Parking House Action Subsystem Control

This article solves action subsystem control of a multi-storey underground automatic parking house model, which was developed as a solution for automatic vehicle parking. The model operation is provided by a distributed system consisting of microcontroller units at two levels. Both levels communicate with each other via serial UART communication. The algorithm controls the linear two-stage dual-sided telescopic mechanism and a two-axis positioning mechanism. The emphasis is placed on the smooth movement of all axes which limits shocks caused by mechanism speed change while moving to a defined position.