiliarity with networking in Windows CE, we are concerned that we will have difficulty establishing communications between the desktop and the eBox