Data Sheets for Sensors

The sensors currently in use on the pod are:

1. 4 IMU’s “Inertial measurement units” (ICM-20948) are used to provide acceleration readings for the pod. These sensors can provide an output on either I2C or SPI, we use SPI. Note that these sensors have a 3 axis accelerometer, compass and gyroscope. We only use the accelerometer function. Implemented in imu.cpp.
   Datasheet

2. Temperature is measured through a LM35 Temperature sensor which provides an analogue output. It can operate in a temperature range of -55 to 150 deg C. Implemented in temperature.cpp.
   Datasheet

3. Keyence LR-W500 is an optical sensor that reads “stripes” on the wall of the tunnel ( and each stripe is a certain distance away so we can calculate the distance traveled based on how many stripes we passed. Implemented in gpio_counter.cpp.
   As this is a simple GPIO digital sensor, it only outputs a signal if a "stripe" is detected. Datasheet

4. Brake Engagement Sensors are implemented for both the friction and magnetic brakes using 2 push buttons which are mechanically pressed. Simple digital output implemented in Stepper.cpp.

Sensors that need to be implemented (or aren't distinctly labelled):

1. MS5607 pressure sensor which is used to measure ambient pressure within the electronics box.
   Datasheet

2. Gems Sensors 3100 pressure sensor for brakes measures the pressure at the pneumatic actuators. The main purpose of monitoring the pressure at actuators is to check for any leakage in the pneumatic system. Normally, the actuators’ pressure is supposed to stay nominal, but in case of a leak, the pressure drops, and consequently, the pod run is forced to abort.
   Datasheet

3. FlexiForce A201, using a force sensitive resistor implemented in the lateral suspension framework it can be determined when the Pod has gone through some lateral displacement as the springs of lateral suspension will be compressed in this process.
   Datasheet

4. TCND5000 sensor is a sensor of the suspension PCB that determines the distance covered in a precise way. This tachometer uses a beam of monochromatic light (a visible laser) to reflect from a surface and return to the receiver.
   Datasheet

Missing Information:

1. HP Battery Management System
2. LP Battery Management System
3. Current Transducer to measure the current that is being output from the Low Power battery packs.
4. Fake Feedback Sensor