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Seeker Hardware
Seeker uses a Laptop as the "brains" of the robot. Peripherals are
interfaced via a powered USB hub. An old RC toy controller is used as
a "dead man" switch to enable motor power only when the transmitter button
is pressed.
The PC communicates directly with:
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PIC processor (via USB to RS-232) |
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802.11 (PCMCIA Card) |
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USB Video Camera |
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USB Debugger (optional - from CCS) |
The PIC handles low-level tasks:
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Ultrasonic echo timing and calculation |
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IR Sensor reading and scaling to inches |
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Bumper switch reading |
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I2C Compass reading |
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Battery monitoring |
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Drive Shaft Odometer and Motor Speed feedback (closed
loop) |
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Servo control (Steering, Speed, Gear, Camera Pan /
Tilt) PWM timing
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Hardware Block Diagram
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PIC HW Interface Schematic
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