F15: Autonomous Mobile - Revision history

Preet: /* Grading Criteria */

2015-12-19T18:09:28Z

‎Grading Criteria

Proj user19: /* Compass placement */

2015-12-19T13:42:19Z

‎Compass placement

Proj user19: /* Car Testing */

2015-12-19T13:41:12Z

‎Car Testing

Proj user19: /* GPS Testing */

2015-12-19T13:39:07Z

‎GPS Testing

Proj user19: /* Hardware Design */

2015-12-19T13:26:42Z

‎Hardware Design

Proj user19: /* Hardware Design */

2015-12-19T13:25:57Z

‎Hardware Design

Proj user19: /* References */

2015-12-19T11:57:53Z

‎References

Proj user19: /* Acknowledgement */

2015-12-19T11:57:40Z

‎Acknowledgement

Proj user19: /* Acknowledgement */

2015-12-19T11:57:20Z

‎Acknowledgement

Proj user19: /* Software Design */

2015-12-19T11:44:54Z

‎Software Design

← Older revision		Revision as of 18:09, 19 December 2015
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	[6] https://learn.sparkfun.com/tutorials/pulse-width-modulation		[6] https://learn.sparkfun.com/tutorials/pulse-width-modulation
−
−	~~=== 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>~~

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 '''Issue:''' Compass placement: The compass was first placed in front of the car, away from the motor. Thinking that it might not be affected by its magnetic field.
-'''Resolution:''' The servo (front of the car) also affected the compass. The placement of the compass was placed at least 1 feet away from any other component. During test drives, the car drove smoothly. It was also best to place the compass at the front of the car because the front 2 wheels are used for turning. The compass will the heading relative to its position of the turn faster than placing the compass module at the back or middle of the vehicle.
+'''Resolution:''' The servo (front of the car) also affected the compass. The placement of the compass was placed at least 1 feet away from any other component. During test drives, the car drove smoothly. It was also best to place the compass at the front of the car because the front 2 wheels are used for turning. The compass will compute the heading relative to its position of the turn faster than placing the compass module at the back or middle of the vehicle.
 === Nothing to stop it from crashing ===

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 === Car Testing ===
-The whole car was tested in an open area where there were not many objects to obstruct its free driving. Testing it in a confined space does not allow the car to turn. The cars path to its destination is unpredictable because we did not implement way-points. All testing of the car were placing the car's nose away from the destination. This approach to testing allowed us to verify if the car was able to turn around and drive towards its destination.
+The whole car was tested in an open area where there were not many objects to obstruct its free driving. Testing it in a confined space does not allow the car to turn because it will hit objects in its way. The car's path to its destination is unpredictable because we did not implement waypoints. All testing of the car were placing the car's nose away from the destination. This approach to testing allowed us to verify if the car was able to turn around and drive towards its destination.
 == Technical Challenges ==

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 === GPS Testing ===
-Testing the GPS module was simple. It is easy to verify how accurate the GPS module by checking the GPS module's coordinates by inputting it into Google Maps. The accuracy of the GPS drops during indoor and sometimes never could find a proper fixed location. The on-board LED 4 was used to indicate whether the GPS got a proper fixed location or not. The LED will light up when a fixed location is found, otherwise the LED will toggle.
+Testing the GPS module was simple. It is easy to verify how accurate the GPS module by checking the GPS module's coordinates by inputting it into Google Maps. The accuracy of the GPS drops during indoor and sometimes never could find a proper fixed location. The GPS module also had a difficult time getting its location on a rainy day. The on-board LED 4 was used to indicate whether the GPS got a proper fixed location or not. The LED will light up when a fixed location is found, otherwise the LED will toggle.
 === Compass Testing ===
 To verify the correct heading relative to magnetic north, it is possible to check it a smartphone with a compass app. This is how it is possible to check how many degrees  the heading was off. The on-board LED 1 is used to indicate whether the compass module is passing the heading information to geoTask. The LED will light up if at least 1 data register is not read, which will pass incorrect data. Rigorous testing was done on the compass module due to its sensitivity. The compass was calibrated multiple times to pass sanity test. We have found that it is impossible to test the compass module in the engineering building at SJSU due to its heavy magnetic field affecting our compass reading. The source of the heavy magnetic field was most likely due to soft-iron distortion, as hard-iron calibration was already applied. The car was taken outside of the engineering building and the readings returned to normal when compared to the compass app.

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 === Hardware Design ===
-With the concept of building a self-driving vehicle in place, this schematic shows how we were able to do it. With the thinking of a well-equipped self-driving car, GPS and compass module is a must to give the car itself its coordinate and steer toward its destination. Also, motor and servo are very important for the car to run freely to any direction. Additionally, a Bluetooth module can help the user to transfer their desired location coordinate. Basically, with all these components together, a prototype of a self-driving vehicle is created.
+With the concept of building a self-driving vehicle in place, this schematic shows how we were able to do it. With the thinking of a well-equipped self-driving car, GPS and compass module is a must to give the car itself its coordinate and steer toward its destination. Also, motor and servo are very important for the car to run freely to any direction. Additionally, a Bluetooth module can help the user transfer their desired location coordinate. Basically, with all these components together, a prototype of a self-driving vehicle is created.
 <br>

← Older revision		Revision as of 11:57, 19 December 2015
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	=== References===		=== References===
		+	Compass sensor: https://learn.adafruit.com/downloads/pdf/adafruit-hmc5883l-breakout-triple-axis-magnetometer-compass-sensor.pdf
		+
		+	Motor and Servo: http://www.socialledge.com/sjsu/index.php?title=SJ_One_Board#Motor_.26_Servo_Control

	[1] http://www.socialledge.com/sjsu/images/d/de/2012SJOneBoardSchematic.pdf		[1] http://www.socialledge.com/sjsu/images/d/de/2012SJOneBoardSchematic.pdf

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 === Acknowledgement ===
 We would like to thank Dr. Ozemek and Preet Kang for the knowledge they provided us to not only succeed in CMPE146, but for the future also.
 === References===

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 == References ==
 === Acknowledgement ===
+We would like to thank Dr. Ozemek and Preet Kang for the knowledge they provided us to not only succeed in CMPE146, but for the future also.
 Compass sensor: https://learn.adafruit.com/downloads/pdf/adafruit-hmc5883l-breakout-triple-axis-magnetometer-compass-sensor.pdf

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 === Software Design ===
 There are a total of 5 tasks created and constantly sending data over a queue to each other. FreeRTOS was used to provide scheduling and queue capability to run in a real-time fashion. Each flow chart below are individual tasks computing, decoding, or sending data.
 '''Motor'''
 <br>