Michael Madavane Russell McLoughlin

Plan Build a autonomous car, a GuideBot, that follows a set of directions to navigate an obstacle course Distance sensor avoids walls/obstacles. SD card to store directions – compose instructions on PC in text editor – Store on SD card and insert into GuideBot Motors and more to move

Car Setup

Sharp Distance Sensor Analog output Voltage Range: 0.3V-3V ADC Digital Value range:

Sensor Distance Module ADC module called distance Virtual timer for multiple reading Buffer stored in buf0 Average > 300

Quad Half-H Driver Analog output Enable input used for left/right A from Arduino 1Y and 2Y to Motor Thermal shutdown PWM Driver will be used to control the duty cycle and speed of the motor.

SD Card Low level module – initialize card – read sector, write sector File system Package – FAT32 – Open, read, seek & write files Asynchronous I/O – Supply pointer to buffer – fill/empty buffer as requested – post event when data is ready or job is done

Main Events Main Module requests instruction file from file system File system posts event when file has been retrieved Main module starts issuing commands to navigation modules Waits for one command to finish before executing next Motor module turns motors on/off to execute directions Distance Sensor raises an event when it detects wall/obstacle Navigation module stops forward motion when receives distance sensor event

SD Interface SPI FAT Distance Sensor Raise event when close to wall Main Handled Events: File ready Instruction done Navigation Module ReadWrite Hardware PWMDirection Hardware Nav module interface: Speed (0-100) Left, Right, Stop (Raise event when finishes task)

Block Diagram Motor 1 Motor 2 Distance Sensor SD Card H-bridge Arduino