S24: Team X

Project Title

Team X

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Abstract

Our main goal of this project was to utilize the knowledge acquired from the lectures in CMPE 243. The report summarizes the overall process taken to develop an autonomous driving RC car using FreeRTOS, various periodic tasks, and the CAN bus to combine and run the different code modules.

Introduction

The project was divided into 5 modules:

• Sensor Node
• Motor Node
• Driver Node
• Geo Node
• Mobile Application

Team Members & Responsibilities

<Team Picture>

Gitlab Project Link [1]

Team Members	Task Responsibility
Priyanka Shah	Geo Controller, Mobile App
Faaris Khilji	Sensor and Bridge Controller
Ashley Ho	Driver and LCD Controller
All/TBD	Motor Controller

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Schedule

Week#	Start Date	End Date	Task	Status
1	02/19/2024	02/25/2024	Read previous projects, gather information, and discuss among the group members. Schedule weekly online meetings Order CAN transceivers Test GPS and UART communication.	Completed Completed Completed
2	02/26/2024	03/03/2024	Distribute modules to each team member. Create parts list and Bill of Materials Test CAN Bus communication between 2 boards	Completed Completed Completed
3	03/04/2024	03/11/2024	Order all sensors Research on RC car brands and features. Create project schedule and milestones.	Completed Completed Completed
4	03/18/2024	03/24/2024	Setup project repository Order RC car Test CAN bus with DBC file messages via BusMaster	Completed Completed Completed
5	03/25/2024	03/31/2024	Set up driver node to handle CAN messages received from sensor node Set up sensor node to send CAN messages Set up motor controller node to receive driver commands	Completed Completed Completed
6	04/01/2024	04/07/2024	Set up Geo Controller to receive destination coordinates Link Geo controller to GPS module Integrate sensor hardware into sensor node Test LCD module to display using I2C Begin wiki documentation	Completed Completed Completed Incomplete Completed
7	04/08/2024	04/14/2024	Enhance obstacle avoidance algorithm Integrate RPM and ultrasonic sensor Integrate LCD module with debug messages Setup preliminary mobile app structure Test obstacle avoidance Start working on power supply for SJ2 boards	Completed Completed Completed Completed Completed Completed
8	04/15/2024	04/21/2024	Fine tune obstacle avoidance algorithm Hack RC car's RPM and install RPM sensor Integrate compass module Begin RC car design and assembly	Completed Completed In Progress Completed
9	04/22/2024	04/28/2024	Finish RC car prototype 1 Start outdoor testing at garage rooftop Complete basic mobile app with destination, start/stop buttons Interface motor and steering Set up LED fault indicators	Completed Completed In Progress Completed In Progress
10	04/29/2024	05/05/2024	Edit Wiki report, continue updating through next few weeks Fine tune mobile app to display real-time location Display debug information on LCD Implement PID controller Continue RC outdoor tests with ramps	In Progress In Progress In Progress In Progress In Progress
11	05/06/2024	05/12/2024	Fine tune obstacle avoidance algorithm Fine tune motor controller and sensor controller Fine tune DBC file messages Continue updating wiki report and documentation	Incomplete
12	05/06/2024	05/12/2024	Tidy RC car mounted hardware Continue outdoor testing Fine tune navigational system Fine tune PID controller	Incomplete
13	05/13/2024	05/19/2024	Finish writing project report Final RC car tests on North Garage Reimburse team members for RC car parts and sensors	Incomplete
14	05/20/2024	05/26/2024	Final Project Demos	Incomplete

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Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Traxxas	1	$250.00
2	RC Car Battery	Traxxus	2	$100
3	CAN Transceivers MCP2551-I/P	Microchip [2]	8	Free Samples
4	MB1010 LV-MaxSonar	<Insert Company>	4	$29.95
5	GPS	<Insert Company>	<Insert Amount>	<Insert Price>
6	Compass	<Insert Company>	<Insert Amount>	<Insert Price>
7	LCD	<Insert Company>	<Insert Amount>	<Insert Price>

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CAN Communication

<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.> For our CAN communication, we

Hardware Design

<Show your CAN bus hardware design>

DBC File

Gitlab DBC File Link [3]

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Sensor and Bridge Controller ECU

<Picture>

Gitlab Sensor and Bridge Controller Node Link [4]

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>

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Motor ECU

<Picture>

Gitlab Motor Node Link [5]

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>

The main issue we had with the motor controller occurred during PWM hacking because we did not want the motor running the car too fast. As such, we had to guess and check a good PWM value to run the motor so that the car would move at the slowest speed possible without running into issues where it could not move. However, with continual tests, we managed to identify the ideal range we wanted to run the motor.

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Geographical Controller

<Picture>

Gitlab Geo Node Link [6]

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>

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Driver and LCD Module

<Picture>

Gitlab Driver & LCD Node Link [7]

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

Most of the issues surrounding the driver node occurred after field testing. We found there were some issues regarding how soon the driver made the decision compared to when it received the sensor data. As such, we made adjustments so that, despite the delay, there would be time for the driver to receive the sensor data, identify the correct action to take, and then move the wheels. Overall, our driver node worked as expected once we started field testing due to the multitude of unit tests that were done to ensure proper logic.

Additionally, we ran into issues integrating the LCD screen through I2C. The screen's slave address would not get detected, despite the device having the proper connections and power supply.

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Mobile Application

<Picture and link to Gitlab>

Gitlab Mobile APp Node Link [8]

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>

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Conclusion

<Organized summary of the project>

<What did you learn?>

Project Source Code

Group Gitlab Link [9]

Advice for Future Students

• Start early! Order things as soon as you have your team, and keep track of finances for reimbursements

Acknowledgement

=== References ===