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Requirements Overview

Requirements Overview. Level 1 Requirement Accepts Vehicle Speed Command Accepts Steering Angle Command Delivers Throttle D/A Steering D/A Delivers Estimate Distance Traveled Level 2 Requirement Receives Current Lon/Lat Accepts new Lon/Lat straight-line waypoint

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Requirements Overview

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  1. Requirements Overview • Level 1 Requirement • Accepts Vehicle Speed Command • Accepts Steering Angle Command • Delivers Throttle D/A Steering D/A • Delivers Estimate Distance Traveled • Level 2 Requirement • Receives Current Lon/Lat • Accepts new Lon/Lat straight-line waypoint • Dead recon to commanded waypoint • Make speed/steering corrections based on sensor input and updates to Lon/Lat information

  2. External Interfaces Overview • Ethernet • Server • Responds to commands and data requests • Simple command format • Sensor/Actuator Output • Provide Screw Terminal Connections for Prototype • DAC Outputs • 0-5V 10 significant bits output • Steering • Left<3.7V<right • Throttle • Break<3.7V<Accel

  3. External Interfaces Overview (cont.) • Wheel Speed Capture Inputs (4) • 5V digital inputs • 16p/r • Servo Pot Differential Analog Inputs (4) • Measure voltage off servo pots to determine current position of potentiometers.

  4. Screw Terminal Block Vehicle Control System Hardware Architecture Servo Pot Differential Inputs 4 RT Linux Laptop Vehicle Speed Ethernet Wheel Speed 4 Throttle DAC RS232 ` uC I/O Board USB (power) Steering DAC Spare Capture/DIO 8

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