1. GPSBot08
System Overview

2. Main Control Algorithm
User
Interface
System Diagram
Target Information
RS232
ZigBee Coordinator
Sensor Data
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

3. 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

4. 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

5. 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