PilotPage - Revision history

Tfolsom at 18:16, 28 June 2019

2019-06-28T18:16:29Z

Tfolsom: /* C3 processor */

2019-06-28T00:09:03Z

‎C3 processor

JosephBreithaupt at 05:08, 23 May 2019

2019-05-23T05:08:13Z

JosephBreithaupt: Created page with " = C3 processor = This Arduino Micro processor is in charge of piloting the trike as well as: * processes Data from other modules * based on this data decides the speed of t..."

2019-05-23T04:53:45Z

Created page with " = C3 processor = This Arduino Micro processor is in charge of piloting the trike as well as: * processes Data from other modules * based on this data decides the speed of t..."

New page

= C3 processor =
This Arduino Micro processor is in charge of piloting the trike as well as:

* processes Data from other modules
* based on this data decides the speed of the vehicle
* as well as turnangle
--------
==Obstacle Avoidance ==
ObstacleAvoidanceSpecification

==HighLevel board ==

==C3 to C5 SPI (Serial Peripheral Interface) Communication ==
The way this communication is set up may look difficult at first, but with a closer look it is actually quite simple. Both on the C5 Sonar board and the printed Highlevel main board you will find various chips, most commonly designated with the letters "IC" (Integrated Circuits) or "V". The ICs used for SPI communication are DS 8291N chips designated as IC2 and IC3 on the HighLevel board and V1 and V2 on the Sonar board.

* Test board constructed to provide correct wiring reference for noise reduction chip setup: <br />
<img src="%PUBURLPATH%/%WEB%/%TOPIC%/C3-C5_SPI_test_board.png" alt="C3-C5_SPI_test_board.png" width="873.5" height="369" />

← Older revision		Revision as of 18:16, 28 June 2019
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	* Test board constructed to provide correct wiring reference for noise reduction chip setup: <br />		* Test board constructed to provide correct wiring reference for noise reduction chip setup: <br />
	<img src="%PUBURLPATH%/%WEB%/%TOPIC%/C3-C5_SPI_test_board.png" alt="C3-C5_SPI_test_board.png" width="873.5" height="369" />		<img src="%PUBURLPATH%/%WEB%/%TOPIC%/C3-C5_SPI_test_board.png" alt="C3-C5_SPI_test_board.png" width="873.5" height="369" />
		+
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		+	NEXT > [[HighLevelSWv3]]

@@ Line 1: / Line 1: @@
-= C3 processor =
+= C3 processor (now part of High Level) =
-This Arduino Micro processor is in charge of piloting the trike as well as:
+This Arduino Micro processor was in charge of piloting the trike as well as:
 * processes Data from other modules
 * based on this data decides the speed of the vehicle
-* as well as turnangle
+* as well as turn angle
 --------
 ==Obstacle Avoidance ==
-This is a specification of the operation of the obstacle avoidance system. These requirements are not final and may be changed, appended, or removed at any time.
+The Pilot section of the High Level system has the task of modifying the course to avoid obstacles. It receives obstacle information over the CAN bus from the Scanse Sweep (lidar) and potentially from vision. Sonar obstacle information is transmitted over an SPI interface.
-=== Basic Information ===
+=== Specification ===
 The Elcano system shall be able to determine the presence of obstacles, and respond appropriately to these obstacles. The system shall prevent the vehicle from ever colliding with an obstacle. To avoid obstacles, the system shall gather data from sensors in use, interpret this data, and determine the change to make to the vehicle’s speed and turn angle.

@@ Line 9: / Line 9: @@
 --------
 ==Obstacle Avoidance ==
-ObstacleAvoidanceSpecification
+This is a specification of the operation of the obstacle avoidance system. These requirements are not final and may be changed, appended, or removed at any time.
 ==HighLevel board ==