Remote Control of an ATV Team members: Bryce Aberg Eduardo Barcellos Faculty: Stacy Wilson Ron Rizzo

Background Information Originally developed by WKU’s Engineering Manufacturing Commercialization Center (EMCC) Used as a mobile platform to detect subsurface voids Applications include: Sinkhole detection, tunnel/bunker detection

Project Objectives Remote control of the steering, throttle, choke, brakes, start/stop of an ATV Communicate through WiFi to a myRIO that will control these systems by using shared variables.

Block Diagram

Haydon Motor Controller (Throttle, Choke) Step-motors need a driver Clipper has internal and external control Stepper-motors can be controlled by sending a clock signal (10Hz – 2KHz) from the myRIO to the Clipper Inputs on the Clipper for direction, clock, motor enable

Sabertooth 2x25 (Steering) Linak actuator controls steering, requires 20A Sabertooth 2x25 motor controller can control up to two 25A motors. Two control options: Serial and analog on S1 and S2 For analog: <2.5V on S1: Backwards =2.5V on S1: No movement >2.5V on S1: Forwards

Relays (Brakes, start/stop) Zettler relays used to control solenoid actuator Solenoid is connected to thick wire to control brakes Another relay controls the engines ignition

myRIO Pinout

Current Front Panel

Shared Variables Variables that can be shared between programs or across a network Several types, this project will be using network-published shared variables Can be changed using an app on the iPad (Data Dashboard)

Current Status We have almost all the basic functions complete All motors and relays can be controlled through LabView No wireless connectivity Wiring system is a mess

Future Goals Update code to use event handling Implement shared variables in LabView Design board that will connect to myRIO to replace the stock board Streamline the wiring on the ATV