Wireless Networks for Multi-Robot Communications Team Senior Design Project Clay Oehlke • Matt Crotts • Kenny McNutt • Jeremy Vernon 05/05/2003- 1 - Table of Contents 1. Implementation Notes ..........................................................................................................................................................................3 1.1 Introduction ...................................................................................................................................................................................... 3 1.2 Global Variables...............................................................................................................................................................................3 Byte ....................................................................................................................................................................................................... 3 1.2.1 Token......................................................................................................................................................................................3 1.2.2 Found.....................................................................................................................................................................................4 1.2.3 NextNode................................................................................................................................................................................4 1.2.4 Route Table............................................................................................................................................................................ 4 1.2.5 Invite ......................................................................................................................................................................................4 1.2.6 ID ........................................................................................................................................................................................... 4 1.3 Finite State Machine......................................................................................................................................................................... 5 1.3.1 Initialization........................................................................................................................................................................... 5 1.3.2 Joining ...................................................................................................................................................................................5 1.3.3 Inviting................................................................................................................................................................................... 6 1.3.4 Idle (Search Algorithm).......................................................................................................................................................... 6 1.3.5 Monitoring .............................................................................................................................................................................7 1.3.6 Have Token ............................................................................................................................................................................ 7 1.4 Code Outline..................................................................................................................................................................................... 7 1.4.1 init.bsp.................................................................................................................................................................................... 8 1.4.2 mainRoutine.bsp..................................................................................................................................................................... 8 1.4.3 TxRoutine.bsp......................................................................................................................................................................... 8 1.4.4 RxRoutine.bsp ........................................................................................................................................................................9 1.4.5 dance.bsp ...............................................................................................................................................................................9 1.5 Hardware ........................................................................................................................................................................................10 1.5.1 Servos................................................................................................................................................................................... 10 1.5.2 Infrared circuit..................................................................................................................................................................... 10 1.5.3 Photo resistors .....................................................................................................................................................................11 1.5.4 Radio Frequency Transmitter, Receiver, and Antennas.......................................................................................................12 2. User’s Manual ....................................................................................................................................................................................13 2.1 Introduction .................................................................................................................................................................................... 13 2.2 Activating the Robots ..................................................................................................................................................................... 13 2.3 Running the Search.........................................................................................................................................................................15 3. Course Debriefing