Specifications

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3.1.3. During the Testing Procedure 17
3.2. Resource Requirements 17
3.3. Sustainability 18
3.4. Methodology 19
3.5. Justification of Methodology 20
4. CHAPTER 4 – Data Analysis 21
4.1. Initial Design 21
4.2. Second Prototype 22
4.3. Odometer sensors and interrupt control 23
4.3.1. Building the odometer sensors 23
4.3.2. Using interrupts to count odometer readings 24
4.4. H Bridge Motor Control 27
4.5. Infrared Distance Sensors 29
4.5.1. Requirements and Availability 29
4.5.2. Choice of Sensor 31
4.5.3. Design and construction of IR Sensor 31
4.6. The Software 39
4.6.1. Address Definition 41
4.6.2. Variable Definition 42
4.6.3. Main Program 42
4.6.4. DRFWD Drive Forward Subroutine 43
4.6.5. Turning Subroutines 44
4.6.6. Delay 46
4.6.7. COMP Compare subroutine 47
4.6.8. KWGISR Key Wake up Port G 48
4.6.9. IRQISR IRQ Interrupt Service Routine 49
4.6.10. Initialisation of Ports and Interrupts 50
4.6.11. Serial Port Communications 52
5. CHAPTER 5 – Performance and Data Analysis 54
5.1. Sensor Performance 54
5.2. Mechanical Performance 57
5.3. Software Performance 58