The goal of this project is to build a working car that can be driven using computer inputs through wireless connection or by itself. To do this, we will be using the USART serial interface to send commands via bluetooth, I2C serial interface to communicate with the motors and accelerometer. We will also be using a sonar sensor to assist with the self driving mode.

• On startup, run initialization commands for peripherals

• In While(True) loop

  • If car not on

  • Listen for termite command to configure and turn on car

  • If car is on

    • Read Nunchuk data

    • If Nunchuk Z-button pressed

      • Turn car off

    • If car is on and in manual mode

      • Process Nunchuk Joystick data and move car accordingly

    • If car is on and in automatic mode

      • If distance > 15 cm

        • Go forward

      • Else if distance < 15 cm

        • Clear obstacle by going back for a certain amount of time and turning for a certain amount of time

        • The time intervals are determined by SysTick

Wii Nunchuk Pins: PB6 and PB7 used as SCL and SDA lines respectively to communicate to the Wii Nunchuk

Termite Pins: PA2 and PA3 are configured as alternative function mode and used as USART2_TX and USART2_RX to communicate with termite through the Bluetooth module

Sonar Pins:

• PA0 is configured as alternative function mode and used as TIM2_CH1 for input capture

• PE11 is configured as alternative function mode and used as TIM1_CH2 for output trigger mode

Motor Pins:

• PE13 and PE14 are configured as alternative function mode and used as TIM1_CH3 and TIM1_CH4 for speed control on the right side and left side wheels

• PB2 and PB3 are configured as output mode and used to program direction logic for all 4 wheels

3V Pin is used to power the Wii Nunchuk

5V Pin is used to power the rest of the peripherals