Remote Control of an ATVTeam members:

Bryce AbergEduardo Barcellos

Faculty:Stacy Wilson

Ron Rizzo

Background Information• Originally developed by WKU’s Engineering Manufacturing Commercialization Center (EMCC)

• Used as a mobile platform to detect subsurface voids

• Applications include: Sinkhole detection, tunnel/bunker detection

Project Objectives• Remote control of the steering, throttle, choke, brakes, start/stop of an ATV

• Communicate through WiFi to a myRIO that will control these systems by using shared variables.

Block Diagram

Haydon Motor Controller (Throttle, Choke)

• Step-motors need a driver

• Clipper has internal and external control

• Stepper-motors can be controlled by sending a clock signal (10Hz – 2KHz) from the myRIO to the Clipper

• Inputs on the Clipper for direction, clock, motor enable

Sabertooth 2x25 (Steering)

• Linak actuator controls steering, requires 20A

• Sabertooth 2x25 motor controller can control up to two 25A motors.

• Two control options: Serial and analog on S1 and S2

• For analog: • <2.5V on S1: Backwards• =2.5V on S1: No movement• >2.5V on S1: Forwards

Relays (Brakes, start/stop)

• Zettler relays used to control solenoid actuator

• Solenoid is connected to thick wire to control brakes

• Another relay controls the engines ignition

myRIO Pinout

Current Front Panel

Shared Variables• Variables that can be shared between programs or across a network

• Several types, this project will be using network-published shared variables

• Can be changed using an app on the iPad (Data Dashboard)

Current Status• We have almost all the basic functions complete

• All motors and relays can be controlled through LabView

• No wireless connectivity

• Wiring system is a mess

Future Goals• Update code to use event handling

• Implement shared variables in LabView

• Design board that will connect to myRIO to replace the stock board

• Streamline the wiring on the ATV