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Linear Control Robot Update “Brain” Update. EEL 4657C Fall 2007 Timmy Williams, Lee Watson, Isaac Muse, Kelvin LeBeaux. Block Acquisition Change. Block Acquisition <GPIO: 3 in, 2 out> → start bit 0 = Do nothing 1 = Start → 2 value bits 00 = Red(15) 01 = White(20)

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Linear control robot update brain update

Linear Control Robot Update“Brain” Update

EEL 4657C

Fall 2007

Timmy Williams, Lee Watson, Isaac Muse, Kelvin LeBeaux


Block acquisition change
Block Acquisition Change

  • Block Acquisition <GPIO: 3 in, 2 out>

    → start bit

    0 = Do nothing 1 = Start

    → 2 value bits

    00 = Red(15) 01 = White(20)

    10 = Blue(25) 11 = Black(30)

    ← finished bit

    0 = Not finished 1 = Finished

    ← error bit

    0 = Block acquired 1 = Block not acquired

    *Start bit will remain high until Finished bit is high


Block detection change
Block Detection Change

  • Block Detection <UART out, GPIO: 3 in>

    bitcommand / response

    → 1 Find nearest block and start tracking

    → 2 Update block status

    → 3 Get value of block (RFID)

    ← char 0x00 = Block not found/Block lost

    ← chars Direction to block, distance to block

    Format: “char1, char2”

    char1 = signed char (0 = straight ahead, -100 = max right, +100 = max left)

    char2 = distance in inches

    ← char 0x01 = Red, 0x02 = White, 0x03 = Red, 0x04 = Black,

    * GPIO will be rising edge triggered; One response per command



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