JERRY AGV

General System's Description:

System receive a routine to be executed, which it's introduced by means of a menu's structure from Calculator. Calculator's program was wrote in USER RPL for simplicity reasons, and it takes a list of operations to do and compile it, converting the user's introduced characters into the corresponding ASCII characters's sequence, equivalent in steps for each motor, to distances (in centimeters units) and angles (in degrees units), to subsequently to be sent to the vehicle trough the IRDA interface. Vehicle is controlled by means of a PIC16C84, who plays a calculator's slave role, and executes motors's control and sensors* monitoring tasks. Calculator and Vehicle establish a IRDA communications session, and it fallow a protocol that enables calculator to send to the vehicle an order contained in 2 Bytes, where is specified the spin's direction for each motor using the two most significant bits of 1st Byte, and 14 bits that contains the steps's number to be rotated by both motors in the specified spin's directions. Calculator run into an "End of Task" message wait state until vehicle sends it. Then, calculator sends another 2 Bytes package, an so on until the end.

*NOTE: Sensorial system is not  yet implemented. However, sensors have been taken in count at design stage.

Disclaimer: Please, excuse my english. It's not my maternal language. Help me with comments. Tanks.

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