1 University of Electronic Science Technology of China(UESTC) Model Vehicle Control system design Real-Time Systems Lab
1 Real-Time Systems Lab University of Electronic Science & Technology of China (UESTC) Model Vehicle Control system design
2 1 OUTLINE University of Electronic Science Technology of China(UESTC) There is a model vehicle >4 cartwheels; >2 motors:One is steering engine (130s Brushless motor) that is used to control the front two cartwheels;the other is speed motor (Brushless ESC (Electronic Speed Controller))that is used to drive the rear two cartwheels; >1LCD(LCD1602): >3 ultrasonic sensors (SRF05); >1 freescale 5213 card (MCF 5213); >1 batter. Real-Time Systems Lab
2 Real-Time Systems Lab University of Electronic Science & Technology of China (UESTC) 1 OUTLINE There is a model vehicle 4 cartwheels; 2 motors: One is steering engine (130s Brushless motor) that is used to control the front two cartwheels; the other is speed motor (Brushless ESC (Electronic Speed Controller)) that is used to drive the rear two cartwheels; 1 LCD (LCD 1602); 3 ultrasonic sensors (SRF05); 1 freescale 5213 card (MCF 5213) ; 1 batter
3 1 OUTLINE University of Electronic Science Technology of China(UESTC) Your mission >Drive the model vehicle to go ahead while keeps it at a given distance(50 cm)from a wall. Real-Time Systems Lab
3 Real-Time Systems Lab University of Electronic Science & Technology of China (UESTC) Your mission Drive the model vehicle to go ahead while keeps it at a given distance (50 cm) from a wall. 1 OUTLINE
4 1 OUTLINE University of Electronic Science Technology of China(UESTC) Requirements >Detect the current distance from the wall in real time by the ultrasonic sensors; >Display the detected distance by the LCD; >Your program runs on the top of uC/OS II >Codewarrior,C&Assemble language. How to design？ Real-Time Systems Lab
4 Real-Time Systems Lab University of Electronic Science & Technology of China (UESTC) 1 OUTLINE Requirements Detect the current distance from the wall in real time by the ultrasonic sensors; Display the detected distance by the LCD; Your program runs on the top of uC/OS Ⅱ; Codewarrior, C & Assemble language. How to design?
5 2 Problem (P) University of Electronic Science Technology of China(UESTC) P:How to detect the distance in real-time? >Distance=(TimeDuration 340m/s)/2; >How to get the TimeDuration? Real-Time Systems Lab
5 Real-Time Systems Lab University of Electronic Science & Technology of China (UESTC) 2 Problem (P1 ) P1 : How to detect the distance in real-time? Distance=(TimeDuration * 340m/s)/2; How to get the TimeDuration?