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Table of Contents
Introduction ...................................................................................................................................................................2
Technical Approach .......................................................................................................................................................3
Block Diagram ................................................................................................................................................... 3
Software Systems.............................................................................................................................................. 4
Algorithm ...................................................................................................................................................... 4
Source Code ................................................................................................................................................ 10
Hardware Systems .......................................................................................................................................... 42
Hardware Description ................................................................................................................................. 42
Schematics .................................................................................................................................................. 43
Test Plan and Results ...................................................................................................................................................48
Conclusions ..................................................................................................................................................................52
References ...................................................................................................................................................................53
Appendixes ..................................................................................................................................................................54
Time Tracking .................................................................................................................................................. 54
User Manual .................................................................................................................................................... 55
Datasheets ...................................................................................................................................................... 58
Rover 5 ........................................................................................................................................................ 58
Motor Driver: Freescale MC33926.............................................................................................................. 60
Ultrasonic Distance Sensor: MaxBotics XL-MaxSonar-AE4 (MB1340) ........................................................ 85
MCU: Microchip PIC18F46K22 (Partial) ...................................................................................................... 90
Buzzer: Mallory AST1240MLTRQ ................................................................................................................ 94