View source for F17: Tata Nano

=== Grading Criteria ===
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*  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.
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== Tata Nano ==
Self-Navigation Vehicle Project
*[https://gitlab.com/shivam5594/Autonomous-car Git Repository]

== Abstract ==
This section should be a couple lines to describe what your project does.

== 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.

=== Team Members & Responsibilities ===
*  Master Controller
** Manan Mehta
** Shivam Chauhan 
*  Geographical Controller
** Kalki Kapoor
** Aditya Deshmukh 
*  Communication Bridge + Android Application + LCD
** Ashish Lele
** Venkat Raja
*  Motor and I/O Controller
** Aditya Chaudry
** Shashank Iyer
*  Sensor Controller
** Pushpender Singh
** Hugo Quiroz
* Module Level Testing
** Manan Mehta
** Shashank Iyer

==Project Schedule==
Legend: <font color="blue"> Motor & I/O Controller <font>,<font color="clouds"> Master Controller <font>,<font color="green"> Communication Bridge Controller<font>,<font color="CARROT"> Geographical Controller,<font color="orange"> Sensor Controller <font>, <font color="black"> Team Goal <font> 
{| class="wikitable"
|-
! scope="col"| Week#
! scope="col"| Start Date
! scope="col"| End Date
! scope="col"| Task
! scope="col"| Status
|-
! scope="row"| 1
| 09/12/2016
| 09/19/2016
|
* Order Components and work distribution
*<font color="orange">Research on the type and model of sensors to use and order them</font>
*<font color="CARROT">Research on the GPS and compass sensors</font>
*<font color="blue">Research on components requirement based on past projects</font>
*<font color="blue">Research various RC car models</font>
*<font color="blue">Research various battery options especially NiMH and Li-Po batteries</font>
*<font color="green">Android Development Environment Setup</font>
*<font color="green">Research on various compatible bluetooth modules</font>
| Completed
|-
! scope="row"| 2
| 09/19/2016
| 09/26/2016
|
* Set up git, slack channel, shared drive and wikipage
* Distribute parts to sub-groups
*<font color="orange">Study the data sheet of sensor & prepare a high-level design</font>
*<font color="orange">Interface the sonic sensor to the sensor controller over i2c and create a wrapper class for the sensor</font>
*<font color="blue">Experiment and Research on voltage requirements and PWM requirements for Servo and DC motor</font>
*<font color="blue">Interface servo motor and ESC to the SJone board</font>
*<font color="CARROT">Interface GPS and Compass sensor to the micrcontroller</font>
| Completed
|-
! scope="row"| 3
| 09/26/2016
| 10/03/2016
|
*Build software architecture of each module
*<font color="orange">Interface LIDAR sensor and build algorithm to identify obstacles</font>
*<font color="blue">Build wrapper classes for steering and motor control</font>
*<font color="blue">Experiment and Research on duty cycle required for controlling steer and speed of the car</font>
*<font color="green">Set-up LCD and SJone communication</font>
*<font color="green">Basic Android Application development, Intent passing, Finalize GUI template.</font>
| Completed
|-
! scope="row"| 4
| 10/03/2016
| 10/10/2016
|
* Agree on control system architecture, assign CAN node priorities and decide on communication paradigm between Master and Nodes. Prep for prototype.
*<font color="clouds">Decide on the CAN ids and the priorities of the CAN messaged for various nodes.</font>
*<font color="orange">Stress test the sensors and design a filter so that reliable readings are sent to the master.</font>
*<font color="blue">Experiment and research on precision control of speed and steering using signals from SJ One board.</font>
*<font color="blue">Developing the framework for the I/O display and setting up SPI framework to read the CAN messages.</font>
*<font color="clouds">Design the barebones basic functionality of the algorithm. Create a skeleton code.</font>
*<font color="green">Controlling Bluetooth of Mobile Phone(i.e. Turn on, Connect), Connect Mobile phone with Bluetooth BLE module on SJOne.</font>
| On-Going
|-
! scope="row"| 5
| 10/10/2016
| 10/17/2016
|
* Testing week for all nodes. Goal is for each node to have a basic interface to their sensors and actuators in place, where they are able to read data and manipulate control signals. For instance: sensors node should be reading distance, motors node should be able to generate motor speed control signals. Modify the necessary parts in the CAN.dbc file.
*<font color="orange">Interface back sensor and test all the sensors together.
*<font color="orange">Debug and fix any issues.</font>
*<font color="blue">Design software filter to filter CAN messages required for motor controller.</font>
*<font color="blue">Get readings from the RPM sensor.</font>
*<font color="blue">Read the CAN messages to display on the LCD connected to the SJ One board.</font>
*<font color="clouds">Set up CAN communication between the sensor,motor and the master. Test for correct data transmission.</font>
*<font color="green">Establishing basic communication between Android phone and SJOne Board.</font>
| 
|-
! scope="row"| 6
| 10/17/2016
| 10/24/2016
|
* Interface all nodes over Can bus and coordinate order and status message transfers between Master and Nodes. PCAN interface should be built to view & test CAN messages via Busmaster. 
*<font color="orange">Integrate sensors with other nodes via CAN and test the sensor values while the car is on the move.</font>
*<font color="orange">The master should have reliable data from sensors by now.</font>
*<font color="blue">Send signals to the motor controller from another CAN Node to control speed and steering using CAN interface.</font>
*<font color="blue">Creating necessary display messages and graphics related to the I/O modules.</font>
*<font color="clouds">Design the algorithm to process the data received from the sensors and motors by the master.</font>
*<font color="green">Integrate Google Map, Get Longitude and Latitude data from the position where Marker is placed, Get important data of other nodes from CAN bus.</font>
| 
|-
! scope="row"| 7
| 10/24/2016
| 10/31/2016
|
* Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right with start/stop command from the phone app. Test & fix basic integration bugs. 
*<font color="blue">Integrating and testing motor & I/O controller with other nodes.</font>
*<font color="clouds">Extend the algorithm to control the motors along with the obstacle information received from the sensors.</font>
*<font color="green">Integrate bridge controller with other modules via CAN. Test & fix basic integration bugs.</font> 
| 
|-
! scope="row"| 8
| 11/30/2016
| 11/7/2016
|
* Continue with hardware/software development & integration and complete first prototype of the collision avoidance feature.
*<font color="orange">Design sensor mounts and 3D print them.</font>
*<font color="clouds">Test and fine tune the algorithm developed so far for the first demo.</font>
*<font color="green">Put multiple markers on Map and implement logic to find shortest route to destination and pass route information on CAN bus.</font>
| 
|-
! scope="row"| 9
| 11/7/2016
| 11/14/2016
|
* Integrate GPS coordinates from Android app into Master Node for autonomous feature.
*<font color="orange">Mount the sensors and test for any dead band. Position them for maximum coverage.</font>
*<font color="clouds">Obtain the data from the GPS and process the data to design the algorithm for navigation. Design  and implement the kill switch to avoid the car from crashing.</font>
*<font color="green">Integrate GPS coordinates from Android app into Master Node for autonomous feature. Testing and Bug fixing.</font>
| 
|-
! scope="row"| 10
| 11/14/2016
| 11/21/2016
|
* Integrate all nodes into one. Start testing car's autonomous driving capabilities with path following from GPS waypoints from Android app. 
*<font color="orange">Tune & optimize the sensor filter logic and the sensor mount as required.</font>
*<font color="clouds">Integrate all the modules and test for the functionality. Save the data received from various modules into a log file for debugging purpose.</font>
| 
|-
! scope="row"| 11
| 11/21/2016
| 11/28/2016
|
* Autonomous driving should be working by now. Focus on improving car's performance. Tweak all nodes to better performance, and fix last minutes bugs.
*<font color="orange">Interface Head lights and turn them ON based on light sensor value.</font>
*<font color="clouds">Include the headlights and the LCD on the car and  display messages on them.</font>
| 
|-
! scope="row"| 12
| 11/22/2016
| 11/28/2016
|
* Stress test the car with different environment scenarios. 
*<font color="clouds">Improvise the algorithm and carry out stress testing and integration testing.  Work on the modifications required and  test previous hardware additions to the car.</font>
| 
|-
! scope="row"| 13
| 11/29/2016
| 
|
* Final touches to improve overall vehicle's robustness. Self-fixing nodes, reduce/eliminate unexpected behaviors and crashes.
*<font color="clouds">Integration and testing. Work to improvise on the algorithms and make sure individual modules work. Addition of any extra features and software development.</font>
| |-
|}

== Parts List & Cost ==
{| class="wikitable"
|-
! scope="col"| Item#
! scope="col"| Part Desciption
! scope="col"| Vendor
! scope="col"| Qty
! scope="col"| Cost
|-
! scope="row"| 1
| RC Car - Traxxas 1/10 Slash 2WD
| [https://www.amazon.com/Traxxas-Slash-Course-2-4GHZ-Vehicle/dp/B01DU474B0/ref=sr_1_3?ie=UTF8&qid=1474747759&sr=8-3&keywords=Traxxas+1%2F10+slash+2wd Amazon]
| 1
| $189.95
|-
! scope="row"| 2
| Traxxas 2872X 5000mAh 11.1V 3S 25C LiPo Battery
| [https://www.amazon.com/Traxxas-2872X-5000mAh-11-1V-Battery/dp/B00P7X59OW/ref=sr_1_1?s=toys-and-games&ie=UTF8&qid=1474748063&sr=1-1&keywords=traxxas+5000 Amazon]
| 1
| $56.99
|-
! scope="row"| 3
| Traxxas 7600mAh 7.4V 2-Cell 25C LiPo Battery
| [https://www.amazon.com/Traxxas-7600mAh-7-4V-2-Cell-Battery/dp/B00S1R0VEY/ref=sr_1_7?s=toys-and-games&ie=UTF8&qid=1474748332&sr=1-7&keywords=traxxas+battery Amazon]
| 1
| $70.99
|-
! scope="row"| 4
| Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger
| [https://www.amazon.com/Traxxas-2970-EZ-Peak-Charger-Identification/dp/B00OAFYLJC/ref=pd_bxgy_21_img_2?ie=UTF8&psc=1&refRID=JVX791WVV9Y8T9DW92KW Amazon]
| 1
| $35.99
|-
! scope="row"| 5
| Bluetooth Module HC-05
| [https://www.amazon.com/HC-05-Bluetooth-Pass-through-Wireless-Communication/dp/B01G9KSAF6/ref=sr_1_4?ie=UTF8&qid=1507077325&sr=8-4&keywords=arduino+bluetooth+hc-05 Amazon]
| 1
| $8.99
|-
! scope="row"| 6
| 4D systems 32u LCD
| [http://www.4dsystems.com.au/product/uLCD_32PTU/ 4D systems]
| 1
| $41.55
|-
! scope="row"| 7
| LV Maxsonar EZ0 Ultrasonic sensors
| [http://www.robotshop.com/en/maxbotix-ez0-ultrasonic-ranger.html Robotshop]
| 5
| $124.75
|-
! scope="row"| 8
| LIDAR Sensor
| [
| 1
| $190
|-
! scope="row"| 9
| Ultimate GPS breakout
| [https://www.adafruit.com/product/746 Adafruit]
| 1
| $49.95
|-
! scope="row"| 10
| CAN tranceivers
| [http://www.microchip.com/samples/Default.aspx?DeviceFamily=MCP2551 Microchip Samples]
| 10
| Free
|-
! scope="row"| 11
| SJOne Boards
| Provided by Preet
| 5
| $400.0
|-

|}

== 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 your hardware design here.  Show detailed schematics, and the interface here.

=== 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.

=== 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.  

=== Implementation ===
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.

== Testing & Technical Challenges ==
Describe the challenges of your project.  What advise would you give yourself or someone else if your project can be started from scratch again?
Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

=== <Bug/issue name> ===
Discuss the issue and resolution.

== 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_S2016/ 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.