GPS Guided Robot Project

Our current project is to build a GPS guided R/C car. The platform is a Radio Shack 4WD electric truck with a custom controller board which we ripped out. We also pulled out the non-standard steering servo and replaced it with a standard HiTec one. In order to handle the high current of the motor, a mechanical servo controlled R/C car speed controller is being used.

Specifications
Computer	Mini-ITX, 800MHz, 512MB RAM, 20GB HD
OS	Slackware 10.1
Motor Controller	$25 R/C servo-controlled unit
Servo Controller	KESEA-10 prototype (Serial->Servo controller)
Sensor Interface	KESEA-10 prototype (Analog/I2C->Serial)

Here are some of the current design files (working code, probably won't compile):

Project Files
design.vsd	220k	Visio design file which is an overview of everything.
packets.doc	36k	Network Data Packet definitions
Makefile	1.8k	Makefile for our platform, may need tweaking for yours but we have a stock Slackware install.
settings.h	22k	Global variables, defines, functions, etc.
template.cpp	3.0k	A template for building your own programs using this structure
logging.cpp	2.8k	Logging
heartbeat.cpp	8.8k	Heartbeat program to check if everything is healthy
simulator.cpp	8.9k	Serial I/O simulator (run this *or* serial.cpp)
waypoints.cpp	6.6k	Determines the next few waypoints to hit (including sub-waypoint waypoints)
servocontrol.cpp	7.0k	Controls the servos, keeps the vehicle aligned to the next waypoint
gui.cpp	17k	GUI/Keyboard input
test_readserial.cpp	5.3k	Simple test for the serial port
test_pcap.cpp	6.4k	Simple test for PCAP
test_sendudp.cpp	1.3k	Simple test to send a UDP packet