AUTOCAR

Team #13

Greg Futia

Greg VonFange

Phil Kasper

Ani Bhende

Motor Control Interfacing

– 20 mS period– 5% to 10% duty cycle range– Identical signal for Electronic Speed Controller

(ESC) and steering servo– If PWM used maximum processor frequency

is ~1 MHz – Servo control will be realized with Timer

module to relieve speed constraint– Need for optical isolating circuitry to prevent

feedback from motors

Current Draw

Manufacturer Part Vdd (V) Idd mA

Garmin GPS 18 5 Hz 4.0 - 5.5 60

Microchip PIC 18F2410 4.2 - 5.5 40

PING 2015 5 35

Hitachi HM55B 4.8-5.2 7

Crystalfontz CFAH0802A 4.75-5.25 1

    Total 143

-Power options are limited to available RC batteries which range from 7.2 – 8.2 V 3300 mAh to 4400 mAh.

Block Diagram

uC

Ant.In

Vehicle Control Module:Controls the Driver Motor,

Wheel Alignment,Monitors (Query for):

Vehicle Speed, WheelAlignment Turning Direction

Route Navigation Module:Knows previous and next

waypointControls movementbetween waypoints

PWMPWM

Range Sensor:PING))) UltraSonic Sensor

detects object between 2cm and3m

Steering Servo

1 WireControl

Motor Controller

1 WireControl

Debug Header6 Lines

GPSAntenna

RS232

MUX

I/O

GPS EngineGarmin GPS 16 OEM

WAAS Capable

RS232

Digital Compass RS232

Hitachi HM55B

2

2 2

2