My next project!
Work has granted me a sweet RC car to take home, attach a SunSPOT, and create some simple behaviors so that it acts as a moving obstacle. In the bigger picture, I am involved with a project that calls for the evaluation of several planning algorithms for human following in dynamic and cluttered environments. To test this, outside of simulation, we need some damn moving obstacles.
Hardware: On top of the RC car, I will place a pyramid-shaped shroud made primarily from balsa wood. I Google SketchUp'ed a model of the shroud. I will attach a SunSPOT to the electronic speed control and steering servo of the RC car.
Sensors: The sensor package for this moving obstacle comprises only those sensors included in the SunSPOT. However, the system will employ only the 3G accelerometer for some coarse local positioning.
Plan: So far, I ordered the car and downloaded the manual for the electronic speed controller in the car. Unfortunately, the manual does not provide the frequency of the PWM signal used to control the speed. The steering servo takes standard servo inputs, I'm told. To add to my chagrin, I am no EE person. Therefore, I will most likely proposition the help of several online forums and/or EEs at work, in order to figure out the accepted signals for controlling these components.
