Updated code and PCB for light vehicle drive by wire.

This repository is for use with the Drive by Wire board created to be used for the ELCANO self-driving tricycle. It controls throttle (Ebike controller), brakes (solenoid) and steering (either linear servo or motor controller board with a linear actuator). All vehicle actions are logged to an SD card, which is the main data for debugging. Vehicle can be controlled by

1. 6-channel Radio Control (RC) unit

2. Operator controls (OP)

3. Vehicle automation computer via CAN. We have demonstrated a Jetson Nano using a Pixhawk to find GNSS points and move from waypoint to waypoint.

In order for this module to run external libraries are required.

Libraries needed are listed below:

Version 4 and 5 (Arduino Due) _______________________________________________

• Due CAN and CAN Common by Collin Kidder https://github.com/collin80/due_can https://github.com/collin80/can_common

• Download the Drive_By_Wire module into the project parent directory

git clone https://github.com/elcano/Drive-by-wire.git

• Move into the Drive_By_Wire folder

cd Drive_By_Wire

• Download the required libraries

git clone https://github.com/SweBarre/MCP48x2.git
git clone https://github.com/ivanseidel/DueTimer.git
git clone https://github.com/collin80/can_common.git
git clone https://github.com/collin80/due_can.git

• Add the folders above to the IDE directory. In Windows, add the required libraries to: C:\Users<username>\Documents\Arduino\libraries
• Arduino Due requires additional installation. On the IDE, go to Tools -> Boards -> Boards Manager -> Arduino SAM Boards (32-bits ARM Cortex-M3)

• Selecting Board: Tools -> Board -> Arduino SAM Boards -> Arduino Due
• Selecting Serial Port: Tools -> Port -> COM (Arduino Due)
• Accessing Serial Monitor: Right-hand Corner -> Select Baud Rate (115200)

• Low-level board code with RC control support with existing code for brakes, steering, and throttle.