Computing
Main Computer
Runs perception, planning, and control software.
OS |
Ubuntu 22.04 LTS |
GPU |
NVIDIA GTX 1060+ (6GB+) |
RAM |
16+ GB |
Storage |
256+ GB SSD |
Distributed CAN Control
4 Teensy 4.1 microcontrollers communicate over 250 kbps CAN bus:
Main Computer
│ USB Serial (115200 baud)
▼
┌─────────────┐
│ CAN Master │ Teensy 4.1 + Waveshare CAN
└──────┬──────┘
│ CAN Bus (250 kbps)
═══════╪═══════════════════════════
│ │ │
┌──────┴──────┐ ┌──┴───┐ ┌────┴────┐
│ Steering │ │Throttle│ │ Brake │
│ (0x200) │ │(0x100) │ │ (0x300) │
└─────────────┘ └────────┘ └─────────┘
CAN Message IDs
Node |
Command ID |
Status ID |
|---|---|---|
Throttle |
0x100 |
0x101 |
Steering |
0x200 |
0x201 |
Brake |
0x300 |
0x301 |
Serial Commands (to CAN Master)
T 0.5 # Throttle 50%
S -0.25 # Steer 25% left
B 1.0 # Full brake
M D # Drive mode (N/D/S/R)
E 1 # E-Stop engage
Teensy 4.1 Specs
Processor |
ARM Cortex-M7 @ 600 MHz |
CAN Controllers |
3× FlexCAN (CAN 2.0B) |
CAN Pins |
TX=22, RX=23 |