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Bruin-2-Master

The master repository for the Bob Jones University Bruin 2 autonomous vehicle

Getting started

Prerequisites

1. VMWare or some other hypervisor, or if running natively, no hypervisor is needed
2. Ubuntu or some other Debian-based Linux
3. VS Code or some other code editor
4. git: sudo apt install git
5. Ubuntu 16.04 (xenial)

Setup

• Clone the repo: cd ~ && git clone https://github.com/BJU-Robot-Team/Bruin-2-Master.git bruin_2_code
• Run source ~/bruin_2_code/setup.sh to install the dependencies (This may take up to an hour)
• Run catkin_make from ~/bruin_2_code to build the code
• Run ./run_bruin2.sh from ~/bruin_2_code to run the code

Architecture

The Bruin-2 Robot is built on a golf cart frame with several important electronic pieces that help control it

Electronic components

Sensors

• GPS: connected over serial at 4800 baud
• Compass: - OS5000-US connected over serial at 19200 baud
• Camera: connected over USB
• LIDAR: connected over USB. Not currently connected to anything

Actuators

• Relay Board: connected over USB, with a serial-like interface. Also has GPIO pins