Subsystem |
Function |
Input |
Output |
Ball & Hole/Flag Locator |
find ball and hole/flag when in their vicinity |
proximity sensor(s), camera, ... |
ball and flag/hole location, ... |
Remote Station Communication |
two-way communication between robot and base
station and status display |
ball and hole location, stop/start, ... |
ball, hole, and position plot; battery voltage,
task status, ... |
Robot Location |
determine robot position and orientation |
GPS, compass, ... |
position, orientation, ... |
Robot Navigation |
high-level navigation of robot to ball and hole |
position, orientation, speed, odometry, ball/hole information, ... |
data requests, movement commands, ... |
Smart Chassis |
low-level robot and ball movement |
movement commands, encoders, ... |
speed, odometry, PWM, ... |