devoalda
/
INF2004_Project
mirror of https://github.com/L4ncelot-R/freeRTOS-car.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update README.md

This commit is contained in:
Richie Wang 2023-11-11 16:51:38 +08:00 committed by GitHub
parent 4abc903962
commit 89256a7883
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
README.md
View File

@ -28,6 +28,12 @@ cp freeRTOS-car.uf2 /media/$USER/RPI-RP2
# Components # Components
## Motors ## Motors
Motor module consist of 4 components:
1. [motor_init](frtos/motor/motor_init.h): Initialises the pins and struct stated in [motor_config](frtos/config/motor_config.h) and [car_config](frtos/config/car_config.h), and the free rtos tasks related. Call `motor_init` followed by `motor_tasks_init` to get ready all the motor and wheel encoder related components.
2. [motor_speed](frtos/motor/motor_speed.h): Monitors the speed of the motors by interrupt. Each **falling edge** of the wheel encoder will trigger the interrupt and the time elapsed since last trigger will be recorded and thus calculate the speed and distance travelled since boot. Includes functions to adjust the duty cycle of the motor.
3. [motor_pid](frtos/motor/motor_pid.h): PID function to match the **right** motor duty cycle to the **left** motor such that the car can move straight, with 50ms interval.
4. [motor_direction](frtos/motor/motor_direction.h): Sets the direction of the motor to control the car using bit masks. Includes functions that works with the magnetometer to turn the car to/by specific yaw.
## Ultrasonic Sensor ## Ultrasonic Sensor
@ -55,4 +61,4 @@ The final version of the magnetometer uses a **moving average filter** to smooth
## Barcode (Line) Sensor ## Barcode (Line) Sensor
## WiFi (Web Server) Module ## WiFi (Web Server) Module