1. USB Peripherals Control Station Computer Transmitted Over Wi-Fi Received/Processed on Gumstix I 2 C Message Sent to PIC for PWM PWM Sent to Vehicle Status Update Message Returned to Control Station Image and Command Data Flow Webcam Image Processed on Gumstix Transmitted Over Wi-Fi Receive at Control Station and Display Updated Image A two-tiered frame was utilized to mount all of the components onto the vehicle securely. All of the main electronic components are located on the bottom tier of the vehicle, including the Gumstix, power sensor, level converter, and SD20. They were mounted closest to the middle of the vehicle for protection from collisions. Most of the connections between the PWM chip and servos are located on the board on the top of the vehicle. Switches were strategically placed so that all of the mechanical components could be switched off separate from the computer components. Being able to control these separately was necessary for testing as well as safety. Project Costs The Wi-Fi Based Remote Exploration Vehicle allows for remote control of a four-wheeled vehicle with a mounted webcam. The user interface is located at a control station computer, which communicates wirelessly with the vehicle. The speed and direction of the vehicle is controlled with a USB steering wheel and foot pedals; a USB joystick is also provided to pan and tilt the webcam. The vehicle can be commanded over the internet from remote locations. Project Description Hardware The Team Wi-Fi Based Remote Exploration Vehicle Kevin Hicks - Eric Offermann - Nick Palladino Senior Design Projects II – Spring 2009 Department of Computer Engineering, Rochester Institute of Technology Vehicle & Control Station ItemItem CostActual Cost for Project Gumstix Verdex Pro XM4$129.00 Gumstix Expansion Board with WiFi Module$100.00*$0.00 Logitech MOMO Racing Wheel$90.00$0.00 Microsoft SideWinder ForceFeedback 2 Joystick$150.00$0.00 Logitech Communicate MP Webcam$55.00 Electronic Speed Controller$29.00*$0.00 Batteries$60.00*$30.00 Four-Wheeled Vehicle, motor, and charger$350.00$150.00 Lynx B Pan and Tilt Servos Kit$35.93*$0.00 INA219 Current Sensor w/ MiniPCB(x 2)$19.26 Level converter for I2C w/ mini PCB$10.00 Miscellanious (velcro, screws, wood, connectors, etc.)$65.00$45.00 Total$1093.19$438.26 * Paid for by the Department of Computer Engineering The User Interface The flow diagram on the left shows the UDP transmission of the video feed from the Logitech Communicate MP webcam to the Control Station. The diagram on the right shows the UDP command server process flow, from USB peripheral reading to vehicle control or status update response The default control of the vehicle is obtained through a USB steering wheel and pedals, and the default webcam control is obtained through a USB joystick. Upon program startup, the Control Station User Interface is displayed, where the user can log in to the vehicle. Signal strength, battery life, frames per second, and USB peripheral status indicators are displayed as well as the webcam transmission feed. A red circle on the joystick status display shows the current webcam view with respect to the default forward position. Left/Right Steering Webcam Control Move Backward Move Forward Current Joystick Position Current Pedal Position Acknowledgements: Dr. Richard Cliver, Dr. Roy Czernikowski, Richard Tolleson, Stephanie Walter, Orlin Vasilev, and Jennifer Stack Eric Offermann, Nick Palladino, Kevin Hicks