Drive system
Mechanical
Introduction
The entire mechanical side of the drive system consists of 4 main subsystems, the suspension, tur...
Suspension
The rover utilizes a passive rocker-bogie suspension architecture coupled with a top-mounted diff...
Turning System
The turning system provides active steering for the front and rear wheel assemblies. To ensure hi...
Motor Subassembly
The drivetrain report details the original V1 concept (left). However, just 2–3 weeks before the ...
Wheels and Wheel Hubs
Overview & Design Intent The rover uses a non-pneumatic, cellular wheel design. The goal of this ...
Electrical
Control
Overview
General structure The general structure of how the control system is made, tested, and deployed w...
Manual control
Overview In general, the job of the control system is to turn high level instructions from the so...
Automatic control
Overview In general, the job of the control system is to turn high level instructions from the so...
Simulation
Simulation of the drive system Simulink Overview The simulation is done using a main control bloc...
Embedded
Getting Started
This page: structure of this subsystem components/driving_board folder contains 4 libraries: firm...
Motor Folder
components/driving_board/motor All of the motor functions in this folder are called in Main BLD...
Parser Folder
components/driving_board/parser This page: structure of message encoding in parser.c The encod...
Main
src/driving_board/main.c contains the main firmware entry point and runtime logic for the drivin...