Cyberphysical Architecture

High Level Cyberphysical Architecture

Detailed Cyberphysical Architecture

The cyberphysical architecture basically explains the crude software and hardware flow of our design. In the hardware design, we made our own PCB to incorporate all the features and reduce the unnecessary clutter found on a typical development board. The software flow discusses the high level pseudo code. The specific pseudo code for obstacle detection and locomotion (relatively complex function) is shown in the left Figure below. The Figure on the right shows the physical PCB, microcontroller, and motor drivers.