Overview
The TETRIX PRIME Rover Vehicle is a versatile and fun starting
point for a variety of mechatronics and robotics design projects.
It is a ground vehicle controlled by myRIO and equipped with
motors and sensors. You can start by following instructions to
build the Rover and run the provided code. This will allow you
to teleoperate the rover to travel and grasp objects with its
pincer end effector. You can expand the Rover’s functionality so
that it can utilize controls algorithms and complete tasks.
Base Functionality
• The two front wheels are driven independently of
one another by DC motors. The back wheel is used for
balance and can rotate freely
• The DC motor speeds are controlled using PWM, and
their directions are controlled using a digital line (this wiring is done for you via the motor board)
• The rover has differential steering, meaning that the direction of the rover can be changed by varying the relative
rotational velocity of the DC motors
• The infrared (IR) range finder data is read through an analog line and converted to centimeters. It can be used to
detect distance from other objects or distinguish color/material differences based on IR reflectivity
• The pincer end effector is controlled by a servo motor. The position of the servo motor is controlled by PWM
• A VI will be deployed to myRIO, enabling it to output motor signals, input sensor data, and transfer data to and from
a host computer via Wi-Fi
• Another VI will run on a host computer for teleoperation. Here the user can input movement commands, open and
close the pincers, and view the IR sensor data.
Expansion and Teaching Options
• Implement open-loop and closed-loop control algorithms in LabVIEW to precisely control the Rover’s position and
velocity (See the Connections to Controls Concepts at the end of this section)
• Use the IR sensor to detect objects. You can write LabVIEW code to avoid the objects or grasp them with the pincers
• Use the IR sensor to detect a line, and write LabVIEW code to follow it Program the Rover to operate autonomously
so that it doesn’t require user inputs from the host
• Add additional features to the rover. Example ideas: USB camera, ultrasonic sensor, custom 3-d printed parts
Rover Vehicle
Rover Vehicle Assembly 53
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