1. Virtual Presence Vehicle Team 13
Jason Giles
John Ashmore
Jing Li
Brian Bell

2. Software Main Loop Two Microcontrollers Interrupt Driven Base Station
Remote Station
Software

3. Base Station Routines Base Routines Interrupt Speed Interface
PS2 Controller
Fast
SPI
On Screen Display
Medium
Transceiver
Power Meter
Slow
PWM
Base Station Routines

4. Flowbullets (Base) Power On Initialize Turn on Interrupts Main Loop
PS2 Controller
On Screen Display
Power
Transceiver
Flowbullets (Base)

5. Remote Station Routines
Remote Routines
Interrupt Speed
Interface
Compass
Medium
I2C
Transceiver
Fast
SPI
Servo Vertical
Slow
PWM
Servo Horizontal
Servo Steering
Motor Driver
Power Meter
Remote Station Routines

6. Flowbullets (Remote) Power On Initialize Turn on Interrupts Main Loop
Compass
Servos
Motor Driver
Power
Transceiver
Flowbullets (Remote)

7. // do some initializations spi_isr(VECTOR, ipl3) { int Data; // Read SPI data buffer Data = SPI1BUF; /* do stuff */ // clear the SPI1 interrupt flags IFS0CLR = 0x ; }
SPI ISR

8. I2C ISR // do some initializations iic_isr(VECTOR, ipl3) { case Start
/* stuff */
ACK
NACK
Stop
// clear interrupts
IIC0CLR = 0x0440 }
I2C ISR

9. // do some initializations pwm1_isr(OC1_VECTOR, ipl3) { /. do stuff
// do some initializations pwm1_isr(OC1_VECTOR, ipl3) { /* do stuff */ // clear the OC1 interrupt flags IFS0CLR = 0x0040; }
PWM ISR

10. PS2 Controller (SPI) Last two bytes are button states 512 kbps Byte 13 4 5
Command
0x01
0x42
0x00
Data
0xFF
0x41
0x5A
Last two bytes are button states
512 kbps
PS2 Controller (SPI)

11. On Screen Display (SPI)
Data
Compass
Battery
Routine
Send initialization data bytes
Send address byte
Send data byte
On Screen Display (SPI)

12. Calibration
RX Setup
Read Byte
TX Setup
Send Byte
Transceiver (SPI)

13. Other Routines Routine Interrupts Compass I2C Receive Servo
PWM Control
Motor Driver
PWM to Motor Driver
Other Routines