Automatic Control of a R'C' Acura NSX

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Automatic Control of a R.C. Acura NSX

• By Mark Kirby Michael Yurko

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Goal of Project

• Car is to automatically steer along a black line
  on the ground
• Car is to run at a constant speed
• When the car runs into an object, it stops

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Equipment Used

• 1/18 scale Radio Control Acura NSX
• Three I.R. sensors
• Handy Board
• Electrical Tape (black line car follows)

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Hardware

• Location of the 2 I.R. sensors that control the
  steering

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Hardware (continued)

• I.R. sensor that stops the car is mounted on the
  shell
• Handy Board

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Sensor Calibration

• Setup used to calibrate 2 I.R. sensors that steer
  car
• Front sensor calibrated same as in Lab 6
• 3 trials used to calibrate each sensor

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Calibration Data Left Sensor
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Error Plot Left Sensor
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Calibration Data Right Sensor
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Error Plot Right Sensor
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Calibration Data Front Sensor
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Tuning the Gains
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Tuning the Gains
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Tuning the Gains
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Real-Time Feedback
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Problems Encountered

• The Handy Board wouldnt keep a charge
• While tuning the gains, motor port on Handy Board
  stopped working
• Temporarily operated drive motor with a 9 Volt
  battery, until motor port magically started
  working again

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Conclusion

• Car follows blackened track as designed
• Steering of car controlled by PID controller
• Drive motor now controlled by Handy Board, car
  stops before it runs into an object

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Any Questions???

• Comments????