EEL 4657C Linear Controls: Autonomous Robot Design Specifications

1
EEL 4657C Linear ControlsAutonomous
RobotDesign Specifications

• Isaac Muse
• Timmy Williams
• Lee Watson
• Kelvin LeBeaux

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Group 2 Block Acquisition

• GPIO 3 bits in, 2 bits out
• ?start bit
• 0 Do nothing, 1 Start task
• ?value bits
• 00 Low value block, 11 High value block
• ?finished bit
• 0 Not finished, 1 Finished
• ?error bit
• 0 Block acquired, 1 Block not acquired

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Group 3 IR detection

• GPIO 8 bits out
• ?8 bit binary value from 0 to 35 representing
  angle of beacon with respect to robot in 10
  increments
• Dec Hex Direction
• 255 0xFF No beacon detected
• 0 0x00 Straight ahead
• 9 0x09 Left
• 18 0x12 Behind
• 27 0x1B Right

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Group 5 Object Avoidance

• UART Tx
• ?If any object less than 30cm away, return
  reading every 0.1s
• Format char1 char2 char1 char 2
• char1 0xF0 value from 1 to 8 for sensor
• char2 0x00 distance in centimeters

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Group 1 Mobile Platform

• UART Rx
• ?8 bit char representing speed direction

Format 0xHL H high nibble indicates one of
eight directions L low nibble indicates
speed from 0 to 15(max)
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Group 4 Block Detection

• UART Tx/Rx
• code command / response
• ?0xAA Find highest value block and start
  tracking
• ?0xBB Find next highest value block and start
  tracking
• ?0xCC Update status of tracked block
• ?0x00 Block not found
• ?string Value, direction, distance
• Format char1, char2, char3
• char1 value of block (4 highest, 1
  lowest)
• char2 signed char (0 straight ahead,
• -100 max right, 100 max left)
• char3 distance in inches