Autonomous GPS Guided Vehicle

1
Autonomous GPS Guided Vehicle

• Group 5
• Team Advisor
• Dr. Chao
• Team Members
• Russell Vela
• Pamela Danner
• Joshua Teel

2
Project Objective

• Autonomously Navigate a vehicle through the R-4
  Parking lot. Utilizing GPS navigation.

3
Overall Basic Design
4
Overhead Hardware Configuration
5
Internal Hardware Configuration
6
Electronic Speed Control
DuraTrax Blast Forward/ReverseForward and
ReverseMFG Motors 27 Turn ?Voltage input 5 to
7 cells (6-8.4V)On-Resistance 0.0125 to
0.025Maximum current continuousForward 140
Amps, Reverse 40 AmpsWeight 2.6 oz. Case size 
1.7" long x 2.1" wide x .78" highNot High
Frequency, MOSFET EquippedMotor wires (Blue
-),(White )
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External Trigger Interrupt

• Single Pole Double Throw momentary pushbutton
  switch was required to switch between a constant
  ground and vcc.

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External Interrupt Handling Code
void start_capture(void) P2DIR 0xEF
//P2.4 input P2IES 0x10 //triggers when
low P2IE 0x10 //enables interrupts on
2.4 P2SEL 0x00
interruptPORT2_VECTOR void Port2_Interrupt(void)
P1OUT 0x01 //turn on led capture_points()
P2IFG 0x00 //clears the interrupt flags
void capture_points(void) if(point_num lt
4) delay() x_pointpoint_num
x_current y_pointpoint_num
y_current num_sat_pointpoint_numnum_sat if(p
oint_num 3) P2IE 0x00 //turn off
interrupts on Port 2 capture_points_flag
'F' point_num //count to the next
corner point P1OUT 0x00 //turn off led
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Trigger and GPS Communication
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Drive Function Concept
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GPS Data
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Budget
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Gantt Chart
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Gantt Chart Continued
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Final Product
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Finished Design
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Bumps in the Road

• MSP430F413C has no built-in USART mode.
• Josh Teel
• Voltage Regulator failure on transceiver.

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Overall Accomplishments

• Electrical design
• Robustness
• Craftsmanship
• Aesthetics
• Communication between GPS and MSP
• Control of vehicle via the MSP430F149 based upon
  incoming GPS data.

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References

• Http//www.ti.com
• Embedded Systems Design Using the TI Msp430
  Series, Chris Nagy, 2002
• Dr. Neuber
• Dr. Chao
• Scott McClure