Updated Low-level Communication Architecture Sample Clauses

Updated Low-level Communication Architecture. ‌ The on-board robot navigation computer will communicate with the two boards (Sensor & Charger Board and the Motor Board controller) using 2 USB ports. In each board there will be a USB to RS232 converter that will convert the USB data packages to serial RS232 packages for the boards controllers. Each Board controller will communicate with the other allowing the exchange of information in- between them. This communication channel will allow the execution of low-level behaviours, for example, react against an imminent collision, enter in charging mode with motors shut-down, reduce the motors velocity when the batteries are low or react to changes that can affect the robot’s operation, which is fundamental to the improvement of the overall system dependability. The main controller from the Sensor&Charger board will communicate with other microcontrollers using RS232 or I2C communication ports. The main controller will act as the master and the other microcontrollers will behave like slaves. The Sensor&Charger board will connect to the battery charger, sensor, device actuators and sonar acquisition boards. The Motor Board controller will connect to the PI Motor controllers and also to temperature sensors. Each controller will have a low-level fault diagnosis that will check the operation state of each microcontroller and also monitor all the communication in-between the devices. The low-level communication architecture is depicted in Figure 7. Figure 7. Updated Low-level Communication Architecture
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