1. USB I2C UART UART Digital Signal PWM Digital Signal PWM
Arduino (Data Collection)
SONARs, Encoders, IMU, IR Sensors
Sends information as it is polled
Web Cam
USB
I2C
Pandaboard
Include support for WebCam into existing server
Retrieves sensor information from PSoC5 and updates website
Sends navigation commands to PSoC5 from control panel UI or pathfinding code
Priority goes to commands from control panel.
PSoC5 board
Retrieves all sensor data from Arduino and parses it into each type.
Sends sensor data to Pandaboard
Still handles navigation
Motherboard
UART
UART
Digital Signal PWM
Motion Control (H-Bridge)
Priority goes to:
PSoC5 Emergency Halt Command
PSoC5 commands from Pandaboard
Commands from control panel
Commands from map pathfinder
Remote Control
Map
Handled by Pandaboard Server
Sends destination to Pandaboard
Updates image on website with current position
Digital Signal PWM
Website
Updates sensor readings page with new sensor data
Sends navigation commands from control panel UI to Pandaboard.
Regularly updates map image
Visual feedback from control panel UI
Arduino (Remote Control)