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Tyler Folsom edited this page Apr 7, 2026 · 2 revisions

This wiki gives a directory of the trike project. More detailed documentation is on https://www.elcanoproject.org/wiki/Main_Page . To use GitHub, https://www.elcanoproject.org/wiki/Using_Git_and_GitHub Contributors are expected to keep the code and documentation up to date.

Useful documents on elcano GitHub

V5_Drive-by-wire

* README.md: Introduction

V5_Drive-by-wire/Documentation

  • Trike system.docx: Overview of the system
  • DBW_Pin Mapping.csv: Usage of I/O pins on DBW Arduino Due
  • StateTransitions.txt, .png: When trike control comes manually from operator joystick or remote control unit or automatically from Jetson Nano over CAN bus. In the png diagram, states are color coded. The operator has an LED that displays the same state colors.

V5_Drive-by-wire/Drive-by_wire:

  • C++ code for Arduino Due.

V5_Drive-by-wire/Electronics:

  • To be supplied when finalized

JetHawk:

  • Python code for Jetson Nano and Pixhawk to follow GPS way points. This code executes on the test stand and will be ported to the computers on board the trike when the trikes can move again. To do: Develop CAN commands to send to DBW to set course to next way point.

Simulator:

  • System using circuit board connecting three Arduino Dues: DBW aka LowLevel (running same software as V5_Drive-by-wire); HighLevel (replaced by Jetson Nano and Pixhawk) and a router board. The router takes the inputs and outputs from the trikes and sends them to a virtual vehicle on a desktop computer. The original intent was to use CARLA, but it is too complex and it is better to use a simpler simulator. The simulator could be non-graphic or 2D.

Simulator/Arduinos/router_board_v1:

  • Code for router is a good place to start for a simpler simulator.

Bridge:

  • Uses the same circuit boards as Simulator, but simplified to focus on the hardware. This would be an appropriate repository for the new router/simulator. The bridge circuit board connects all Arduinos over CAN and supplies a CAN connector for Jetson Nano, obstacle detectors or anything else we may add.

  • Bridge/Pin_Mapping.csv: Only certain pins of DBW are connected to the router.

  • Bridge/BridgeSchematic.png: Schematic of the circuit board.

  • Bridge/Model for speed from throttle: Useful for simulator.

  • Bridge/Simulator.docx: Plan for developing simulator.

Docking:

  • Repository used by Jan-June 2026 capstone team for finding distance between vehicles.

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