Requirements Overview

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Presentation transcript:

Requirements Overview Level 1 Requirement Accepts Vehicle Speed Command Accepts Steering Angle Command Delivers Throttle D/A Steering D/A Delivers Estimate Distance Traveled Level 2 Requirement Receives Current Lon/Lat Accepts new Lon/Lat straight-line waypoint Dead recon to commanded waypoint Make speed/steering corrections based on sensor input and updates to Lon/Lat information

External Interfaces Overview Ethernet Server Responds to commands and data requests Simple command format Sensor/Actuator Output Provide Screw Terminal Connections for Prototype DAC Outputs 0-5V 10 significant bits output Steering Left<3.7V<right Throttle Break<3.7V<Accel

External Interfaces Overview (cont.) Wheel Speed Capture Inputs (4) 5V digital inputs 16p/r Servo Pot Differential Analog Inputs (4) Measure voltage off servo pots to determine current position of potentiometers.

Screw Terminal Block Vehicle Control System Hardware Architecture Servo Pot Differential Inputs 4 RT Linux Laptop Vehicle Speed Ethernet Wheel Speed 4 Throttle DAC RS232 ` uC I/O Board Steering DAC USB (power) Spare Capture/DIO 8

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