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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 <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

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  1. Linear Control Robot Update“Brain” Update EEL 4657C Fall 2007 Timmy Williams, Lee Watson, Isaac Muse, Kelvin LeBeaux

  2. 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

  3. 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

  4. State Diagram (Code)

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