Remote Control Rover CSC 460 Final Project Fall 2006 - Jon & Michael

The Goal Create a rover that can act on its own accord (wander around looking for control station and react to the environment) When a control station is found it switches modes to simply follows commands and send sensor data Base station programmed to have rover walk perimeter of the room Fall 2006 - Jon & Michael

Block Diagram Rover Base Station Fall 2006 - Jon & Michael

Communication Overview 1 Base Station AT90USB1287 Rover Brain AT90USB1287 Wireless USB - optional (Emulated COM port) 2 UART Terminal Rover Control 68HC11 & RugWarrior Implementation order Fall 2006 - Jon & Michael

Base Station State Diagram Fall 2006 - Jon & Michael

Rover State Diagram Fall 2006 - Jon & Michael

Commands Wireless UART Connect Move Stop Rotate Start Moving Stop Moving Start Turning Stop Turning Bumper Hit Fall 2006 - Jon & Michael

Stages of Implementation Rover Communication Base Communication Rover Movement Rover Sensors Base Model/Logic Base Joystick Control (Time Pending) Fall 2006 - Jon & Michael

Stage 1 (Rover Communication) Create/implement device driver for wireless Define protocol/language for communication Goal is to get the communication between the base and the rover working first to make debugging easier. Fall 2006 - Jon & Michael

Stage 2 (Base Communication) Create debug protocol between rover and base Use emulated COM port over USB for print outs Fall 2006 - Jon & Michael

Stage 3 (Rover Movement) Create device driver on AT90USB1287 for communication with 68HC11 board. Calibrate movement Straight line Turns Fall 2006 - Jon & Michael

Stage 4 (Rover Sensors/Logic) Interface bump sensor Interface 3 sonar modules Program wander “looking for base” mode Program remote mode Fall 2006 - Jon & Michael

Stage 5 (Base Model/Logic) Built the model of possible states of the rover on the base station Implement the logic to walk the perimeter of the room Perhaps draw proportional rectangle to room size with characters on completion Fall 2006 - Jon & Michael

Stage 6 (Base Joystick Control) Time permitting (not likely) Add full joystick control mode to the rover from the base station Fall 2006 - Jon & Michael

Questions? Fall 2006 - Jon & Michael