A 반 T2 - 김우빈 (201011321) 임국현 (201011358) 박대규 (201011329) Robot Vacuum Cleaner 1
Motor Sensor RVC Control Cleaner Robot Vaccum Cleaner 2
/ Event Format/ Type Front Sensor RVC 앞의장애물의유무를감지한다. True / False, Interrupt Left Sensor 주기적으로 RVC 왼쪽의장애물의유무를감지한다. True / False, Periodic Right Sensor 주기적으로 RVC 오른쪽의장애물의유무를감지한다. True / False, Periodic Dust Sensor 주기적으로현재위치의먼지의유무를감지한다. True / False, Periodic Direction Motor 에이동명령을내린다. (go forward/ turn left or right with an angle) Froward / Left / Right / Stop Clean Turn On / Turn off / Power up / Power down On / Off / Up / Down Robot Vaccum Cleaner 3
Front Sensor Front Sensor Direction Motor Left Sensor Left Sensor Right Sensor Dust Sensor Right Sensor Dust Sensor RVC Control 0 Clean Cleaner Digital Clock Robot Vaccum Cleaner 4
Front Sensor Direction Left Sensor Right Sensor Obstacle& Dust Detection 1 Obstacle & Dust Location Cleaner & Motor Control 2 Dust Sensor Clean Robot Vaccum Cleaner 5
Front Sensor Front Sensor 1.1 Front Obstacle Left Sensor Left Sensor 1.2 Left Obstacle Determine Obstacle Location 1.5 Obstacle Location Right Sensor Dust Sensor Right Sensor 1.3 Dust Sensor 1.4 Right Obstacle Dust Existence Determine Dust Existence 1.6 Dust Existence Robot Vaccum Cleaner 6
Motor Command Motor 2.2 Direction Obstacle Location Main Control 2.1 Cleaner Command Dust Existence Cleaner 2.3 Clean Robot Vaccum Cleaner 7
Move Forward 2.1.2 Enable Obstacle Location Trigger Disable Turn Left 2.1.3 Main Control 2.1.1 Trigger Turn Right 2.1.4 Dust Existence Trigger Cleaner 2.1.5 Robot Vaccum Cleaner 8
Motor Enable Move Forward [ F &&!L ] / Disable Move Forward Trigger Turn Left Move Forward [ Complete ] / Disable Move Forward [ F &&!R ] / Disable Move Forward Trigger Turn Right [!F] / Enable Move Forward [!F] / Enable Move Forward Turn Left Turn Right [ F && L && R ] / Disable Move Forward Stop Robot Vaccum Cleaner 9
Cleaner [Power On] Enable Clean Normal Power [Power Off] Disable Clean Cleaner Off [!D] / Trigger Power Down [D] / Trigger Power Up Power Up Robot Vaccum Cleaner 10
Front Sensor Front Sensor 1.1 Front Obstacle Enable Move Forward 2.1.2 Disable Left Sensor Tic k Left Sensor 1.2 Left Obstacle Determine Obstacle Location 1.5 Obstacle Location Trigger Turn Left 2.1.3 ight Sensor Tic k Dust Sensor Right Sensor 1.3 Dust Sensor 1.4 Right Obstacle Dust Existence Determine Dust Existence 1.6 Dust Existence Main Control 2.1.1 Trigger Trigger Turn Right 2.1.4 Cleaner 2.1.5 Tic k Robot Vaccum Cleaner 11
/ Event Format/ Type Obstacle Location 장애물의상태저장 True / False, Data Dust Existence 먼지의유무를저장 True / False, Data Cleaner Cleaner 의파워조젃 True / False, Periodic Robot Vaccum Cleaner 12
Reference No. 1.1 Front Sensor Front Sensor Front Obstacle (Interrupt) 아날로그형식의 Front Sensor 이들어오면디지털형식의 True/False 로바꾼후 으로 Front Obstacle 을보내준다. Reference No. 1.2 Left Sensor Left Sensor, Left Obstacle (Boolean) 아날로그형식의 Left Sensor 이들어오면디지털형식의 True / False 로바꾼후 으로 Left Obstacle 을보내준다. Robot Vaccum Cleaner 13
Reference No. 1.3 Right Sensor Right Sensor, Right Obstacle (Boolean) 아날로그형식의 Right Sensor 이들어오면디지털형식의 True / False 로바꾼후 으로 Right Obstacle 을보내준다. Reference No. 1.4 Dust Sensor Dust Sensor, Dust Existence (Boolean) 아날로그형식의 Dust Sensor 이들어오면디지털형식의 True / False 로바꾼후 으로 Dust Existence 를보내준다. Robot Vaccum Cleaner 13
Reference No. 1.5 Determine Obstacle Location Front Obstacle, Left Obstacle, Right Obstacle(Boolean) Data Structure Front, Left, Right Sensor 의 을저장한다. Reference No. 1.6 Determine Dust Existence Dust Existence(Boolean) Boolean Dust Sensor 의 을저장한다. Robot Vaccum Cleaner 14
Reference No. 2.1.1 Main Control Obstacle Location, Dust Exist, Enable, Disable, Trigger 저장된데이터를받아, 동작프로세스에적젃한명령을젂달한다. Reference No. 2.1.2 Move Forward Enable, disable (Interrupt) Motor Command Move할것인지를 True / False로받아동작할지의여부를결정한다. Robot Vaccum Cleaner 16
Reference No. 2.1.3 Turn Left Trigger, Motor Command Trigger 명령이들어오면, 다음 까지 Turn Left 한다. Reference No. 2.1.4 Turn Right Trigger, Motor Command Trigger 명령이들어오면, 다음 까지 Turn Right 한다. Robot Vaccum Cleaner 17
Reference No. 2.1.5 Cleaner Trigger, Cleaner Command Trigger 명령이들어오면, 다음 까지 Power Up 한다. Robot Vaccum Cleaner 18