PY2020 Software System Overview

= Base Station =

Below is how everything is connected together for operating the rover on the Base Station side. The computer peripherals (mouse, keyboard, monitor) are omitted since they are self explanatory. The antenna will be connected wirelessly to the rover antenna.

When connecting the ethernet cables, make sure to never plug in the ethernet cable from the computer to the POE labeled port on the POE injector. The POE labeled port on the POE injector should only be connected to the Ubiquiti to power it. The computer should be connected to the LAN labeled port on the POE injector

= Rover =

Below is how the hardware is connected on the rover side. The rover antenna will be connected wirelessly to the base station antenna. Note that as a software member, the most likely area that you will need to interface with is the USB hub for the cameras and lidar. Everything else on the rover should already be connected together. Power connections have been omitted since it is not something you would need to be aware of.

Controlling the rover, such as moving arm and driving wheels, is done through CAN. Not all boards are shown in the diagram. There is roughly going to be around 15-20 various boards on the rover, many of which are motor boards used to move a motor.