F14: Collision Avoidance Car - Revision history

Proj user8: /* Bill Of Materials */

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‎Bill Of Materials

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‎Bill Of Materials

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‎System Integration

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‎Design Implementation

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‎Design Implementation

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‎Design Implementation

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‎Design Implementation

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‎Design Implementation

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‎Design Implementation

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‎Design Implementation

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 ==Verification==
 To further understand how distance data compared to the physical distance of an object, values of the 0,90,180, and 360 degree points were printed to the screen while an object was placed at various distances. While testing, it was found that the LIDAR's data is erroneous if the vehicle is moving too fast. This is most likely due to the point at which the IR laser is emitted having moved with the speed of the vehicle sooner than the point at which the IR laser is received to compute a distance at some degree. After the vehicle was slowed down, the LIDAR unit returned consistent data, and the vehicle maneuvered very consistently.

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 ==System Integration==
 [[image:CMPE146 F14 LidarGroup Hardware.jpg]]
 ==Bill Of Materials==

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 The Lidar task continuously runs and updates a global array with information about obstacles at every degree. The movement task will move the car forward or backward based on flags set by the Bluetooth task while in manual mode. The steering task behaves similarly when in manual mode except it moves the car left and right. In automatic mode, both cars will compare threshold values with the global array the Lidar task populated to make its decision to move.
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 *Change threshold values used in logic for dynamic calibration.
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 ==System Integration==

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 [[image:CMPE146 F14 LidarGroup SoftwareStateMachine2.png]]
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 The state machine above shows a high level working of the autonomous car. The car's software infrastructure is made up of four tasks: the motor task, the steering task, the Lidar task, and the Bluetooth task.

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 The Bluetooth task is in charge of receiving commands from a computer or a phone to control the autonomous car. There are many Bluetooth commands, including:
-**Switch between manual and automatic driving mode.
+*Switch between manual and automatic driving mode.
-**Steering and movement (for use in manual mode).
+*Steering and movement (for use in manual mode).
-**Movement speed adjustments (faster or slower).
+*Movement speed adjustments (faster or slower).
-**Steering speed adjustments (faster or slower).
+*Steering speed adjustments (faster or slower).
-**Change threshold values used in logic for dynamic calibration.
+*Change threshold values used in logic for dynamic calibration.
 The Lidar task continuously runs and updates a global array with information about obstacles at every degree. The movement task will move the car forward or backward based on flags set by the Bluetooth task while in manual mode. The steering task behaves similarly when in manual mode except it moves the car left and right. In automatic mode, both cars will compare threshold values with the global array the Lidar task populated to make its decision to move.