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Ethan Hall Michael Kelton Greg Wegman Vashisht Lakhmani

R 3. Ethan Hall Michael Kelton Greg Wegman Vashisht Lakhmani. Project Overview. The goal of this project is to develop a replica of the mars rover able to navigate in its environment while being controlled from a base station interface.

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Ethan Hall Michael Kelton Greg Wegman Vashisht Lakhmani

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  1. R3 Ethan HallMichael KeltonGreg WegmanVashishtLakhmani

  2. Project Overview • The goal of this project is to develop a replica of the mars rover able to navigate in its environment while being controlled from a base station interface. • Base and rover will communicate through wireless network sending commands from base while receiving data from the rover • Location data and video feed transmitted to base interface.

  3. Software Design Considerations • Using an ARM Cortex-M3 • 512 KB flash memory, 32 KB RAM • Peripheral features (I2C, PWM ,UART, USB) • mbed compiler • In house support

  4. Code Overview • Coded micro in C using mbed compiler and libraries • Base station was coded in C# utilizing .NET framework • Interrupt driven subroutines for movement and camera • Polling driven coordinate, wireless and battery level • I2C, UART, I/O, PWM

  5. Sensors • 4 Sonar Sensors – range detectors, place on each side • ATD • Accelerometer – tilt angle detection • I2C • Compass – direction • I2C

  6. Base Station Code Flow

  7. Rover Control Flow

  8. Summary • Interrupt driven software design • Interrupts in the form of commands from base station as well as low battery flag • Sequential polling following movement as well as periodic polling for battery level and wireless connection • Sensor detection to determine positioning as well as avoiding collisions

  9. Questions?

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