Team 6 DOODLE DRIVE Presenter: Jun Pan

PROJECT OVERVIEW  Android application as controller  Robot vehicle with microcontroller  Path will be drawn in Android application and the vehicle will follow that path  Outdoor mode with GPS, Google Maps, Compass  Indoor mode with tilt control

SOFTWARE DESIGN CONSIDERATION  Will use interrupt driven since polling will increase difficulty of coding and risk of losing information.  The interrupt routine will either set the flag or modify the memory content directly.  Peripheral communication and speed:  GPS: 1 hz update rate UART 9600 baud rate, 8 bits data, no parity, 1 stop bit  Compass: ~10 hz I2C  Bluetooth: UART 9600 baud rate, 8 bits data, no parity, 1 stop bit

SOFTWARE DEVELOPMENT PROGRESS (MICRO SIDE)  Microcontroller  Done testing:  Ultrasonic sensors, H Bridge, Servo, Bluetooth  Partially tested:  GPS (UART)  Compass(I2C)  Need to test:  Fuel Gauge (I/O)

SOFTWARE DEVELOPMENT PROGRESS(ANDROID SIDE)  Android application  Progress:  Android output angles when tilting (for Indoor Mode)  Google Maps displays on screen with ability to draw lines/polygons on screen  Battery status bar  Bluetooth interface

SOFTWARE HIERARCHICAL DIAGRAM

BLUETOOTH COMMAND PROTOCOL  Start Letter indicates the type of command  Followed by parameters of command, separated by comma  End with “\n” to indicate the end of command  E.g. “G:100,0\n” move forward at 100% speed “G:50,90\n” move forward at 50% speed with 90 degree to right “G:-50, -90\n” move backward at 50% speed with 90 degree to left “E:1\n” emergency stop “E:0\n” emergency stop canceled  For outdoor mode, all coordinates will be encoded and sent to micro  For convenience and length of command, we will use Encoded Polyline Algorithm by Google to encode latitudes and longitudes.

QUESTION?COMMENT?