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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

When programming the ATmega for the first time, the following fuses must be changed.

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Tests

By setting a jumper, a test mode is activated. This allows testing the inputs and outputs without the MLC. Multimedianameasd.mp4width100%