Overview¶

This program is an example program that uses the FRDM-TFC library to actually permit a car using the FDRM-TFC shield + FRDM-KL25Z to race around a center line track.

Implementation Notes¶

CAR HOOKUP¶

Motors

• Code written assuming left motor hooked to B1(red)/B2(black) and right motor hooked to A1(red)/A2(black).

Battery

• Be sure to hook positive (red) to 'Vbat' and negative (black) to 'Gnd'

Steering Servo

• Servo must be hooked up with black wire innermost.

CAR HARDWARE CONTROLS¶

DIP SWITCH CONTROLS:

• Switch 1: Controls whether running main racing program (ON) or Demo program (OFF). Function of other 3 switches depend on this first switch.

RACING MODE (Switch 1 = ON)

• Switch 2: Enable (ON) or Disable (OFF) Logging frame camera data to RAM while racing
• Switch 3: Risky / faster racing (ON); Conservative / slower race option (OFF). NOTE: Faster mode may cause car to fall off track. Needs tweaking...
• Switch 4: Enable Start Gate Stop (ON) or Disable (OFF). NOTE: May not actually stop at start gate. Needs tweaking...
• POT 0 - controls nothing at the moment
• POT 1 - controls nothing at the moment
• PUSHBUTTON A - START car race!
• PUSHBUTTON B - END CAR RACE / (while holding down when 'log frame data' active will also output terminal data)

• LEDs 1,2 light when Track is found
• LEDs 0,3 light when Start Gate is Found

DEMO MODE 0 (Switch 1 = OFF; Switch 2 = OFF, Switch 3 = OFF)

• PUSHBUTTON A - Light LED 0