Obstacle Avoiding Rover

The Obstacle Avoiding Rover was a course project done in a team of 3 for ENGR 498 at San Francisco State University.

The project requirements include:

• Integrating at least four peripherals (GPIO, Timer, Serial, etc.).

• Utilizing interrupts.

• Be validated with debugging tools and performance metrics.

• Nucleo-L476RG microcontroller board

• HC-SR04 Ultrasonic Sensor

• 18650 Battery case

• 2 – 18650 Lithium Ion batteries

• SG90 Servo

• 6 – acrylic structural parts

• 4 – TT motors

• 4 – 75mm Mecanum wheels

• Several nuts, screws, and copper columns

• 2 – Philips screwdrivers

• Small wrench

• Aluminum Alloy Frame

• 4 - TT motors

• 4 – 55mm Mecanum wheels

• Several nuts and screws

Software Architecture

Hardware Architecture