View source for F17: Vindicators100

=== 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>

== Project Title ==

== 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 ===
*  '''Sameer Azer'''
**   '''''Project Lead'''''
**   Sensors
**   Quality Assurance
*  '''Kevin Server'''
**   '''''Unit Testing Lead'''''
**   Control Unit
*  '''Delwin Lei'''
**   Sensors
**   Control Unit
*  '''Harmander Sihra'''
**   Sensors
*  '''Mina Yi'''
**   '''''DEV/GIT Lead''''' 
**   Drive System
*  '''Elizabeth Nguyen'''
**   Drive System
*  '''Matthew Chew'''
**   App
**   GPS/Compass
*  '''Mikko Bayabo'''
**   App
**   GPS/Compass
*  '''Rolando Javier'''
**   App
**   GPS/Compass

== 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.

{| class="wikitable"
|-
! scope="col"| Sprint#
! scope="col"| End Date
! scope="col"| Plan
! scope="col"| Actual
|-
! scope="row"| 1
| 10/10
| App(HL reqs, and framework options);
 
Master(HL reqs, and draft CAN messages);
 
GPS(HL reqs, and component search/buy); 

Sensors(HL reqs, and component search/buy);
 
Drive(HL reqs, and component search/buy); 
| App(Angular?);
 
Master(Reqs identified, CAN architecture is WIP);
 
GPS(UBLOX M8N); 

Sensors(Lidar: 4UV002950, Ultrasonic: HRLV-EZ0);
 
Drive(Motor+encoder: https://www.servocity.com/437-rpm-hd-premium-planetary-gear-motor-w-encoder, Driver: Pololu G2 24v21, Encoder Counter: https://www.amazon.com/SuperDroid-Robots-LS7366R-Quadrature-Encoder/dp/B00K33KDJ2); 
|-
! scope="row"| 2
| 10/20
| App(Further Framework research);
 
Master(Design unit tests);
 
GPS(Prototype purchased component: printf(heading and coordinates); 

Sensors(Prototype purchased components: printf(distance from lidar and bool from ultrasonic);
 
Drive(Prototype purchased components: move motor at various velocities); 
| App();
 
Master(Unit tests passed);
 
GPS(GPS module works, but inaccurate around parts of campus. Compass not working. Going to try new component); 

Sensors(Ultrasonic works [able to get distance reading over ADC], Lidar doesn't work with I2C driver. Need to modify I2C Driver);
 
Drive(Able to move. No feedback yet.); 
|-
! scope="row"| 3
| 10/30
| App(Run a web server on ESP8266);
 
Master(TDD Obstacle avoidance);
 
GPS(Interface with compass); 

Sensors(Interface with Lidar);
 
Drive(Interface with LCD Screen); 
| App(web Server running on ESP8266, ESP8266 needs to "talk" to SJOne);
 
Master(Unit tests passed for obstacle avoidance using ultrasonic);
 
GPS(Still looking for a reliable compass); 

Sensors(I2C Driver modified. Lidar is functioning. Waiting on Servo shipment and more Ultrasonic sensors);
 
Drive(LCD Driver works using GPIO); 
|-
! scope="row"| 4
| 11/10
| App(Manual Drive Interface, Start, Stop);
 
Master(Field-test avoiding an obstacle using one ultrasonic and Lidar);
 
GPS(TDD Compass data parser, TDD GPS data parser, Write a CSV file to SD card); 

Sensors(Interface with 4 Ultrasonics [using chaining], Test power management chip current sensor, voltage sensor, and output on/off, Field-test avoiding an obstacle using 1 Ultrasonic);
 
Drive(Servo library [independent from PWM Frequency], Implement quadrature counter driver); 
| App(Cancelled Manual Drive, Start/Stop not finished due to issues communicating with ESP);
 
Master(Field-test done without Lidar. Master is sending appropriate data. Drive is having issues steering.);
 
GPS(Done.); 

Sensors(Done, except for being able to use an ADC MUX for the ultrasonics.);
 
Drive(Done.); 
|-
! scope="row"| 5
| 11/20
| App(Send/receive GPS data to/from App);
 
Master(Upon a "Go" from App, avoid multiple obstacles using 4 ultrasonics and a rotating lidar);
 
GPS(TDD Compass heading and error, TDD GPS coordinate setters/getters, TDD Logging); 

Sensors(CAD/3D-Print bumper mount for Ultrasonics, CAD/3D-Print Lidar-Servo interface. Servo-Car interface);
 
Drive(Implement a constant-velocity PID, Implement a PID Ramp-up functionality to limit in-rush current); 
| App();
 
Master();
 
GPS(); 

Sensors();
 
Drive(); 
|-
! scope="row"| 6
| 11/30
| App(App-Nav Integration testing: Send Coordinates from App to GPS);
 
Master(Drive to specific GPS coordinates);
 
GPS(App-Nav Integration testing: Send Coordinates from App to GPS); 

Sensors(Field-test avoiding multiple obstacles using Lidar & Ultrasonics);
 
Drive(Interface with buttons and headlight); 
| App();
 
Master();
 
GPS(); 

Sensors();
 
Drive(); 
|-
! scope="row"| 7
| 12/10
| App(Full System Test w/ PCB);
 
Master(Full System Test w/ PCB);
 
GPS(Full System Test w/ PCB); 

Sensors(Full System Test w/ PCB);
 
Drive(Full System Test w/ PCB); 
| App();
 
Master();
 
GPS(); 

Sensors();
 
Drive(); 
|-
! scope="row"| 8
| 12/17
| App(Full System Test w/ PCB);
 
Master(Full System Test w/ PCB);
 
GPS(Full System Test w/ PCB); 

Sensors(Full System Test w/ PCB);
 
Drive(Full System Test w/ PCB); 
| App();
 
Master();
 
GPS(); 

Sensors();
 
Drive(); 
|}

== Parts List & Cost ==

{| class="wikitable sortable"
|-
! Part # !! Part Name !! Purchase Location !! Quantity !! Cost per item
|-
| 1 || SJOne Board || Preet
 || 6 || $80/board
|-
| 2 || 1621 RPM HD Premium Gear Motor || [https://www.servocity.com/1621-rpm-hd-premium-planetary-gear-motor-w-encoder Servocity]
 || 1 || $60
|-
| 3 || 20 kg Full Metal Servo || [https://www.amazon.com/DS3218-update-digital-Waterproof-Control/dp/B01N0XZOZU/ref=sr_1_2?ie=UTF8&qid=1509329759&sr=8-2&keywords=270+servo Amazon]
 || 1 || $18.92
|-
| 4 || Maxbotix Ultrasonic Rangefinder || [https://www.adafruit.com/product/983 Adafruit]
 || 4 || $33.95
|-
| 5 || Analog/Digital Mux Breakout Board || [http://www.robotshop.com/en/sfe-analog-digital-mux-breakout-board.html RobotShop]
 || 1 || $4.95
|-
| 6 || Power Management IC Development Tools || [https://www.mouser.com/search/ProductDetail.aspx?r=511-EV-VN7010AJ Mouser]
 || 1 || $8.63
|-
| 7 || eBoot Mini MP1584EN DC-DC Buck Converter || [https://www.amazon.com/eBoot-MP1584EN-Converter-Adjustable-Module/dp/B01MQGMOKI/ref=sr_1_5?ie=UTF8&qid=1511925590&sr=8-5&keywords=6+pack+buck+converter Amazon]
 || 1 || $9.69
|-
|}

== 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 ===

In this section, we provide details on hardware design for each component - power control systems, drive, sensors, app, and GPS.

==== Power Control ====

==== Drive ====

==== Sensors ====

==== App ====

==== GPS ====

=== 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.

==== Sensors ====
We are using two different types of sensors - ultrasonic and lidar. -- fill in ultrasonic information --

The lidar communicates via i2c. Typically, when executing a read operation, there is a write and then a read. It writes the device address and provides a repeat start. However, the lidar expects a stop signal and does not respond to a repeat start. Thus, we utilized a modified version of the i2c driver that does two completely separate write and read operations. This provides the proper format expected by the lidar. 

-- add timing diagrams for read & write --

=== 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.

243.dbc
 VERSION ""
 
 NS_ :
     BA_
     BA_DEF_
     BA_DEF_DEF_
     BA_DEF_DEF_REL_
     BA_DEF_REL_
     BA_DEF_SGTYPE_
     BA_REL_
     BA_SGTYPE_
     BO_TX_BU_
     BU_BO_REL_
     BU_EV_REL_
     BU_SG_REL_
     CAT_
     CAT_DEF_
     CM_
     ENVVAR_DATA_
     EV_DATA_
     FILTER
     NS_DESC_
     SGTYPE_
     SGTYPE_VAL_
     SG_MUL_VAL_
     SIGTYPE_VALTYPE_
     SIG_GROUP_
     SIG_TYPE_REF_
     SIG_VALTYPE_
     VAL_
     VAL_TABLE_
 
 BS_:
 
 BU_: DBG SENSORS CONTROL_UNIT DRIVE APP NAV
 
 BO_ 100 COMMAND: 1 DBG
  SG_ ENABLE : 0|1@1+ (1,0) [0|1] "" DBG
 
 BO_ 200 FRONT_SENSORS: 2 SENSORS
  SG_ ULTRASONIC_SENSOR : 0|12@1+ (1,0) [0|0] "mm" CONTROL_UNIT
 
 BO_ 123 DRIVE_CMD: 3 CONTROL_UNIT
  SG_ steer_angle : 0|12@1- (0.1,0) [-45|45] "degrees" DRIVE
  SG_ speed : 12|6@1+ (0.1,0) [0|5] "mph" DRIVE
  SG_ direction : 18|1@1+ (1,0) [0|1] "" DRIVE
  SG_ headlights : 19|1@1+ (1,0) [0|1] "" DRIVE
 
 BO_ 122 SENSOR_CMD: 2 CONTROL_UNIT
  SG_ lidar_zero : 0|16@1+ (0.1,0) [0|360] "degrees" SENSORS
 
 BO_ 121 GPS_POS: 8 NAV
  SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" APP
  SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" APP
  SG_ we_axis : 32|1@1+ (1,0) [0|1] "" APP
  SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" APP
 
 BO_ 146 GPS_HEADING: 3 NAV
  SG_ current : 0|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT
  SG_ projected : 10|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT
 
 BO_ 124 DRIVE_FEEDBACK: 1 DRIVE
  SG_ velocity : 0|6@1+ (0.1,0) [0|0] "mph" CONTROL_UNIT
  SG_ direction : 6|1@1+ (1,0) [0|1] "" CONTROL_UNIT
 
 BO_ 243 APP_WAYPOINT: 8 APP
  SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" CONTROL_UNIT
  SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" CONTROL_UNIT
  SG_ we_axis : 32|1@1+ (1,0) [0|1] "" CONTROL_UNIT
  SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" CONTROL_UNIT
 
 CM_ BU_ DBG "Debugging entity";
 CM_ BU_ DRIVE "Drive System";
 CM_ BU_ SENSORS "Sensor Suite";
 CM_ BU_ APP "Communication to mobile app";
 CM_ BU_ CONTROL_UNIT "Central command board";
 CM_ BU_ NAV "GPS and compass";
 
 BA_DEF_ "BusType" STRING ;
 BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
 BA_DEF_ SG_ "FieldType" STRING ;
 
 BA_DEF_DEF_ "BusType" "CAN";
 BA_DEF_DEF_ "FieldType" "";
 BA_DEF_DEF_ "GenMsgCycleTime" 0;
 
 BA_ "GenMsgCycleTime" BO_ 256 10;
 BA_ "GenMsgCycleTime" BO_ 512 10;
 BA_ "GenMsgCycleTime" BO_ 768 500;
 BA_ "GenMsgCycleTime" BO_ 1024 100;
 BA_ "GenMsgCycleTime" BO_ 1280 1000;

=== Sensors ===

==== Lidar ====

The basic process for the lidar was to obtain an angle between -90 and +90 degrees from the control unit. This angle is considered the mid-point of operation. Once the angle is obtained the following process takes place:
# It subtracts 45 degrees to get to the left-most end of the sweep
# Add 135 degrees to give only positive values
# Obtain the millisecond value from the position in degrees for the servo PWM
# Apply a task delay of 500 ms so the servo has enough time to position itself
# Loop 9 times with equal increments to take 9 measurements
# Store each measurement into an array
# Once looping is complete, send the data back to the control unit via CAN

=== 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:
=== Technical Challenges ===

==== Single frequency setting for PWM ====
Using PWM on the SJOne board only allows you to run all PWM pins at the same frequency. For drive, we required two different frequencies - one for the motor and one for the servo. We solved this issue by generating our own PWM signal using a GPIO pin and a RIT (repetitive interrupt timer).

==== Inaccurate PWM Frequency ====
When originally working with PWM for drive, we found that the actual frequency that was set was inaccurate. We expected the frequency to be 20kHz, but when we hooked it up to the oscilloscope we found that it was much higher. It was consistently setting the frequency to output about 10 times the expected value. We came to the realization that since we had been declaring the PWM class as a global, the initialization was not being done properly. We are not sure why this is the case, but after we instantiated the PWM class in the periodic init function, the frequency was correct.

==== Difficulties with Quadrature Counter ====
We had issues getting the quadrature counter to give us valid numbers. 
Our solution was to use LPC's built-in counter instead of having an extra external component.

== 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://gitlab.com/vindicators100 Vindicators100 GIT LAB]

== 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.