Basic I/O ports (brakes)

• Check if brake pedal pressed

  • brakePressed = read (brakePedalPort)

• Turn brake on/off

  • write (brakePort, onOff)

• Move rear wheel

  • write (rearWheel, onOff)

micro

controller

brake on/off

move rear wheel

GPIO

port

brake pedal pressed

front wheel velocity

rear wheel velocity

GPIO

port

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