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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