View source for F14: Self Driving Undergrad Team

=== Grading Criteria ===
<font color="green">
*  How well is Software & Hardware Design described?
*  How well can this report be used to reproduce this project?
*  Code Quality
*  Overall Report Quality:
**  Software Block Diagrams
**  Hardware Block Diagrams
**:  Schematic Quality
**  Quality of technical challenges and solutions adopted.
</font>

== In Memory of Chi Lam ==
June 7th, 1991 - October 27th, 2014

This project is dedicated to Chi Lam, a beloved friend, dedicated Computer Engineering student, and member of this team. 

You will be missed, friend.

== Self-Driving Autonomous Car ==

== Abstract ==
The objective of the project is to create a self-driving autonomous car in a 15 person team. The car utilizes several components and sensors in order to get from Point A to Point B.  Implementation of the car involves multiple SJONE processor boards using FreeRTOS to communicate with each other via CAN bus.

== Objectives & Introduction ==
Show list of your objectives.  This section includes the high level details of your project.  You can write about the various sensors or peripherals you used to get your project completed.

[[File:CmpE243_F14_TUndergrad_HighLevelDiagram.jpg]]

=== Team Members & Responsibilities ===

{| class="wikitable"
|-
! scope="col"| '''Master Controller Team'''
! scope="col"|
! scope="col"| 
|-
! Charles Pham
! Joshua Ambion
! Michael Schneider
|-
| - Overall vehicle logic<br/>- Overall software vehicle Integration<br/>- CAN TX/RX messages architecture
| - Vehicle hardware<br/>- Assistant to other teams<br/>- Module specific logic
| - Module specific logic<br/>- CAN RX processing
|-
|}

{| class="wikitable"
|-
! scope="col"| '''Motor Controller Team'''
! scope="col"|
|-
! Nikko Esplana
! Chi Lam
|-
| - Motor/steering control via PWM signals <br/>- interface/test/attach wheel encoder
| - Rest in peace Chi!
|-
|}

{| class="wikitable"
|-
! scope="col"| '''Sensor Controller Team'''
! scope="col"|
|-
! Sanjay Maharaj
! Wei-chieh "Andy" Lo
|-
| - 
| - 
|-
|}

{| class="wikitable"
|-
! scope="col"| '''Geographical Controller Team'''
! scope="col"|
! scope="col"| 
|-
! Carlos Fernandez-Martinez 
! Zach Baumgartner
! Albert Chen
|-
| - Compass calibration/integration
| - GPS testing/integration
| - CAN communication
|-
|}

{| class="wikitable"
|-
! scope="col"| '''Bridge Controller Team'''
! scope="col"|
! scope="col"|
|-
! Robert Julius
! Tim Martin
! Joseph Bourne
|-
| - Android Application
| - Bluetooth Message Interface
| - Board to CAN Communication
|-
|}

{| class="wikitable"
|-
! scope="col"| '''IO Controller Team'''
! scope="col"|
|-
! Devin Villarosa
! George Sebastian
|-
| - 
| - 
|-
|}

== Schedule ==
Show a simple table or figures that show your scheduled as planned before you started working on the project.  Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals.  The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.


'''Final Product Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/12
| CAN Network Benchtest
| Complete
|-
! scope="row"| 2
| 10/15
| Basic CAN Communication
| Complete
|-
! scope="row"| 3
| 10/31
| Secure devices to R/C car
| Complete
|-
! scope="row"| 4
| 11/7
| Basic Vehicle Self-Driving Test
| In progress
|-
! scope="row"| 5
| 11/14
| P2P testing and improved obstacle avoidance
| In progress
|-
! scope="row"| 6
| 11/31
| Buffer time for previous tasks and increased vehicle speed
| In progress
|}

'''Sensor Controller Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/13
| Sensor Input Distance Calibration
| Incomplete: Sonar is mostly calibrated, IR still needs work. Need sensor value "filtering" logic.
|-
! scope="row"| 2
| 10/17
| Off car CAN network test (full team)
| Completed. Able to send raw sensor value to master.
|-
! scope="row"| 3
| 10/20
| Interface Sensors with CAN
| Completed. Updates to the formatting of data being sent is ongoing.
|-
! scope="row"| 4
| 10/27
| Mount Sensors and test coverage
| Completed. Still need to mount with actual brackets.
|-
! scope="row"| 5
| 10/31
| Mount Sensors with 3d printed brackets
| Completed. IR brackets to be printed based on offset.
|-
! scope="row"| 6
| 11/1
| Implement diagnostic LED patterns
| In progress.
|-
! scope="row"| 7
| 11/3
| Send obstacle avoidance decisions to master
| Completed. Raw values sent to master for processing.
|-
! scope="row"| 8
| 11/4
| Add RJ11 cabling to all sensors
| Completed. Still need to make neat and tidy.
|-
! scope="row"| 9
| 11/10
| Implement speed sensitivity
| In progress
|-
! scope="row"| 10
| 11/13
| Test sensors during outdoor runs
| In progress
|-
! scope="row"| 11
| 11/17
| Check wiring and label parts
| In progress
|-
! scope="row"| 12
| 11/24
| Continue testing and tuning as necessary
| In progress
|}

'''Motor Controller Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/12
| Open up servo and motor modules,
find a speed sensor
| Complete
|-
! scope="row"| 2
| 10/19
| Interface/test PWM bus to steering servo and DC motor
| Complete
|-
! scope="row"| 3
| 10/26
| Allow self-driving capability with master/bridge/sensor teams
| Incomplete, only partial self-driving achieved
|-
! scope="row"| 4
| 11/2
| Improve fine motor movements with master/sensor teams
| In progress
|-
! scope="row"| 5
| 11/9
| Once wheel encoder comes in, learn/test/implement onto car
| In progress
|-
! scope="row"| 6
| 11/16
| Integrate wheel encoder with rest of car
| In progress
|-
! scope="row"| 7
| 11/23
| Test for proper operation
| In progress
|-
! scope="row"| 8
| 11/30
| Continue testing until proper operation
| In progress
|-
|}

'''I/O Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/4
| Create LCD Screen Library (create ability to set value, get value, and write string to LCD screen)
| 10/4 (String function completed on ~10/18)
|-
! scope="row"| 2
| 10/4
| Create LCD Screen GUI (generate forms for debugging and general usage)
| 10/4
|-
! scope="row"| 3
| 10/11
| LCD Library Test (Do unit tests on individual functions for LCD library)

Ability to get value from gauge on screen.

Ability to set value to gauge on screen.

Ability to send a string value to screen.
| 10/11 (Finished string function on ~10/18)
|-
! scope="row"| 4
| 10/11
| Interface LCD with CAN

Create task for LCD event loop.

Create task for Receiving on CAN.

| Complete (Completed on 10/26/2014)
|-
! scope="row"| 5
| 10/18
| Test LCD with CAN

Process CAN Messages from system

| Complete (Completed on 10/25/2014)
|-
! scope="row"| 6
| 10/25
| Implement onto Final Product
| Incomplete (ready for implementation)
|-
! scope="row"| 7
| 11/2
| Headlights for car (hardware and software) + Aesthetics for GUI + Clean up code
|
|}

'''Communication Bridge and Android Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/13
| CAN Network Test
| Complete
|-
! scope="row"| 2
| 10/20
| Interface Bluetooth Module with CAN
| Complete
|-
! scope="row"| 3
| 10/27
| Mount PCB on car
| In progress
|-
! scope="row"| 4
| 11/3
| Create basic Android application
| Completed on 10/18
|-
! scope="row"| 5
| 11/10
| Add map onto the Android application
| In Progress
|-
! scope="row"| 6
| 11/17
| Send/receive CAN Messages via Android Application
| Sending completed on 10/18, receiving in progress
|-
! scope="row"| 7
| 11/24
| Debug and Optimize Android Application
| In progress
|-
! scope="row"| 8
| 12/1
| Continue Debugging and Optimizing as Necessary
| In progress
|}

'''Geographical Controller Schedule'''
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Date
! scope="col"| Task
! scope="col"| Actual
|-
! scope="row"| 1
| 10/8
| Interface with GPS/Compass
| Completed no issues encountered
|-
! scope="row"| 2
| 10/15
| Finish core API 
| In progress
|-
! scope="row"| 3
| 10/22
| GPS get fix and receive raw data
| In progress
|-
! scope="row"| 4
| 10/22
| Compass determine heading
| In progress
|-
! scope="row"| 5
| 10/29
| Self calibration completed 
| In progress
|-
! scope="row"| 6
| 10/29
| GPS parse raw data to extract needed data
| In progress
|-
! scope="row"| 7
| 10/29
| Compass use heading from GPS to improve accuracy
| In progress
|-
! scope="row"| 8
| 11/5
| Improve GPS satellite procurement (antennae?)
| In progress
|-
! scope="row"| 9
| 11/12
| Improve boot up time of GPS module via warm start
| In progress
|-
! scope="row"| 10
| 11/12
| Fine tune compass calibration technique for accuracy
| In progress
|-
! scope="row"| 10
| 12/3
| Buffer time for completion of previous tasks
| In progress
|}


'''Master Controller Schedule'''
{| class="wikitable"
|-
! scope="col"| Line Item #
! scope="col"| Expected End Date
! scope="col"| Task
! scope="col"| Status
|-
! scope="row"| 1
| 10/15/14
| Decide on raw CAN struct architecture
| Early completion
|-
! scope="row"| 2
| 10/18/14
| Develop and layout general common CAN messages
| On-time completion
|-
! scope="row"| 3
| 10/20/14
| Design vehicle initialization procedure
| Early completion
|-
! scope="row"| 4
| 10/23/14
| Develop and layout Inter-Controller Communication - Each Module's CAN messages
| Early completion
|-
! scope="row"| 5
| 10/25/14
| Design vehicle initial running freed drive mode procedure - Controlled via Phone, no object detection and avoidance, no GPS, no Heading
| Early completion
|-
! scope="row"| 6
| 10/28/14
| Complete design on vehicle running free drive mode procedure
| On-time completion
|-
! scope="row"| 7
| 10/30/14
| Design vehicle initial running indoor drive mode procedure - Timed autonomous drive , object detection and avoidance, (possibly heading), and no GPS
| In progress
|-
! scope="row"| 8
| 11/01/14
| All CAN message definitions complete
| Early Completion
|-
! scope="row"| 9
| 11/02/14
| Design vehicle initial running gps drive mode procedure - Full autonomous drive , object detection and avoidance, heading and GPS
| In progress
|-
! scope="row"| 10
| 11/05/14
| All CAN message receive processing complete
| In progress
|-
! scope="row"| 11
| 11/14/14
| All basic vehicle functionality state machines implemented and verified
| In progress
|-
! scope="row"| 12
| 11/15/14
| Complete design on vehicle running indoor drive mode procedure
| In progress
|-
! scope="row"| 13
| 11/20/14
| Complete design on vehicle running gps drive mode procedure
| In progress
|-
! scope="row"| 14
| 11/30/14
| Any additional advanced functionality implemented and verified
| In progress
|-
|}

== Parts List & Cost ==
{| class="wikitable"
|-
! scope="col"| Line Item#
! scope="col"| Part Desciption
! scope="col"| Vendor
! scope="col"| Part Number
! scope="col"| Qty
! scope="col"| Cost ($)
|-
! scope="row"| 1
| CAN Board
| Waveshare International Limited
| SN65HVD230
| 15
| 92.00
|-
|-
! scope="row"| 2
| Traxxas Slash Pro 2WD Short-Course R/C Truck
| Traxxas
| 58034 Slash
| 1 
| 337.00
|-
|-
! scope="row"| 3
| Adafruit Ultimate GPS Breakout
| Adafruit
| MTK3339
| 1
| 39.95 + (4.685 Shipping)
|-
|-
! scope="row"| 4
| Triple-axis Accelerometer+Magnetometer (Compass) Board
| Adafruit
| LSM303
| 1
| 14.95 + (4.685 Shipping)
|-
|-
! scope="row"| 5
| 3.5" Intelligent module w/ Touch
| 4D Systems
| uLCD 35DT 
| 1
| 89.00
|-
|-
! scope="row"| 6
| 2GB microSD Card
|  
| 
|
| 
|-
|-
! scope="row"| 7
| uUSB-PA5 Programming Adaptor
|  
| 
|
| 
|-
|-
! scope="row"| 8
| 150mm 5 way Female-Female jumper cable
|  
| 
|
| 
|-
|-
! scope="row"| 9
| 5 way Male-Male adaptor
|  
| 
|
| 
|-
|-
! scope="row"| 10
| Sharp Infrared Range Finder
| 4D Systems
| GP2Y0A21
| 2
| 9.95 + 3.32 Shipping
|-
|-
! scope="row"| 12
| SainSmart Sonar Ranging Detector
| Amazon
| HC-SR04 
| 3
| 5.59
|-
|-
! scope="row"| 13
| RC LED Headlights
| Amazon Prime
| 
| 2
| 5.99
|-
|-
! scope="row"| 14
| XBee Bluetooth
|  
| 
|
| 
|-
! scope="row"| 15
| 
|  
| 
|
| 
|-
! scope="row"| 
| Additional Shipping
|  
| 
|
| $$$.$$
|-
! scope="row"| 
| Total Cost
|  
| 
|
| $$$.$$
|-
|}

== Design & Implementation ==
The design section can go over your hardware and software design.  Organize this section using sub-sections that go over your design and implementation.

=== Hardware Design ===
     Discuss System Level Hardware Design
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

==== Sensor Controller Team Hardware Design ====
     Discuss your hardware design of Sensor Controller
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

==== Motor Controller Team Hardware Design ====
     Discuss your hardware design of Motor Controller
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

==== Motor Pin Connections ====
{| class="wikitable"
|-
! scope="col"| Line Item#
! scope="col"| Pin
! scope="col"| SJONE Board Pin
! scope="col"| Description
|-
! scope="row"| 1
| +3.3V
| 3V3
| SJOne Power
|-
|-
! scope="row"| 2
| GND
| GND
| SJOne Ground
|-
|-
! scope="row"| 3
| CAN Tx
| P0.1 (Tx) 
| SJOne - CAN Tx
|-
|-
! scope="row"| 4
| CAN Rx
| P0.0 (Rx)
| SJOne - CAN Rx
|- 
|-
! scope="row"| 5
| 
| P2.0 PWM
| Steering
|-
|-
! scope="row"| 6
| 
| P2.1 PWM
| Motor
|-
|-
! scope="row"| 7
| ESC Ground
| GND
| SJONE - ESC Ground
|-
|}

==== I/O Team Hardware Design ====
     Discuss your hardware design of I/O
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

==== I/O Pin Connections ====
{| class="wikitable"
|-
! scope="col"| Line Item#
! scope="col"| Pin
! scope="col"| SJONE Board Pin
! scope="col"| Description
|-
! scope="row"| 1
| 1 (LCD +5V)
| 5.5V
| uLCD 35DT LCD Power
|-
|-
! scope="row"| 2
| 7 (LCD GND)
| GND
| uLCD 35DT LCD Ground
|-
|-
! scope="row"| 3
| 5 (LCD RX)
| RX3
| uLCD 35DT LCD Receive Pin
|-
|-
! scope="row"| 4
| 3 (LCD TX)
| TX3
| uLCD 35DT LCD Transmit Pin
|-
|-
! scope="row"| 5
| +3.3V
| 3V3
| SJOne Power
|-
|-
! scope="row"| 6
| GND
| GND
| SJOne Ground
|-
|-
! scope="row"| 7
| UART2 RX
| P2.9
| SJOne RX
|-
|-
! scope="row"| 8
| UART2 TX
| P2.8
| SJOne TX
|-
|-
! scope="row"| 9
| +5V
| GPIO P2.0
| White LED1 
|-
|-
! scope="row"| 10
| +5V
| GPIO P2.1
| White LED2
|-
|-
! scope="row"| 11
| +5V
| GPIO P2.2
| Red LED1
|-
|-
! scope="row"| 12
| +5V
| GPIO P2.3
| Red LED2
|-
|-
! scope="row"| 13
| CAN Tx
| P0.1 (Tx) 
| SJOne - CAN Tx
|-
|-
! scope="row"| 14
| CAN Rx
| P0.0 (Rx)
| SJOne - CAN Rx
|- 
|-
! scope="row"| 15
| CAN Power
| 3.3V
| SJOne - CAN Power
|-
|-
! scope="row"| 16
| CAN Ground
| GND
| SJOne - CAN Ground
|-
|}

==== Communication Bridge + Android Hardware Design ====
     Discuss your hardware design of Communication Bridge and Android
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
==== Communication Bridge Pin Connections ====
{| class="wikitable"
|-
! scope="col"| Line Item#
! scope="col"| Pin
! scope="col"| SJONE Board Pin
! scope="col"| Description
|-
! scope="row"| 1
| Tx (Bluetooth) 
| P0.10 (TXD2)
| Bluetooth Transmit
|-
|-
! scope="row"| 2
| Rx (Bluetooth) 
| P0.11 (RXD2)
| Bluetooth Receive
|-
|-
! scope="row"| 3
| CAN Tx
| P0.1 (Tx) 
| SJOne - CAN Tx
|-
|-
! scope="row"| 4
| CAN Rx
| P0.0 (Rx)
| SJOne - CAN Rx
|-
|-
! scope="row"| 5
| CAN Power
| 3.3V
| SJOne - CAN Power
|-
|-
! scope="row"| 6
| CAN Ground
| GND
| SJOne - CAN Ground
|-
|}

==== Geographical Controller Team Hardware Design ====
     Discuss your hardware design of Geographical Controller
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
==== Master Pin Connections ====
{| class="wikitable"
|-
! scope="col"| Line Item#
! scope="col"| Pin
! scope="col"| SJONE Board Pin
! scope="col"| Description
|-
! scope="row"| 1
| 3.3V
| 3V3
| SJOne Power
|-
|-
! scope="row"| 2
| GND
| GND
| SJOne Ground
|-
|-
! scope="row"| 3
| CAN Tx
| P0.1 (Tx) 
| SJOne - CAN Tx
|-
|-
! scope="row"| 4
| CAN Rx
| P0.0 (Rx)
| SJOne - CAN Rx
|- 
|}

==== Master Controller Team Hardware Design ====
     Discuss your hardware design of Master Controller
     *INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS

=== Hardware Interface ===
In this section, you can describe how your hardware communicates, such as which BUSes used.  You can discuss your driver implementation here, such that the '''Software Design''' section is isolated to talk about high level workings rather than inner working of your project.

SYSTEM LEVEL HARDWARE INTERFACE INTERFACE GOES HERE


==== Sensor Controller Team Hardware Interface ====
     Describe how your hardware communicates. WHAT BUSes were used
     *SHOW HOW FRAMES ARE SENT

==== Motor Controller Team Hardware Interface ====
     Discuss your hardware design of Motor Controller
     *SHOW HOW FRAMES ARE SENT

==== I/O Team Hardware Interface ====
     Discuss your hardware design of I/O
     *SHOW HOW FRAMES ARE SENT

==== Communication Bridge + Android Hardware Interface ====
     Discuss your hardware design of Communication Bridge and Android
     *SHOW HOW FRAMES ARE SENT
123

==== Geographical Controller Team Hardware Interface ====
     Discuss your hardware design of Geographical Controller
     *SHOW HOW FRAMES ARE SENT
     
==== Master Controller Team Hardware Interface ====
     Discuss your hardware design of Master Controller
     *SHOW HOW FRAMES ARE SENT

=== Software Design===
Show your software design.  For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level.  Do not show the details of the code.  For example, do not show exact code, but you may show psuedocode and fragments of code.  Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

SYSTEM LEVEL SOFTWARE DESIGN GOES HERE

==== Sensor Controller Team Software Design====
     Describe how your hardware communicates. WHAT BUSes were used
     *SHOW SOFTWARE FLOWCHART DIAGRAM

==== Motor Controller Team Software Design====
     Discuss your hardware design of Motor Controller
     *SHOW SOFTWARE FLOWCHART DIAGRAM

==== I/O Team Software Design====

The I/O Software is based off of two tasks: The Event Handler Task and the RX Task.

'''Event Handler Task (High Priority):'''

This Task receives any immediate messages sent from the uLCD, processes the message, and sends the message to the CAN BUS.

This task enables the system to: Turn On/Off the Vehicle and Change Vehicle Modes.

'''RX Task (Low Priority):'''

This task receives all messages from the CAN BUS, and outputs message data onto the uLCD

'''Event Handler Task Logic'''                                        

[[File:CmpE243 F14 TUndergrad IOEventHandlerTaskLogic.jpg]]         



'''Event Handler Task Logic'''
 
[[File:CmpE243 F14 TUndergrad IORXTaskLogic.jpg]]

==== Communication Bridge + Android Software Design====
     Discuss your hardware design of Communication Bridge and Android
     *SHOW SOFTWARE FLOWCHART DIAGRAM

==== Geographical Controller Team Software Design====
     Discuss your hardware design of Geographical Controller
     *SHOW SOFTWARE FLOWCHART DIAGRAM
     
==== Master Controller Team Software Design====
     Discuss your hardware design of Master Controller
     *SHOW SOFTWARE FLOWCHART DIAGRAM

=== Software Interface===
This section includes implementation, but again, not the details, just the high level.  For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash.  You can include sub-sections for each of your component implementation.

SYSTEM LEVEL SOFTWARE IMPLEMENTATION GOES HERE

==== Sensor Controller Team Software Interface ====
     Describe steps to communicate hardware
     
==== Motor Controller Team Software Interface ====
     Describe steps to communicate hardware

==== I/O Team Software Interface ====
     Describe steps to communicate hardware

==== Communication Bridge + Android Software Interface ====
     Describe steps to communicate hardware

==== Geographical Controller Team Software Interface ====
     Describe steps to communicate hardware
     
==== Master Controller Team Software Interface ====
     Describe steps to communicate hardware

==== CAN Communication Table ====

'''Master CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| 0x100
| 1hz Periodic
| Request Heartbeat (Module state and Timestamp)
| 0x200, 0x300, 0x400, 0x500, 0x600 (Respectively)
| Motor, Sensor, Geo, Bridge, IO (Respectively)
|-
| 0x101
| 1hz Periodic
| Send Vehicle State
| N/A
| Motor, Sensor, Geo, Bridge, IO
|-
| 0x124
| Spontaneous
| Set Torque and Steering
| N/A
| Motor
|-
| 0x140
| Spontaneous
| Send Destination GPS
| N/A
| Geo
|-
| 0x14A
| Spontaneous
| Request Calibrate Compass
| N/A
| Geo
|-
| 0x14B
| Spontaneous
| Request Compass Heading
| N/A
| Geo
|-
| 0x14C
| Spontaneous
| Request Current GPS
| N/A
| Geo
|-
| 0x14D
| Spontaneous
| Request Current Time
| N/A
| Geo
|-
|}

'''Motor CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| N/A
| N/A
| N/A
| N/A
| N/A
|-
|}

'''Sensor CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| 0x300
| 10hz Periodic
| Transmit all sensor's distances
| N/A
| Master, IO
|-
|}


'''Geo CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| 0x441
| 10hz Periodic
| Transmit Current GPS Coordinates
| N/A
| Master, IO
|-
| 0x445
| 10hz Periodic
| Transmit Current Heading and Bearing
| N/A
| Master, IO
|-
|}

'''Bridge CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| 0x050
| Spontaneous
| Request Drive Mode change to Free Drive
| N/A
| Master
|-
| 0x051
| Spontaneous
| Request Drive Mode change to GPS Drive
| N/A
| Master
|-
| 0x052
| Spontaneous
| Request Drive Mode change to Indoor Drive
| N/A
| Master
|-
| 0x053
| Spontaneous
| Transmit Destination GPS Coordinates
| N/A
| Master
|-
| 0x055
| Spontaneous
| Request Vehicle Start Driving Command
| N/A
| Master
|-
| 0x056
| Spontaneous
| Request Vehicle Turn Off
| N/A
| Master
|-
| 0x057
| Spontaneous
| Request Vehicle Turn On
| N/A
| Master
|-
| 0x058
| Spontaneous
| Send Free Drive Turn Left
| N/A
| Master
|-
| 0x059
| Spontaneous
| Send Free Drive Straight
| N/A
| Master
|-
| 0x05A
| Spontaneous
| Send Free Drive Turn Right
| N/A
| Master
|-
| 0x05B
| Spontaneous
| Send Free Drive Stop
| N/A
| Master
|-
| 0x05C
| Spontaneous
| Send Free Drive Reverse Left
| N/A
| Master
|-
| 0x05D
| Spontaneous
| Send Free Drive Reverse Straight
| N/A
| Master
|-
| 0x05E
| Spontaneous
| Send Free Drive Reverse Right
| N/A
| Master
|}

'''IO CAN Communication Table'''
{| class="wikitable"
|-
! scope="col"| TX Message ID 
! scope="col"| TX Message Transmit Rate
! scope="col"| TX Message Description
! scope="col"| RX Response Message ID
! scope="col"| RX Listening Module
|-
| 0x060
| Spontaneous
| Request Drive Mode change to Free Drive
| N/A
| Master
|-
| 0x061
| Spontaneous
| Request Drive Mode change to GPS Drive
| N/A
| Master
|-
| 0x062
| Spontaneous
| Request Drive Mode change to Indoor Drive
| N/A
| Master
|-
| 0x063
| Spontaneous
| Request Vehicle Turn On
| N/A
| Master
|-
| 0x064
| Spontaneous
| Request Vehicle Turn Off
| N/A
| Master
|-
| 0x065
| Spontaneous
| Transmit Destination GPS Coordinates
| N/A
| Master
|-
| 0x066
| Spontaneous
| Request Vehicle Start Driving Command
| N/A
| Master
|-
|}

'''Master TX Format (refer to ID structure for module's TX format)'''
{| class="wikitable"
|-
! scope="col"| Modules
! scope="col"| IDs
|-
| Everyone
| 0x100 - 0x11F
|-
|-
| Motor
| 0x120 - 0x12F
|-
|-
| Sensor 
| 0x130 - 0x13F
|-
|-
| Geo/ GPS
| 0x140 - 0x14F
|-
|-
| Bridge
| 0x150 - 0x15F
|-
|-
| IO
| 0x160 - 0x16F
|-
|}

== Testing ==
----
=== Sensor Controller Testing  ===
  
==== Sensor Controller Testing #1 ====

Describe how you tested the Sensors
----
=== Motor Controller Testing  ===
  
==== Motor Controller Testing #1 ====

Describe how you tested the motors
----
=== I/O Testing  ===
  
==== I/O Testing #1 ====

Describe how you tested the I/O Device
----
=== Communication Bridge + Android Testing  ===
  
==== Communication Bridge + Android Testing #1 ====

Describe how you tested the Communication Bridge + Android
----
=== Geographical Controller ===
  
==== Geographical Controller ====

Describe how you tested the Geographical Controller
----
=== Master Controller  ===
  
==== Master Controller Testing #1 ====

Describe how you tested the Master Controller
----

== Technical Challenges ==

=== Sensor Controller Team Issues ===
  
==== MY ISSUE #1 TITLE ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

==== MY ISSUE #2 TITLE ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

=== Motor Controller Team Issues ===

==== Motor Controller Issue #1 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

==== Motor Controller Issue #2 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

=== I/O Team Issues ===

==== I/O Team Issue #1 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

==== I/O Team Issue #2 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:'''
 
=== Communication Bridge + Android Team Issues ===

==== Communication Bridge + Android Issue #1 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 

==== Communication Bridge + Android #2 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:'''

=== Geographical Controller Issues ===

==== Geographical Controller #1 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 


==== Geographical Controller #2 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:'''
 
=== Master Controller Team Issues ===

==== Master Controller Issue #1 ====

'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:''' 


==== Master Controller#2 ====
'''PROBLEM:'''

'''RESOLUTION:'''

'''FUTURE RECOMMENDATIONS:'''

== Conclusion ==
Conclude your project here.  You can recap your testing and problems.  You should address the "so what" part here to indicate what you ultimately learnt from this project.  How has this project increased your knowledge?

=== Project Video ===
Upload a video of your project and post the link here.

=== Project Source Code ===
*  [https://sourceforge.net/projects/sjsu/files/CmpE_SJSU_F2014/ Sourceforge Source Code Link]

== References ==
=== Acknowledgement ===
Any acknowledgement that you may wish to provide can be included here.

=== References Used ===
List any references used in project.

=== Appendix ===
You can list the references you used.