andrewadare / rolling-blackout-2016 Goto Github PK

Primary CPU (RPi3)

• Serial com with LIDAR unit
• Serial (or wireless?) com with IMU
• Serial com with steering MCU
• Integration of IMU, LIDAR, encoder, and steering feedback into main program

High-level software

• FastSLAM (only EKF-SLAM fully implemented)
• How to integrate additional sensor data (IMU, encoder, steering angle)?
• Formatting/serialization of telemetry output
• Telemetry server (probably WebSockets)

LIDAR sensor/control unit

• connection to RPi
• mount unit (location? how to attach?)
• angle calibration (no absolute measurement; relies on stepper counts)

Internal communication

• Decide on protocol and networking. Pub-sub vs. synchronous master/slave
• MQTT?: mosquitto server, mqttwarn client
• Is timing synchronization needed? Do we need an RTC?

Steering control

• Steering angle feedback
• Homing (need limit switches or Hall sensors)
• Read quadrature encoder

Motor control

• Interrupt handler for telemetry input (kill button)
• H-bridge (oleg)

Telemetry

• Access point: router vs hostapd on RPi + antenna
• Kill switch
• Wireless TX
• Wireless RX

Remote monitoring software

• Vehicle orientation
• Steering angle
• Odometry and speed
• LIDAR: range and angle output
• Map from SLAM
• Kill button (separate 2.4 GHz signal?)