1. Seraj Dosenbach Greg Lammers Beau Morrison Ananya Panja

2. Design Considerations  Micro Peripheral Usage  Output Interfacing  2x 8bit PWM for motors (PWM0, PWM1)  2x 8bit PWM and 2x 16bit PWM for servos (PWM2, PWM3, PWM5, PWM7)  Input Interfacing  3x 8bit ATD for sonar (PAD0, PAD1, PAD2)  2x SCI for GPS (4,800bps) and Atom (19,200bps)  PS0, PS1, PS2, PS3  Atom Peripheral Usage  Output Interfacing  SCI for micro  Input Interfacing  USB for camera

3. Design Considerations  Micro Application Code  Using a hybrid system of both polling and interrupts  Using vectored interrupts for all input devices  Using a polling loop to set all output devices  Atom Application Code  Uses a polling loop running as fast as the algorithm will allow.

4. Flow Chart of Main (Micro) Initialization code Start IdleTraining Tracking Returning

5. Flow Chart of Tracking State Initialization code Tracking Reduce right goal velocity Increment left velocity Increment right velocity If timer flag is set or if collision is detected If left velocity is not at goal If right velocity is not at goal Is collision detected Is it detected on left side Is it detected on right side Reduce left goal velocity Apply brakes continue

6. Flow Chart of Tracking State Increment pan angle Increment tilt angle If pan angle is not at goal If tilt angle is not at goal continue Return to first if

8. Software Modules

9. Organizational Chart Main Left Motors Right Motors Servos(1-4)GPS Interrupts SonarAtom Pushbuttons (RTI)

10. Open Source Library Usage  Pthreads-w32 release 2.8.0 (Multithreading)  OpenCV 2.0 (Computer Vision)  cvblobslib_OpenCV_v8_3 (Blob detection)  GSL-1.14 (Gnu Scientific Library)  Rob Hess’s Sift 1.1.1 (SIFT implementation)