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Masters Project Presentation Low Level Design of an Autonomous Vehicle. Presented by Hemanth Tippareddygari Dept of Electrical and Computer Engineering Bradley University. Acknowledgements. Dr. Donald R. Schertz Professor of ECE. Dr. Brian D. Huggins
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Dept of Electrical and Computer Engineering
Dr. Donald R. Schertz
Professor of ECE
Dr. Brian D. Huggins
Department Chair and Official Gofer of ECE
Mr. Steve Gutschlag
Mr. Nick Schmidt, Assistant Lab Director
Friends and others.
Gaucho is a self powered sidewalk machine modified to permit electronic actuation of the steering.
- iPac HC(S)12 from emac inc.
- 16-bit CPU-based micro-controller
16-bit data bus and 16-bit address bus
- Queue instruction mechanism
executes up to one instruction per clock cycle
- Operates up to 25MHz clock speed
256K Flash EEPROM, 4K EEPROM, 12K RAM - On chip peripherals
ECT, PWM, SCI, IIC, CAN, SPI, A/D
P&E’s USB HCS12 MULTILINK Interface provides
access to the Background Debug Mode on
Free scale HCS12 microcontrollers.
It is the hardware interface between a USB port
on a Windows 2000 or XP machine and the standard
6 pin “Berg” debug connector on the target.
The user can directly control the target’s execution,
read/write registers and memory values, debug code on the
processor, and program internal or external FLASH
memory devices with the advantage of BDM interface.
BDM module can operate asynchronously with the rest of the
HCS12 system and access the on-board memory without stopping
processor unlike micro-controllers with JTAG debugging.
Real time debugger,
Full chip simulator,
Processor expert beans,
Text Editor etc
2 H-Bridge Driver Boards for each motors.
5 Volts for the Digital and MOSFET Bias Circuitsand any voltage up to 55 volts for Motor B+.
10 A rated current without heat sinks and 60 A max current with proper heat sinks.
25% Duty cycle
50% Duty cycle
75% Duty cycle
Driver Test Circuit
from a DTE device is transmitted to a DCE device.
received by a DTE device, and the DCE device keeps
this line in a mark condition when idle.
F – Forward direction
B – Backward direction
R – Turn Right
L – Turn Left
s – To Stop
One more character follows F and B to tell the speed of the vehicle.
Two more characters follows R and L to turn the car to a particular angle.
To stop the car immediately “s” is used.