This thesis contains a description, pertaining to the production of a two-track vehicle commonly reffered to as a segway. This thesis includes a description of the electrical part of the execution, a description of the vehicle's software and a brief description of the mechanicle part of the execution. We will delve into describing seperate components of the vehicle and how each included component is used in a successfull operation of said vehicle. We will be using the MIŠKO development board as our primary controller for our vehicle. This controller will read the vehicle's current angle rate from an angle rate sensor or gyroscope, as well as generate a PWM driving signal for the vehicle's motors. The PWM signal will be driven through to a high-power motor controller circuit, that will convert these low power signals to high power signals for the motors. The vehicle will feature a steering system, consisting of a steering stick attached to a variable resistor. The primary controll board will read the value of this resistor at a fixed rate through an analog to digital converter. As the MIŠKO development board will be required to perform many seperate operations as it starts up or is being driven, we will be using a task schedueler, which i have developed in advance.
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