SMUVE

litte rover

Functionality:

MainBoard Arduino Uno:

Master Board

• Serial I/O to other Systems like Raspberry/Computer
• Connected to USB Host Shield for USB interaction
• USB Host Shield connected to Bluetooth Dongle for PS3 Controller support

• Modes: 0 - Distance Mode

• Can recieve distances to drive for each motor and each direction with a maximum speed
• PID Controller to regulate the MotorSpeed to reach the settingpoint distance 1 - Error Mode
• Something went wrong (Motor Current/Speed/Sensor/Timing) 2 - PS3 Mode Analog Tank Mode
• Control each Motor via Analog Stick (left side left motor - richt side right motor) 3 - PS3 Mode Analog 2D Joystick
• Control both Motors via the left Analog Stick 4 - PS3 Mode L2/R2 Tank Mode
• Control each Motor via L2/R2 (left side left motor - richt side right motor)
• Direction can be changed by pressing L1/R1 for each motor

• PS3 Controller

• When connected Mode 2 is activated
• Mode 2-4 can be changed by pressing CICRCLE or TRIANGLE
• Mode is indicated by PS3 LED

• Other Boards

• All other Boards are connected via I2C

Ultrasonic Modul Arduino Mini Pro:

• Connected as I2C Slave Handles up to 10 Ultrasonic Modules
• provides distance for each modul in one byte (cm)

Motor Driver Modul Arduino Mini Pro:

• Connected as I2C Slave Controlls 2 Motors with Hall Sensors:
• PWM
• Direction
• Enable
• Current Sensor

PID Controller for Speed PI Controller for Current limiting

Complete MotorDriver functionality is provided via MotorDriver Class inside the lib