Wecome to the ERT Autonomous Golf Cart Project

SVN checkout of the project files is available from the CS webserver batson. Here is an example command to pull data from the archive for the latest cart server code.

"svn co https://batson/svn/bhimebau/embedded_systems/cart/ert1/trunk"

To pull the VCS code use the following:

"svn co https://batson/svn/bhimebau/embedded_systems/cart/vcs/trunk"

The code archive is divided into the following sections:

1.) cart - this is code that lives behind the cart message interface. There are two hardware devices related to this code. The first is ert1 which is an Xscale SBC board (blue box above the front window in the cart). The other is the vcs (vehicle control system) which is an MSP430 board. The VCS communicates with the ert1 board through an RS232 link. The VCS is responsible for speed control and GPIO. The ert1 box is responsible for serving messages to the driver and talking to the VCS and steering amplifier.

2.) driver - this code is divided into linux and windows code used to drive the cart. Right now the linux driver is being used to drive straight lines at various speeds, but this will be developed into a full GPS tracking system in the very near future. The windows driver is not populated yet.

3.) simulator - windows simulator code. This branch of the archive still needs to be populated.

BH 2/9/07