Themis lived in the steering wheel and handled almost all driver input. It controlled Lights and the motor controllers.

Hardware

• TI MSP430F247
• 20x4 LCD
• 2 10k pots used for throttle and brake
• A number of buttons and switches

Responsibilities

• Read level of throttle/brake and controlled the motor controllers accordingly
• Activated lights on the car when turn signals or the hazard button was pressed
• Displayed information (speed, battery voltage, etc.) to the driver
• Activated the horn on Chaos

High-Level Operating Details

Post-Mortem

• The LCD and throttle/brake should be moved off the steering wheel. When turning, they are difficult to use.
• The pots used for throttle/brake were most likely damaged over time by the constant tension. We should explore a more mechanical solution.
• The cables should definitely be routed through a quick-connect system next time. We had issues with the CAN cable limiting rotation.
• There should be a dedicated BPS fault LED. It would make life easier.
• There were too many buttons and switches that required crimps. They should be soldered directly to the PCB or use sockets.