marsrover/document/prop.tex

   1 \section{Proposal for mapping the sensors and actuators}
   2 We propose to have the components that are the most safety-critical on a single
   3 brick. In that way the robot can act upon a dangerous situation as quickly as
   4 possible. The most safety critical sensors are both the light sensors and the
   5 ultrasone sensor on the back since they detect if the robot almost falls of the
   6 planet. The most safety critical motors are the motors for the movement since
   7 they can prevent the robot from falling of the planet. The other actuators
   8 and sensors can be placed in any configuration. The full mapping proposal is
   9 described in \autoref{tab:mapping}.
  10
  11 \begin{table}[h]
  12         \centering
  13         \begin{tabular}{lll}
  14                 \toprule
  15                         & Brick $1$ & Brick $2$\\
  16                 \midrule
  17                 \multirow{2}{*}{Actuators} & Left motor & Measurement motor\\
  18                         & Right 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}