AME 3623: Project 4: Beacon Following II
In project 2, we designed a robot
controller that followed a sequence of beacons; in project 3, we modified the beacons so that
they would transmit an 8-bit number. In this project we will bring
these two together.
- To gain experience in inter-processor communication
- To gain further experience in FSM control
Project Due Date
Deadline: Thursday, May 5th.
- Beacons will transmit a data packet at a the same interval as
in project 3. The 8-bit number that is contained within the
packet will encode both the beacon's ID # and the ID # of
- The most significant 4 bits (bits 4-7) encode the beacon
ID (so the IDs range from 0 to 15)
- The least significant 4 bits encode the ID of another
- The initial target beacon is ID=1.
- The robot will lock onto the target beacon and begin to move
- While moving toward the target beacon, the robot will search
for a beacon that matches the second ID number. This beacon
may occur to the robot's left or right.
- Once the second beacon is found, it will become the target
- If the beacon ID=0, then the robot will stop. Otherwise,
continue with step 3.
Robot interface: the same as those used/developed in projects 2 and 3.
Inter-processor communication: there are two pins on the Mega8 that
can be configured to operate as serial input and output. The input
line is: PD0; the output line is: PD1. When you use any character
output routine (e.g., printf()), this will generate a signal on the
output line. Likewise, when you use a character input routine (e.g.,
scanf(), this will listen on the input line). See the
IO Facilities documentation for AVRlib for all of the detail.
Also - we will make some sample code available soon...
- You can "snoop" on the serial communication between the two
processors by connecting the output of one processor to the
through a max232 (this chip converts voltage levels for us) to
the serial input to your laptop. See
the partial circuit.
- Because the beacons are no longer transmitting constantly, you
may need to change how you interpret the beacon information for
What to Hand In
Your report should include the following:
The reports are due at 5:00 on May 5th. We prefer that these
be turned in via the Blackboard drop-box (one copy per group) in
either postscript or pdf format.
- The names of the group members
- A circuit diagram
- A copy of your documented program (this may be handed in as a
Your personal report must include the following information:
- Your name
- An estimate of your contribution to the project in terms of
percentage of effort.
- An estimate of the contribution of each of your fellow group
The personal reports are due at 5:00 on May 5th. These must be
turned in via the Blackboard drop-box in raw text format.
fagg at ou.edu
Last modified: Wed Mar 30 18:17:35 2005