1. Requirements Overview
Level 1 Requirement
Accepts Vehicle Speed Command
Accepts Steering Angle Command
Delivers Throttle D/A Steering D/A
Delivers Estimate Distance Traveled
Level 2 Requirement
Receives Current Lon/Lat
Accepts new Lon/Lat straight-line waypoint
Dead recon to commanded waypoint
Make speed/steering corrections based on sensor input and updates to Lon/Lat information

2. External Interfaces Overview
Ethernet
Server
Responds to commands and data requests
Simple command format
Sensor/Actuator Output
Provide Screw Terminal Connections for Prototype
DAC Outputs
0-5V 10 significant bits output
Steering
Left<3.7V<right
Throttle
Break<3.7V<Accel

3. External Interfaces Overview (cont.)
Wheel Speed Capture Inputs (4)
5V digital inputs
16p/r
Servo Pot Differential Analog Inputs (4)
Measure voltage off servo pots to determine current position of potentiometers.

4. Screw Terminal Block
Vehicle Control System Hardware Architecture
Servo Pot Differential Inputs 4
RT Linux Laptop
Vehicle Speed
Ethernet
Wheel Speed 4
Throttle DAC
RS232 `
uC I/O Board
Steering DAC
USB (power)
Spare Capture/DIO 8