Modules

A system of modules connect to the laptop, allowing it to interface with devices such as the motors, joystick, and sonar. Some devices are connected directly to the laptop, such as through the firewire port. However, a large proportion of devices are connected to the laptop's parallel port via the CAN bus.

View a schematic diagram of the modules, power distribution, and code.

CAN Bus Devices

CAN (Controller Area Network) is the chosen protocol for networking several of the modules on the IGVC robot. Much information exists on the workings of CAN, but I have selected several presenations that give a detailed description of CAN's physical layer, data link layer, and silicon implementation. They are kind of long reads, but are worthwhile especially if you wish to program the hardware.

• CAN Presentation on the Physical Layer - note - the ISO 11898 standard desribed in this presentation is implemented in our CAN chips
• CAN Presentation on the Data Link Layer
• CAN Presentation on Silicon Implementation

Modules

• Laptop/CAN Interface
• Sonar Interface
• Joystick Interface
• Motor Driver Interface

Devices

• Sonar
• Motor Drivers
• Motors
• Joystick
• E-Stop
• Magnetic Compass

Non CAN Devices

We currently have not selected a GPS module, although Andy has been searching thoroughly. We should resolve this soon.

• JVC Camera
• Webcams
• Trixxie GPS
• GPS
• Encoders Although, a CAN module should probably be built for this