1 Yale Autonomous Vehicle Project: Implementing an Embedded System with an EBX Form Factor PC System and PIC Microcontrollers

2 Team Members: Mike LiuEthan Bregman Alan Ghelberg Andy NelsonAndy GrahamJimmy Su

3 Presentation Outline Basic Overview of Robot Example Programs Benefits of the EBX-Form Factor

4 Yale Autonomous Vehicle Project:

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10 Basic Block Diagram EBX-Form Factor PC System Compass & Odometry LCD Output & Keypad Input Motor ControlSonar/GPS COM1COM2COM3COM4

11 Basic Block Diagram EBX-Form Factor PC System COM1COM2COM3COM4

12 Basic Block Diagram (PIC Level) EBX-Form Factor PC System COM1COM2COM3COM4

13 Physical Locations of Systems

14 Example Programs Turn.c Forward2.c Full5.c

15 Example Programs Turn.c

16 Flow Chart Turn.c Initialize COM Ports Initialize Display Initialize Variables Get Time Check to see if 90 ms have passed If so, parse COM1 RS232 String Packets Yes No Print to Screen Results Adjust Heading Subprogram

17 Flow Chart Adjust Heading Subprogram Get Heading Error Given Current Heading and Destination Heading Compute Left Speed Compute Right Speed Output to Motor Control

18 Flow Chart Get Heading Error Subprogram Current Heading: 20 Current Heading: 300 Destination Heading: 10 Reference Point: 360 Destination Heading: 310 Error Formula= Ref-Current+Destination 10 degrees to right 10 degrees to left Error Formula = = 350 degree clockwise Error Formula = = 370 degree clockwise

19 Flow Chart Get Heading Error Subprogram Destination in counter clock wise direction? Diff >= 180 Return Counter Clockwise Spin Amount (Negative) -180<diff<-1 Yes Destination Reached? Diff==0? Return O Destination in clock wise direction? Diff < 180 Return Clockwise Spin Amount (Positive) 1<diff<180 Yes Get Counterclockwise difference from reference value of 360 degrees

20 Example Programs Forward2.c

21 Flow Chart Forward2.c Initialize COM Ports Initialize Display Initialize Variables Get Time Check to see if 90 ms have passed If so, parse COM1 RS232 String Packets Yes No Print to Screen Results Update Global Variable Counters Check to see if “#” has been pressed Reset Global Variable Counters Yes No

22 Example Programs Full5.c

23 Flow Chart Full5.c Initialize COM Ports Startup Display Main Menu Get Menu Selection “#” Pressed? No Update Display Feedback Playback program? Recording program? Diagnostic Menu? Yes Playback Program Yes Diagnostic Menu Get Menu Selection “#” Pressed? Update Display Feedback No Manual Control? Connect the Dots? Yes Manual Control Program Connect the Dots Program Yes Find Heading? Yes Find Heading Program Yes

24 Benefits of the EBX-Form Factor Low-Power Small Size PC-Compatible PC/104 Compatible 4 COM Ports Built-In Solid-State Flash Disk

25 Benefits of the EBX-Form Factor Low-Power

26 Benefits of the EBX-Form Factor Small Size

27 Benefits of the EBX-Form Factor PC-Compatible

28 Benefits of the EBX-Form Factor Powerful CPU

29 Benefits of the EBX-Form Factor PC/104 Compatible

30 Benefits of the EBX-Form Factor 4 COM Ports Built-In

31 Benefits of the EBX-Form Factor Solid-State Flash Disk

32 Figure KEYPAD *0# BGL CHM DIN EJO