1. Cart Control System Cart DIO Speed Pulses RS232 Links VCS Peripheral
GPS
Driver Computer
Arm based Linux Machine
Steering Amplifier
Potentiometer
Ethernet Link (includes a small router)

2. Driver Computer Connects to the cart via ethernet
Talks to cart using same communication interface protocol as the simulator.

3. ARM Based Linux Machine
600Mhz Industrial Computer
Debian Linux Distribution
Communicates with the driver via Ethernet sockets.
Talks to the VCS and Steering Amplifier Via RS232.

4. VCS (Vehicle Control System)
IUCS Custom MSP430 Board
Communicates with ARM board through RS232.
Talks to the GPS via RS232.
Measures Cart Speed through drive shaft pulses.
Controls Analog Cart throttle though output DAC.
Implements PID loop to control speed of the cart.
DIO drivers and switch inputs for general control system IO.

5. Steering Amplifier Roboteq power amplifier.
Takes analog steering position from a linear potentiometer.
Produces steering PWM pulses to drive the steering gear motor.
Implements PID loop to control the position of the steering system.

6. Cart Safety
Steering column coupled to the steering motor via air conditioning clutch.
Throttle signals passed through relays that are required to be energized to pass the control system throttle.
Automatic control of the cart is disabled by any of the following.
Break Pedal Depression
Manual/Auto Switch Deassertion
ESTOP button