Michael Madavane

Russell McLoughlin

Plan Build a autonomous car, a “GuideBot”, that follows a

set of directions to navigate an obstacle course Distance sensor avoids walls/obstacles. SD card to store directions

– compose instructions on PC in text editor

– Store on SD card and insert into GuideBot Motors and more to move

Car Setup

Sharp Distance Sensor Analog output Voltage Range:

0.3V-3V ADC Digital Value range:

10-600

Sensor Distance Module ADC module called distance Virtual timer for multiple

reading Buffer stored in buf0 Average > 300

Quad Half-H Driver Analog output Enable input used

for left/right A from Arduino 1Y and 2Y to Motor Thermal shutdown PWM Driver will be

used to control the duty cycle and speed of the motor.

SD Card

• Low level module – initialize card– read sector, write sector

• File system Package – FAT32– Open, read, seek & write files

• Asynchronous I/O– Supply pointer to buffer– fill/empty buffer as requested– post event when data is ready or job is

done

Main Events Main Module requests instruction file from file system File system posts event when file has been retrieved Main module starts issuing commands to navigation

modulesWaits for one command to finish before executing

next

• Motor module turns motors on/off to execute directions

• Distance Sensor raises an event when it detects wall/obstacleNavigation module stops forward motion when

receives distance sensor event

SD Interface

SPI

FAT

Distance Sensor

Raise event when close to wall

Main

Handled Events:File ready

Instruction done

NavigationModule

ReadWrite

HardwarePWM Direction

Hardware

Nav module interface:Speed (0-100)

Left, Right, Stop(Raise event when

finishes task)

Block Diagram

Motor 1 Motor 2

Distance SensorSD Card

H-bridge

Arduino