The
software consists of two major modules. Please click on the module names for
detail.
The master
module is implemented for c32 and manages the sensor outputs. The slave module
is for e128 and controls the two motors to move the platform. The master finds
the direction to move the platform from the outputs of IR sensors and tape
detectors, and gives an order to the slave accordingly. Then the slave controls
the motors to follow the order. The master and the slave communicate using the
SPI subsystem.
Here is the
state chart (or more like flow chart) for the software design.
