marsrover/document/map.tex

   1 \section{Robot architecture}
   2 \subsection{Mapping of the sensors and actuators}
   3 The actuators are all plugged into the master brick to achieve the maximum
   4 safety in case the \emph{Bluetooth} connection fails between the master and the
   5 slave and one of the actuators is moving. All the safety-critical sensors for
   6 movement are placed on the master brick too. All other sensors are placed on
   7 the slave brick. Any increased latency on those sensors will not danger the
   8 safety. The final mapping is described in \autoref{tab:mapping}.
   9
  10 \begin{table}[H]
  11         \centering
  12         \begin{tabular}{lll}
  13                 \toprule
  14                         & Master Brick & Slave Brick\\
  15                 \midrule
  16                 \multirow{2}{*}{Actuators} & Left motor\\
  17                         & Right motor & \\
  18                         & Measurement motor\\
  19                 \midrule
  20                 \multirow{4}{*}{Sensors} & Left light sensor & Color sensor\\
  21                         & Right light sensor & Front ultrasone sensor\\
  22                         & Back ultrasone sensor & Left touch sensor\\
  23                         & Gyro sensor & Right touch sensor\\
  24                 \bottomrule
  25         \end{tabular}
  26         \caption{Proposed mapping of the sensors and actuators}\label{tab:mapping}
  27 \end{table}
  28
  29 \subsection{Design patterns}