Software

Code is provided for each of the micro-controllers in the vehicle.  These are .pde files for the Arduino environment, but they are really just text files of C code. Thus they should run on almost any other machine, as long as the Arduino library routines are provided. The micro-controllers are

C1: Traction, brake and steering motor control, or more properly, throttle control.  This unit should not be confused with the purchased e-bike motor control unit used to send battery power to the hub motor.

C3: Pilot. Presents C1 with a segment of the path.

C4: Path Planner. Reads a map and produces a route to the destination.

C5: Obstacle Detection. Reports if there is anything in the way.

C6: Navigator. Reads all the sensors and figures out vehicle location.

C7: Visual Data Management. Filters smart camera output for lane following, visual odometry and obstacle detection.