GPSBot08 System Overview.

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Presentation transcript:

GPSBot08 System Overview

Main Control Algorithm User Interface System Diagram Target Information RS232 ZigBee Coordinator Sensor Data 802.15.4 Manual Control RS232 ZigBee Node ADC Battery Voltage Processor An Ch 1 RS232 Gyroscope Sensor An Ch 2 I²C I²C Main Control Algorithm Kalman Filter Accelerometer Sensor I²C Inertial Navigation Unit Compass Sensor I²C PID Control Loops RS232 GPS Sensor Position Error Analysis RS232 Motor Output Generation Status Messages PWM Motor Level Converter RS232 TTL Output PWM PWM Drive Motor Steer Motor LCD LED’s

System Layout Steer Motor Steer Motor XBee Radio RESET Switch Speed Controller Speed Controller MAX232 Level Cog 1 Master Control PID Control Cog 2 PWM (Steer) Cog 3 PWM (Drive) Cog 4 COM UART LCD Cog 5 GPS UART Cog 6 DSP Cog 7 Gyroscope/ Battery Voltage Cog 8 Compass/ Accelerometer Accelerometer GPS ADC IC Compass Gyroscope Battery Voltage

Sub-System Status Interface: Control: Algorithms: Test Interface (HT) Communications Boot Options Real Interface (NI) Power DSP Debugging PID Control Loops Sensors: Drive-Train: GPS 4Wheel Drive Accelerometer Steering Compass Gyroscope Miscellaneous Legend: In Work Not Started Completed Hold Issue

Controller Status Cog 1 Cog 2 Cog 3 Cog 4 Cog 5 Cog 6 Cog 7 Cog 8 Master Control/ PID Control Cog 2 PWM (Steer) Cog 3 PWM (Drive) Cog 4 COM UART Cog 5 GPS UART Cog 6 DSP Cog 7 Battery Voltage/ Gyroscope Cog 8 Compass/ Accelerometer Legend: In Work Not Started Completed Hold Issue