Driver Computer

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