1. Ethan Hall Michael Kelton Greg Wegman Vashisht Lakhmani

2. Project Overview
The goal of this project is to develop a replica of the mars rover able to navigate in its environment while being controlled from a base station interface.
Base and rover will communicate through wireless network sending commands from base while receiving data from the rover
Location data and video feed transmitted to base interface.

3. Software Design Considerations
Using an ARM Cortex-M3
512 KB flash memory, 32 KB RAM
Peripheral features (I2C, PWM ,UART, USB)
mbed compiler
In house support

4. Code Overview Coded micro in C using mbed compiler and libraries
Base station was coded in C# utilizing .NET framework
Interrupt driven subroutines for movement and camera
Polling driven coordinate, wireless and battery level
I2C, UART, I/O, PWM

5. Sensors 4 Sonar Sensors – range detectors, place on each side
ATD
Accelerometer – tilt angle detection
I2C
Compass – direction

6. Base Station
Code Flow

7. Rover Control
Flow

8. Summary Interrupt driven software design
Interrupts in the form of commands from base station as well as low battery flag
Sequential polling following movement as well as periodic polling for battery level and wireless connection
Sensor detection to determine positioning as well as avoiding collisions

9. Questions?