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Program Layers We partition our program into
smaller layers to ease in programming and debugging.
Parallel port interface
Layer: Read
from and write to Data Acquisition System (DAS) Software Radio Layer: Modulate outgoing signals and Demodulate incoming signals, click here for details and code. Decision Algorithm Layer: The
Implementation of our algorithm for collision detection and avoidance Graphical User Interface
Layer: Implementation of Path planning and Radar using the data sent from microcontroller, this layer depends heavily on API system calls to utilize computer resources effeciently, if you want to see program snapshots click here. The lower three layers are encapsulated in an Visual C++ ActiveX Control (CAR.ocx), while only the GUI layer is developed in Visual Basic. To detect beginning of transmission we test parallel ports every 125 microseconds (as we use 8 KHZ ADC), this duration is very small and can't be acheived because of the heavy GUI. Our solution was to separate the lower three layers from the GUI layer in a different thread such that each of them is working parallel to the other. you can download the program from downloads section, This version works on RANDOM generated data. |
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