Smart Kart User Manual - Electrical & Computer Engineering
Contents
1. Serial printIn Y lastop 0p else if op gt lastop amp amp valG lt 100 check reverse switch on Serial printIn Z lastop op if valG lt 100 Serial printIn A else if valG gt 100 amp amp valG lt 200 Serial printIn B else if valG gt 200 amp amp valG lt 300 Serial printIn C else if valG gt 300 amp amp valG lt 400 Serial printin D else if valG gt 400 amp amp valG lt 500 Serial printIn E else if valG gt 500 amp amp valG lt 600 Serial printIn F else if valG gt 600 amp amp valG lt 700 Serial printIn G else if valG gt 700 amp amp valG lt 800 Serial printIn H else if valG gt 800 amp amp valG lt 900 Serial printin 1 else if valG gt 9008 8valG lt 1000 Serial printIn J else Serial printIn k delay 10 8 4 Throttle Receive throttle rx Hdefine PWMgas 3 output pin 3 is renamed to PWMgas Hdefine DIRgas 2 output pin 2 is renamed to DIRgas char c int num 0 void setup Serial begin 9600 pinMode PWMgas OUTPUT analog output 0 to 255 pinMode DIRgas OUTPUT digital output 0 or 1 void loop if Serial available gt 0 c Serial read if c X if break engaged slow down the motor while num gt 0 num analogWrite PWMgas 25 num delay 100 if c Y digitalWrite DIRgas LOW forward mode else if c Z digitalWrite DIRgas HIGH reverse mode if c A num 0 anal2. 5 2 Health Conditions Those people with the following health conditions should refrain from operating the kart e Women that are pregnant or think they may be pregnant e Those with heart conditions e Those with serious back problems e Those with motion sickness 5 3 Operating Procedures To start the vehicle 1 Turn the power switch to ON a The power switch is located on the switch box beneath the steering wheel 2 Verify the ON OFF Green LED lights up once the power switch is flipped to ON 3 Wait 10 15 seconds before operating the vehicle a The Arduino XBee modules are linking to one another during this time Once the vehicle is started and the Arduino XBees have synched up the kart is ready to drive To drive the kart forward 1 Ensure the FORWARD REVERSE switch is in the forward position a The switch is located to the right of the Power Switch b If the Red LED is not lighted the kart is working in FORWARD mode 2 Press the Throttle pedal and away you go To drive the kart in reverse 1 Ensure the kart is at a complete stop 2 Flip the FORWARD REVERSE switch to the reverse position 3 Ensure the Red LED lights up a It will take a second to light up i It is verifying communication to the Arduino that it is ready for reverse operation 4 Press the Throttle pedal and away you go To stop the kart 1 When you are ready to stop the kart press the brake pedal a It does not matter if you let off of the throt
3. s terms and conditions your sole and exclusive remedy is to discontinue using the vehicle 2 6 Indemnity As a condition of use of the vehicle you agree to indemnify ECE Dept of UAHuntsville and its affiliates partners officers directors employees subsidiaries agents and parents from and against any and all liabilities expenses including attorneys fees and damages arising out of any and all claims resulting from your use of the vehicle and the materials including manuals thereon including without limitation any claims alleging facts that if true would constitute a breach by you of these Terms of Use This indemnity shall include without limitation any claim of inaccuracy or defamation based on operating abilities that you use on the vehicle 2 7 2 8 Third Party The vehicle may contain components of third party manufacturers ECE Dept of UAHuntsville provides these components solely to assist users in operation of the vehicle other component resources that may be of interest to them and you assume sole responsibility and risk for your use of components to third party manufacturer ECE Dept of UAHuntsville does not operate or control in any respect any information content products or services on such third party manufacturers ECE Dept of UAHuntsville does not represent or endorse the accuracy or reliability of any of the information content or advertisements contained on distributed through or linked downloaded or acc
4. OR ANY LOSS OR INJURY CAUSED IN WHOLE OR PART BY CONTINGENCIES BEYOND ITS CONTROL IN PROCURING COMPILING INTERPRETING REPORTING OR DELIVERING THE SERVICE AND INFORMATION OF THE VEHICLE AND YOU ASSUME THE ENTIRE COST OF ALL NECESSARY MAINTENANCE REPAIR OR CORRECTION ARISING FROM ANY SUCH LOSS OR INJURY 29 2 1 3 3 1 3 2 4 1 Modification ECE Dept of UAHuntsville shall have the right at its sole discretion to make improvements and or changes in any aspect of the vehicle at any time and does not accept any responsibility for the effects these alterations may have ECE Dept of UAHuntsville also reserves the right to change modify add or remove terms of this agreement at any time without notice You agree to review this Agreement periodically since such changes modifications additions or deletions shall be effective immediately upon posting and your subsequent use after such posting shall conclusively be deemed to be acceptance by you of such changes modifications or deletions 0 Miscellaneous This Agreement shall be deemed to include all other notices policies disclaimers and other terms contained on this vehicle provided however that in the event of a conflict between such other terms and the terms of this Agreement the terms of this Agreement shall control This Agreement has been made in and shall be construed and enforced in accordance with Alabama law Any action to enforce this agreement shall be brought in the f
5. System 2 3 Months Electric Motor 2 3 Months Fire Extinguisher 2 3 Months Potentiometers 2 3 Months Tire Pressure amp Wear 2 3 Months Steering Motor 2 3 Months Wire Connections 2 3 Months All inspections maintenance and testing will be documented for safety and life value of the parts of the wireless buggy Before all inspections maintenance and testing the inspector of the component will sign date give reason for inspection or maintenance etc and leave comments for the next inspection or inspector so problems and will be documented If hazards or potential hazards are found during inspection maintenance etc it must be documented in writing and immediately addressed by the group When a hazard or potential hazards are found and documented the any group member has the authority to halt production on the wireless buggy for repairs and work will not continue until the proper repairs have been made and a follow up inspection has been performed 5 Smart Kart Operation 5 1 Operation Guidelines e Weight limit is 250lbs e Driver must wear closed toe footwear e Secure long hair e Secure loose clothing e Wear seatbelt at all times e Keep hands and feet inside the kart at all times e Keep hands on the steering wheel e Driver must hold a full drivers license and be over 16 years of age e Drivers are not permitted to drink alcohol prior to operating the kart e Drivers are not permitted to eat while operating the kart
6. amp Output amp Setpoint consKp consKi consKd DIRECT void setup myPID SetOutputLimits 0 255 corresponds to our max output for the pin PWMsteer Serial begin 9600 pinMode PWMsteer OUTPUT analog output 0 to 255 pinMode DIRsteer OUTPUT digital output 0 or 1 myPID SetMode AUTOMATIC turn the PID on myPID SetSampleTime 50 calculate our Output value from PID every 50ms sometimes this value needs to be higher depending on the application default is 100 void loop valW analogRead potPinW read our input ranges from 218 619 measured we want to match the min and max of our wheel and steering wheel potentiometers the numbers below reflect the real values of the potentiometer but are remapped to O and 255 valW map valw 218 619 0 255 convert to double for the PID Input double valW EES Debugging E Eed Serial print Input Serial print Input Serial print JEE EE if Serial available gt 0 delay 5 valS Serial parselnt valS map valS 564 977 0 255 remap value same as above Setpoint double valS convert to double EREARERE Debugging SRRELES EE Serial print Setpoint Serial print Setpoint Serial print r EE EE Below is where the magic happens We ve taken the potentiometer values which are of a random range and has mostly to do with how they were mounted and we
7. an control through the internet on a Smartphone or other wireless device or to have a self driving vehicle that navigates itself using global positioning signals Terms of Use Thank you for using the Smart Kart UAHuntsville This page states the terms and conditions under which you may operate our Vehicle and other information that is or becomes available related to our particular vehicle By signing our Operations Agreement you accept and agree to be bound without limitation or qualification by these terms If you do not accept any of the terms stated here do not use the vehicle Agreement between You and UAHuntsville The vehicle is owned and operated by the Electrical and Computer Engineering ECE department of The University of Alabama in Huntsville and is offered to you for use conditioned on your acceptance without modification of the terms conditions disclaimers and notices contained herein Use of the content services and or products presented constitutes your agreement that you will not use the vehicle for any unlawful purpose and that you will abide by the following terms and conditions and those provided by ECE Dept of UAHuntsville This agreement between you and ECE Dept of UAHuntsville hereinafter Agreement is effective until terminated by ECE Dept of UAHuntsville and may be terminated or changed by ECE Dept of UAHuntsville at any time without notice Your Obligations In connection with your use of the vehicle yo
8. ederal or state courts located in Alabama If any provision is deemed to be unlawful or unenforceable that shall not affect the validity and enforceability of the remaining provisions Designation of Safety Responsibilities Individual Safety Responsibilities It is each individual s responsibility to know and understand the safety rules and regulations associated with the Smart Kart project As a member of the Design team every individual must know the status of the project so they do not put any of the other teammates in harm s way or the university Group Safety Responsibilities It is the group s responsibility to e Develop and maintain a safety program e Schedule safety inspections e Communicate with group members and advisors concerning safety topics e Conduct appropriate training Inspection Procedures Routine Inspection A routine inspection will must be done on the Smart Kart We are all responsible for the safety of the members of the group and any operator of our vehicle 4 2 All of the parts of the Smart Kart will be properly inspected before any form of operation All inspections maintenance and testing will be documented for safety and life value of the parts of the Smart Kart Major components of the kart will have non operational inspection periods Major Buggy Component Recommended Inspection Periods Arduinos 2 3 Months Bolt amp Nuts 2 3 Months Batteries if stored uncharged 2 3 Months Brake
9. een analogRead returns a number between 0 and 1023 that is proportional to the amount of voltage being applied to the pin JEE REEE LER SELLA ES ALE LEAL ERASE EA CER SEALE REL AA LER AEk SEAERELAA TELLER EEA ERE ALES Modified 2 5 2013 LPT a FERALAS ARE KN HAI TAREE REE EE Author Grant Paque Lead Programmer Spring 2013 ECE Smart Kart Team TMM ATT TTT Ryan Creel Project Manager Zach Dreiling Robotics amp Mechanical Lead John Shirling Lead Architect Programmer JT Boyd Lead Analyst Architect III EE EER EEE E EAEE EE ICRA EE ASEO EER d The potentiometer should be set to the pin O on the arduino int steeringPotPin A0 Holds the value of our potentiometer value read the description above for how that value is found and how a potentiometer is used with an arduino double desiredSteeringWheelPotValue 0 void setup Opens our serial port and and sets out baud rate Serial begin 9600 void loop desiredSteeringWheelPotValue analogRead steeringPotPin read input voltage 0 to 1023 Serial printIn desiredSteeringWheelPotValue delay 10 8 6 Steering Receive Description Receives our potentiometer values for steering from the potentiometer at the steering wheel see SK_SteeringTX and uses PID control to fine tune the steering Potentiometers We connect three wires to the Arduino board The first goes to ground from one of the outer pins o
10. ess EAR AEN REESEN a Ad a 9 5 1 Operation Guidelines mesesssseseerereressersreresreserrrr er rr reser rr kr rr sr KR AR KR KRKA RK RR RR RR RR KR KR KR RR RAK KR RAR RR RK RR KR RR RR RAK AR Kra 9 5 2 Health CONGO OM S 5455n s0 sensorn dre EELER Ze 10 5 3 Operating Procedures iii AA A div dee Nere kkr 10 5 4 Emergency ProceCureS ccccccccccscsssssssececececseseaesecececsseseuaecesecscseseaeaeceecesscseaueseceescesesaeaeeeesesseeseaaeas 11 6 Safety DEVICES estante EE data Bs REESEN ENEE 11 6 1 Description of installed Safety Devices ccccononccooocnnonnnanonanoncnnnnonanonononnnnnnnnnnnnnonnnnnnnonennnnnnnnnnnnnaanos 11 6 1 1 Gun 11 6 1 2 Powen Killis aa aE aaa 11 GL Safety Harness Seat Belt ini da aa asia EN KN RR 11 EE E AE 11 LD Wiring Diagram EE 12 8 SOftWare Deele O EE EE 12 8 1 Brake TOS Maid As 12 8 2 Brake Receive iia 13 8 3 TOTO agin EE 14 8 4 Throttle Recover A as 17 8 5 Steering di dada 20 8 6 Steering RECEIVE de EE ee e E E dida 20 1 2 2 1 2 2 2 3 Background During the spring 2012 semester the Smart Kart project showcased its first prototype for outreach demonstrations The kart was designed to read signals sent from the gas pedal steering wheel and brake then send them wirelessly to the motor brake and steering motors The demonstration will be held during UAHuntsville outreach events The project is the beginning of a continuing endeavor The final goal is to have a wireless kart you c
11. essed from any of the services contained on these third party manufacturers No reference or link to a third party or a third party manufacturer shall constitute an endorsement of such third party or such third party manufacturer Specific Disclaimer of Warranties ALL MATERIALS AND SERVICES ON THIS VEHICVLE INCLUDING THOSE PROVIDED BY ECE DEPT OF UAHUNTSVILLE TO THIRD PARTY MANUFACTURERS ARE PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND THE CONTENT PUBLISHED ON THIS VEHICLE MAY INCLUDE INACCURACIES OR TYPOGRAPHICAL ERRORS CHANGES ARE PERIODICALLY MADE TO THE INFORMATION HEREIN EWBG UAH MAKES NO REPRESENTATIONS AND TO THE FULLEST EXTENT ALLOWED BY LAW DISCLAIMS ALL WARRANTIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO WARRANTIES OF NON INFRINGEMENT MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE REGARDING THE SUITABILITY OF THE INFORMATION THE ACCURACY RELIABILITY COMPLETENESS OR TIMELINESS OF THE CONTENT SERVICES PRODUCTS GRAPHICS OR OTHER ITEMS CONTAINED WITHIN THE VEHICLE OR THE RESULTS OBTAINED FROM ACCESSING AND USING THIS VEHICLE AND OR THE CONTENT CONTAINED HEREIN EWBG UAH DOES NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE MATERIALS WILL BE UNINTERRUPTED OR ERROR FREE THAT DEFECTS WILL BE CORRECTED OR THAT THIS VEHICLE INCLUDING THE PLACE OF BUISNESS THAT MAKES IT AVAILABLE ARE FULLY CAPIBLE OF OPERATIONS AND TRAINED IN THE USE OF THE VEHICLE IN ADDITION EWBG UAH SHALL NOT BE LIABLE TO YOU OR ANYONE ELSE F
12. f the potentiometer The second goes from 5 volts to the other outer pin of the potentiometer The third goes from analog input 2 to the middle pin of the potentiometer By turning the shaft of the potentiometer we change the amount of resistence on either side of the wiper which is connected to the center pin of the potentiometer This changes the relative closeness of that pin to 5 volts and ground giving us a different analog input When the shaft is turned all the way in one direction there are O volts going to the pin and we read 0 When the shaft is turned all the way in the other direction there are 5 volts going to the pin and we read 1023 In between analogRead returns a number between 0 and 1023 that is proportional to the amount of voltage being applied to the pin Pulse Width Modulation Bi directional motor control is typically accomplished using an H bridge circuit with pulse width modulation PWM from a microcontroller to vary the speed PID Control With an H bridge and a pair of PWM signals the motor is ready for bi directional control The simplest form of control is open loop This means the controller simply applies a voltage a PWM signal in this case but has no way to measure the effect of the applied voltage The controller simply assumes higher voltage makes the motor go faster Closed loop control uses feedback from the motor such as the motor current or speed to adjust the PWM signa
13. flipped while operational it will discontinue power flow throughout the vehicle 6 1 3 Safety Harness Seat Belt The seat belt is strictly to protect the passenger while the vehicle is motion In the case of an accident the seat belt keeps the passenger fastened tightly to the vehicle to prevent the passenger from being thrown out of the vehicle or thrown around in side of the vehicle as well 6 1 4 Fire Extinguisher The fire extinguisher will be positioned on the rail of the cart roll cage The extinguisher is to be used ONLY in the case of a FIRE The extinguisher will be a multi use extinguisher but for this vehicle it must have chemical and electrical fire extinguishing capabilities 7 Wiring Diagram 36V 5V Converter SRE Brake Actuator e 36VDC 12VDC SVDC Wireless 8 Software Description 8 1 Brake Transmit break tx define breakPin 2 output pin 2 is renamed to breakPin int potPinB A0 assign potPinB to input pin O int valB 0 int lastValB 0 void setup Serial begin 9600 pinMode breakPin OUTPUT digital output 0 or 1 void loop valB analogRead potPinB read input voltage 0 to 1023 if valB lastValB gt 15 break pedal pressed Serial printIn S digitalWrite breakPin HIGH else if valB lastValB lt 15 break pedal depressed Serial printin R digitalWrite breakPin LOW lastValB valB delay 10 8 2 Brake Receive break rx define PWMbrake 4 outp
14. l EE EE EE Modified 2 5 2013 Completed 2 24 2013 ERSEAPFEREERSEESER CEL SER ERAS EEE EEE ALA REL aK aE Pa AR BEE EARLE ARAL EE EE RESETS S Author Grant Paque Lead Programmer Spring 2013 ECE Smart Kart Team TTA ATTA Ryan Creel Project Manager Zach Dreiling Robotics amp Mechanical Lead John Shirling Lead Architect Programmer JT Boyd Lead Analyst Architect TUM EREERELLERA ELSE EAR EERERR SEAR ERE ER ELLE AS TREES ERPS ERELES AEE TRE ER SEERA d include lt PID_v1 h gt Hdefine PWMsteer 3 output pin 3 is renamed to PWMsteer Hdefine DIRsteer 2 output pin 2 is renamed to DIRsteer int potPinW A0 assign potPinW to input pin O int valS 1 set to allow Xbee some time to boot up int valW int steeringDir Define Variables we ll be connecting to double Setpoint Input Output These values are the ticket to making this thing turn correctly If you don t understand why please review EE425 for the coefficients of P I and D Summary We want the proportion coefficient to be large because the vehicle experiences a lot of friction when on the ground if you lift the vehicle it will oscillate out of control this is because of the constant Kp The rest of the values are for honing in on the Setpoint the value of our steering wheel double consKp 3 consKi 0 001 consKd 0 045 Specify the links and initial tuning parameters PID myPID 8 Input
15. ogWrite PWMgas 0 else if c B num 1 analogWrite PWMgas 25 else if c C num 2 analogWrite PWMgas 50 else if c D num 3 analogWrite PWMgas 75 else if c E num 4 analogWrite PWMgas 100 else if c F num 5 analogWrite PWMgas 125 else if c G num 6 analogWrite PWMgas 150 else if c H num 7 analogWrite PWMgas 175 else if c l num 8 analogWrite PWMgas 200 else if c J num 9 analogWrite PWMgas 225 else if c K num 10 analogWrite PWMgas 250 delay 10 8 5 Steering Transmit Description Transfers our potentiometer values for steering We connect three wires to the Arduino board The first goes to ground from one of the outer pins of the potentiometer The second goes from 5 volts to the other outer pin of the potentiometer The third goes from analog input 2 to the middle pin of the potentiometer By turning the shaft of the potentiometer we change the amount of resistence on either side of the wiper which is connected to the center pin of the potentiometer This changes the relative closeness of that pin to 5 volts and ground giving us a different analog input When the shaft is turned all the way in one direction there are O volts going to the pin and we read 0 When the shaft is turned all the way in the other direction there are 5 volts going to the pin and we read 1023 In betw
16. rmation or material shall also be at your own risk Neither ECE Dept of UAHuntsville nor its affiliates partners officers directors employees subsidiaries agents or parents shall be liable to you or anyone else for any inaccuracy error omission interruption timeliness completeness defect failure of performance computer virus communication line failure alteration of or use of any content herein regardless of cause or for any damages resulting there from 2 5 Limitation on Liability Under no circumstances shall ECE Dept of UAHuntsville or any of its affiliates partners officers directors employees subsidiaries agents or parents be held liable for any damages whether direct incidental indirect special or consequential damages including without limitation lost use data revenues time money profits or goodwill arising from or in connection with the use reliance on or performance of the vehicle even when ECE Dept of UAHuntsville has been advised of the possibility of such damages ECE Dept of UAHuntsville shall not be liable for damages or injury caused in whole or in part whether foreseeable or unforeseeable and whether based in tort including defamation contract and strict liability or otherwise in producing and publishing this vehicle or any materials contained in this vehicle or linked by or to this vehicle If you are dissatisfied with any of the vehicle s material or services or with any of the vehicle
17. t so our error will be positive myPID SetControllerDirection DIRECT myPID Compute steeringDir HIGH turning leftward and will eventually hit case 1a digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output if Setpoint lt 127 amp amp Input lt 127 case 3 if Setpoint gt Input case 3a error will be positive and we ll want to be turning left myPID SetControllerDirection DIRECT myPID Compute steeringDir HIGH turning leftward and will eventually hit case 1a digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output else if Setpoint lt Input case 3b error will be negative and we ll want to be turning right myPID SetControllerDirection REVERSE myPID Compute steeringDir LOW turning leftward and will eventually hit case 1a digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output if Setpoint lt 127 amp amp Input gt 127 case 4 we ll want to be turning right and error will always be negative myPID SetControllerDirection REVERSE myPID Compute steeringDir LOW turning right digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output if Setpoint Input no error our PID has done its job but we ll make sure of it here analogWrite PWMsteer 0 JEE Debugging PARRA EEX Serial print Output Serial printIn Output Serial print E EE EES delay 10
18. tle pedal or not because there is a safety feature wired between the brake and throttle Arduinos to kill the throttle signal power to the drive motor when the brake is applied 5 4 Emergency Procedures If there is any uncertainty as to the safety of the vehicle vehicle operations in expected manner do the following 1 Pull the emergency brake 2 Flip the power switch to the OFF position 3 Exit the vehicle 6 Safety Devices 6 1 Description of installed Safety Devices The vehicle has four key safety components that will aid in the safety of the passenger and the vehicle In designing the vehicle we decided that an emergency brake kill switch seat belt and fire extinguisher were absolute must haves for optimum safety for this vehicle 6 1 1 Emergency Brake The emergency brake often referred to as a hand brake is positioned on the left hand side of the driver in the vehicle The emergency brake is easily accessible and is used ONLY in case of brake system failure Our brake system is a linear actuator connected to the brake system located on the left rear wheel of the vehicle On the opposite side of the actuator the emergency brake is connected and if pulled will effectively and abruptly stop the vehicle 6 1 2 Power Kill Switch The kill switch often referred to as the dead switch is positioned under the steering wheel of this vehicle This switch is also the power switch that you use to turn the vehicle on When the kill switch is
19. u shall abide by all applicable federal state or local laws including those pertaining to such areas as libel slander defamation trade libel product disparagement harassment invasion of privacy tort obscenity indecency and copyright or trademark infringement General Disclaimer The vehicle is designed to provide users with an enjoyable ride and experience ECE Dept of UAHuntsville does not guarantee the accuracy or completeness of any component on the vehicle As such ECE Dept of UAHuntsville will not be responsible for any errors inaccuracies omissions or deficiencies in the information provided and the operation of the vehicle This vehicle is provided as is with no guarantees of completeness non infringement accuracy or timeliness and without warranties of any kind express or implied You therefore assume sole responsibility for all risks associated with the use of this vehicle and further accept that ECE Dept of UAHuntsville is in no way responsible for any consequences whatsoever to anyone arising from your use or interpretation of any information contained within or linked from or to the vehicle 2 4 Use of Vehicle at Your Own Risk The Vehicle may contain components and materials from various sources ECE Dept of UAHuntsville does not represent or endorse the accuracy or reliability of any materials provided by these sources or any information data or analysis derived from these sources Reliance upon any such info
20. ut pin 4 is renamed to PWMbrake Hdefine DIRbrake 2 output pin 2 is renamed to DIRbrake char c void setup Serial begin 9600 pinMode PWMbrake OUTPUT digital output 0 or 1 pinMode DIRbrake OUTPUT digital output 0 or 1 void loop if Serial available gt 0 c Serial read if c S digitalWrite DIRbrake LOW digitalWrite PWMbrake HIGH else if c R digitalWrite DIRbrake HIGH digitalWrite PWMbrake HIGH delay 10 8 3 Throttle Transmit throttle tx int potPinG A0 assign potPinG to input pin O int switchPin A1 assign switchPin to input pin 1 int breakPin A2 assign breakPin to input pin 2 int valG 0 int hold 0 0 500 is low 501 1023 is high low 0 high 1000 int op 0 0 500 is low 501 1023 is high low 0 high 1000 int lastop 0 0 500 is low 501 1023 is high low 0 high 1000 void setup Serial begin 9600 void loop hold analogRead breakPin read in break pin from break tx if hold gt 500 hold 1000 else if hold lt 500 hold 0 while hold gt 500 Serial printIn X delay 10 hold analogRead breakPin read again if break is on off if hold gt 500 hold 1000 else if hold lt 500 hold 0 valG analogRead potPinG read input voltage 0 to 1023 op analogRead switchPin read in operation pin if op gt 500 op 1000 else if op lt 500 op 0 if op lt lastop amp amp valG lt 100 check forward switch on
21. ve remapped the values so that now they represent values from O 255 for both the steering wheel value and the wheel value 127 represents the halfway point where we should be driving directly straight forward below handles the 4 cases involved with the steering In general there are 2 sub cases where the calculated error Setpoint Input is negative and our PID must have positive values for error therefore we use the SetControllerDirection function to reverse the direction so that when we receive negative values we will get an output if Setpoint gt 127 amp amp Input gt 127 case 1 error setpoint input can be positive or negative we have to handle when our error is negative by reversing our PID direction if Setpoint gt Input case 1a our error will always be positive here and in this case since our Setpoint is greater we want to be turning left myPID SetControllerDirection DIRECT myPID Compute steeringDir HIGH digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output else if Setpoint lt Input case 1b in this case our error will always be negative and we want to be turning right myPID SetControllerDirection REVERSE myPID Compute steeringDir LOW digitalWrite DIRsteer steeringDir analogWrite PWMsteer Output if Setpoint gt 127 amp amp Input lt 127 case 2 Setpoint will always be greater than the inpu
22. yAHuntsvilj Smart Kart Platform eTMENT OF ELECT DEPAR PARMPUTER ENGINEER AL USER MANUAL 3 EDITION Spring 2013 Prepared For Prepared by University of Alabama Huntsville UAHuntsville JT Boyd Department of Electrical amp Computer Engineering Ryan Creel 301 Sparkman Dr Zachary Dreiling Huntsville AL 35899 Grant Paque John Shirley This Page Intentionally Left Blank Table of Contents 1 Tee e UNC EE 5 2 Terms Of Hee aaa A a Ada 5 2 1 Agreement between You and UAHuntsville cccccononononnnnonnnonononnnnnnnnnnnnnnononnnnnnnnono nn nnnnnnnnnnn nos 5 2 2 YOU ODIEatIONS o ar fa 5 2 3 General Disclaimer eiii ie a iaa 5 2 4 Use of Vehicle at Your OWN Risk 6 2 5 Limitation on RR Le EE 6 2 6 le TEE 6 2 7 d ll ge EE H 2 8 Specific Disclaimer Of Warranties svc ccsvecssevesceusveareeseexeaseveesviensneetestspoesaediqaveehsedeaeesdeersea bene benen beer 7 2 9 MOG Met e 8 ENTSTI 8 3 Designation of Safety Responsibilities smsmsmssssesssrsrsssssersrrrrssesenrresrrrerrr rr rr rr nns RAR KR RBK RAR KR KRK SKR RAR KR RR RA RR KAR KR a oa 8 3 1 Individual Safety Responsibilttle s rs sor rr sr rr rr rs RK KKR RA RK RAR KR KRK RR KR AR KR annan 8 3 2 Group Safety Responsibilities obs a daa 8 4 INSPECTION Mie Lee TEE 8 4 1 Ro tine INS PE CU ON sess cose 2 ies edie O 8 4 2 Major Buggy Component Recommended Inspection PEriOCS ssrsersssrrersrrrssserrsrrsrsosensr rr rna na 9 5 Smart Kart OpEratl ON miis essensen dr
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