1. Remote Control Rover
CSC 460 Final Project
Fall Jon & Michael

2. The Goal
Create a rover that can act on its own accord (wander around looking for control station and react to the environment)
When a control station is found it switches modes to simply follows commands and send sensor data
Base station programmed to have rover walk perimeter of the room
Fall Jon & Michael

3. Block Diagram
Rover
Base Station
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4. Communication Overview1
Base Station
AT90USB1287
Rover Brain
AT90USB1287
Wireless
USB - optional
(Emulated COM port) 2
UART
Terminal
Rover Control
68HC11 & RugWarrior
Implementation order
Fall Jon & Michael

5. Base Station State Diagram
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6. Rover State Diagram
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7. Commands Wireless UART Connect Move Stop Rotate Start Moving
Stop Moving
Start Turning
Stop Turning
Bumper Hit
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8. Stages of Implementation
Rover Communication
Base Communication
Rover Movement
Rover Sensors
Base Model/Logic
Base Joystick Control (Time Pending)
Fall Jon & Michael

9. Stage 1 (Rover Communication)
Create/implement device driver for wireless
Define protocol/language for communication
Goal is to get the communication between the base and the rover working first to make debugging easier.
Fall Jon & Michael

10. Stage 2 (Base Communication)
Create debug protocol between rover and base
Use emulated COM port over USB for print outs
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11. Stage 3 (Rover Movement)
Create device driver on AT90USB1287 for communication with 68HC11 board.
Calibrate movement
Straight line
Turns
Fall Jon & Michael

12. Stage 4 (Rover Sensors/Logic)
Interface bump sensor
Interface 3 sonar modules
Program wander “looking for base” mode
Program remote mode
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13. Stage 5 (Base Model/Logic)
Built the model of possible states of the rover on the base station
Implement the logic to walk the perimeter of the room
Perhaps draw proportional rectangle to room size with characters on completion
Fall Jon & Michael

14. Stage 6 (Base Joystick Control)
Time permitting (not likely)
Add full joystick control mode to the rover from the base station
Fall Jon & Michael

15. Questions?
Fall Jon & Michael