Mini Grand Hardware

= Vehicle Procedures =

Arduino Connection

 * 1) Connect the Arduino Shield onto the Arduino
 * 2) Connect all cables from the vehicle to the Arduino pins (See the "Sensor/Controller Pinout" section below)
 * 3) Connect the USB cable (Head type A to B) from the Arduino to your PC
 * 4) Connect the the 5V power source to the Arduino shield

Sensor Pinout

 * 1) Digital PIN 2: Encoder 1 (Interrupt index 0)
 * 2) Digital PIN 3: Encoder 2 (Interrupt index 1)
 * 3) Analog PIN 3: Start Button
 * 4) Analog PIN 4: Compass digital and power/ground lines (Green cable)
 * 5) Analog PIN 5: Compass clock (white cable)

Controller Pinout

 * 1) Digital PIN 9: Servo output (Motor Controller; PWM)
 * 2) Digital PIN 10: Servo Output (Steering; PWM)
 * 3) Analog PIN 0: Steering (Potentiometer on Lin. Actuator; Yellow is signal)

Vehicle Hardware Initialization
Please note that the order of plugging-in USB ports is important; this is to help the software iterate through each device's serial names correctly.
 * 1) Make sure to have the Arduino Connection procedure done
 * 2) Connect the two red batteries that are in series to the vehicle using the black-headed power connector
 * 3) Connect the large black car battery to the standard white-headed power connector
 * 4) Connect the GPS, through USB, to the main computer
 * 5) Connect the GPS power plug into the front 12v power outlet
 * 6) Connect the front-camera, through USB, to the main computer
 * 7) Connect the Laser-Range Finder, through USB, to the main computer
 * 8) Turn off (rotate and release) the red E-STOP button.
 * 9) Turn on (remove cover and pull up) the two control switches found on the front of the vehicle. Red LEDs should turn on.

Vehicle Software Initialization

 * 1) Make sure to have the Vehicle Hardware Initialization procedure done.
 * 2) Checkout the latest project source code from SVN
 * 3) Change directory into the root of the project folder
 * 4) Run the "make" program to build the source code
 * 5) Run the "run" script by typing "./run"
 * 6) Note: Several configuration files may need to be changed if the vehicle needs different settings

Vehicle Start

 * 1) The Arduino vehicle controller ignores all commands until the red "START" button is pressed, found on the front-left of the vehicle
 * 2) If needed, the vehicle will stop by pressing the "E-STOP" button

= Vehicle Details =

Cable Listings

 * RC Specific
 * RC Power - Power source for the RC unit
 * RC Channel 1 - Controls the vehicle velocity
 * RC Channel 2 - Controls the vehicle rotation


 * Power
 * 5V for wheel controller


 * Sensors
 * Compass I2C - The I2C connection to the compass
 * Drive ENC 1 - The first of two wheel encoder sensors, used for quadrature
 * Drive ENC 2 - The second of two wheel encoder sensors
 * STR ENC - The steering encoder
 * RC ON/OFF - The on/off button that is used to query if the RC should turn on when the vehicle power is initialized


 * Controllers
 * Motor Controller - Controls the motor controller via serial
 * Wheel Controller

Hardware Components

 * Platform
 * Vehicle: Fisher Price Power-Wheels F-150
 * Power Sources
 * 2x 6v Red Fisher Price Batteries (Motor Power)
 * 1x 12v Car Battery (Logic)
 * 6V to 5V Converter
 * 12 DC to AC Inverter
 * Controllers
 * Motor Controller: Duratrax Auto-Sport Forward/Reverse IntelliSpeed
 * Steering Controller: SyRen 10
 * Logic Controller: Arduino
 * RC Controller: 2019 Traxxas Receiver
 * Sensors
 * GPS: Garmin 18 Serial / USB
 * LIDAR: Hokuyo URG-04LX Laser Sensor
 * Compass: CMPSC03
 * Sound
 * Sound Amplifier: Hipower Amplifier
 * Speakers: Panasonic Speakers
 * Buttons:
 * E-Stop: Stops direct power to motor controller
 * Logic Power: Feeds power into logic-level system
 * Hardware Power: Feeds power into hardware-level system
 * RC Initializer: If pressed, activates RC control