Collision-Avoidance

Overview

A simple collision avoidance system scheduled with freeRTOS. This README provides an overview of the hardware components, drivers, and real-time operating system (RTOS) integration for a Collision-Avoidance project.

Hardware Components

Ultrasonic Sensor

• Amount: 1
• Pin Description:
  • Echo: TIMER1 (PD5)
  • Trigger: Any Adjacent pin
• Driver: Enable, Disable, ReadDistance

LCD Display

• Amount: 1
• Pin Description: Any single 13 pin (except INT and PWM)
• Driver: Fully implemented

DC Motors

• Amount: 2
• Pin Description: 1 PWM Channels with Timer0 (PB3) and 2 DIOs
• Driver: Forward, RotateLeft, RotateRight, Backward, Stop

RTOS Integration (MVC)

• Resourses: Timer2
• Driver:
  • APIs: Init, Creat, Schedule, Sort, Set priority
  • Task Attributes: ID, Name, Priority, Priodicity, Call bach function

Task 1 - Model (Sensing) Task

• Priority: 0 (Highest)

Task 2 - Control Task

• Priority: 2 or 1 (Emergency level-based)

Task 3 - View Task

• Priority: 2 or 1 (Emergency level-based)

Future Plans

Ultrasonic Sensors

• Increase the amount to 3 sensors to enhance decision reliability.

DC Motors

• Implement speed control based on distance measurements from the ultrasonic sensors. [DONE]
• Full navigation with 45 degree wheels

RTOS

• Adjust task priorities based on an emergency level-based system for improved responsiveness and control.
• Preemtive kernel implementation