Remote Control Tank Documentation

1. Hardware Overview

The remote control tank platform consists of the following primary components:

Tank Hull Assembly

• Hull structure and chassis
• Dual tank tracks with DC motors for propulsion
• Front and rear lighting systems
• Battery power system

Turret Assembly

• Rotatable turret base with DC motor
• Elevation mechanism with DC motor
• Main cannon with firing mechanism
• Laser aiming system
• Turret-mounted light

Sensing and Detection Systems

• Infrared (IR) transmitter and receiver
• Camera system for computer vision
• Object detection capabilities

2. Control System Architecture

The tank employs a dual-controller system with hierarchical responsibilities:

Hull Controller (Arduino)

• Primary responsibility: Low-level hardware control
• Manages track motors, lights, and firing mechanisms
• Receives commands and sends measurements via I2C

Turret Controller (Raspberry Pi)

• Primary responsibility: High-level functions and user interfaces
• Runs computer vision and object detection algorithms
• Manages operating modes and autonomous functions
• Interfaces with user control devices
• Master device on the I2C bus

Communication Interfaces

• Internal Communication: I2C bus between Raspberry Pi and Arduino
• External Control:
  • Bluetooth connection to PS3 controller
  • Web server for remote commands via keyboard/interface

3. Functional Capabilities

Movement Controls

Function	Parameter	Range/Unit
Track Movement	Speed setpoint (left, right)	-100% to +100%
Turret Rotation	Rotation speed setpoint	-100% to +100%
Turret Elevation	Elevation speed setpoint	-100% to +100%

Lighting Systems

Function	Parameter	States
Front Lights	State	ON/OFF
Back Lights	State	ON/OFF
Turret Light	State	ON/OFF

Weapon Systems

Function	Parameter	States
Laser Sight	State	ON/OFF
IR Light	State	ON/OFF
Fire Safety	State	ON/OFF
Fire Command	Trigger	Pulse

Telemetry Measurements

Measurement	Unit	Range
Battery Charge	Percent	0-100%
Turret Direction	Degrees	0-359°

4. Operating Modes

The tank can operate in four active modes plus a power-saving mode:

Local Control Mode

• Direct control via PS3 controller connected by Bluetooth
• Manual control of all movement, turret, and firing functions
• Real-time response to controller inputs

Remote Control Mode

• Control via web interface/server
• Keyboard commands for movement and operations
• Suitable for longer distance operation

Semi-Automatic Mode

Two sub-modes available:

• Auto-Aim: Computer vision assists targeting while movement remains manual
• Auto-Firing: Automatic target identification and firing, with manual movement

Automatic Mode

• Fully autonomous operation
• Movement guided by GPS coordinates input by operator
• Autonomous target identification and engagement
• Obstacle avoidance using sensor data

Deep Sleep Mode

• Power-saving state for extended battery life
• Periodic wake cycles to check for commands
• Minimal systems active

5. Control Flow Diagrams

Basic Command Flow

User Input (PS3/Web) → Turret Controller → I2C Bus → Hull Controller → Physical Actions

Measurement Flow

Sensors → Hull Controller → I2C Bus → Turret Controller → User Interface

6. Software Architecture

Turret Controller (Raspberry Pi)

• Operating System: Raspberry Pi OS
• Main control program handling:
  • Computer vision processing
  • Bluetooth communication with PS3 controller
  • Web server for remote operation
  • I2C master communication
  • Operating mode management
  • Object detection algorithms

Hull Controller (Arduino)

• Firmware handling:
  • PWM motor control
  • Sensor reading
  • I2C slave communication
  • Direct hardware management

7. Development Guidelines

Extending Functionality

• New features should be implemented in the appropriate controller based on hardware vs. software distinction
• Hardware control features belong in Hull Controller
• High-level logic belongs in Turret Controller

Safety Considerations

• Implement fail-safe mechanisms for loss of communication
• Battery level monitoring and low-power behavior
• Fire safety mechanisms to prevent accidental firing

8. Future Enhancements

• GPS navigation capabilities
• Enhanced object recognition
• Obstacle avoidance algorithms
• Mobile app control interface
• Telemetry logging and analysis