Candii Robot Guide

An example of one hot robot.

This Candii Robot Guide extends the Candi Robot Guide. Although Candi was designed for the 2007 IGVC, she will be used once again in 2008. However, she will have a sparkling new personality (electronics and software), so she is now Candii.

Devices

Below is a diagram showing the flow of data between the various robot controller components.

Needs correction:

• GPS communicates over COM2(/dev/ttyS1)
• Time server (NTP) runs on the TS board reading the Data Carrier Detect (DCD) line of COM2
  • Add: TS Board is running an NTP server to define robot time
• Software modules should be included
• Rename "Arduino" -> "Motor Arduino"
• Add "Power Arduino"
• Fix: Wheel Encoders will be communicating over SPI

Software

Our code for this year is stored in Subversion and is accessible at https://svn.robojackets.org/igvc/2008. The laptop codebase will be written in C++.

Contributers to the laptop codebase should ensure that they are following our coding conventions.

Player/Stage

We are using the Player/Stage robot server as the communication layer between our device drivers and our processing/controlling software modules.

As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:

• Player Patch - WaitForNewImage

IGVC Divisions of Responsibility

These links will go to pages detailing each part of the design. Division leaders should start filling these in.

General Services

• Version Control
• Coding Conventions

Hardware-Centric Divisions

• Power and Motor Drive Systems
• Data Acquisition
• Integration and Telemetry Systems

Intelligence-Centric Divisions

• Environment Data Processing Systems
• Data Filtering Systems
• Path Planning Systems