CIS700 Final Project
In this project, we create a dynamic rolling loop using the modular robots in the GRASP lab. Ten modules, ten sensor boards, and one controller board make up a CAN bus with 21 separate PIC18F2680 microcontrollers. All 10 sensor boards were built, programmed, and debugged for this purpose, and the controller code was created using automatic code generation of a finite state machine.
A full pdf writeup of the project can be found here.