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The LLC / ATmega2560 acts as a SPI slave to the MLC / Raspberry Pi. See Mid Level Controller, SPI for details.
Inputs / Sensors
ADC
The ADC measures the battery voltage and the motor current. These are only used for monitoring, not control.
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The yaw rate and acceleration vector are read from the IMU via I2C. The yaw rate is summed, to give an estimate of the yaw angle.
Odometer
The odometer has 3 digital outputs. Each signal change (rising or falling) is handled by an interrupt. The signal change indicates a motor rotation of approx. 60 degrees. The rotation count and motor speed are derived from those signals.
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Should the communication with the MLC fail repeatedly, the LLC will enter a safe mode. The motor is commanded to brake. The safe mode is indicated by flashing all LEDs.
Device Programming, Fuses
Tests
By setting a jumper, a test mode is activated. This allows testing the inputs and outputs without the MLC.
Multimedia
Overview
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