F16: Spartan and Furious - Revision history

Proj user5: /* Design & Implementation */

2017-12-15T23:21:27Z

‎Design & Implementation

Proj user5: /* Geographical Controller */

2017-12-15T23:21:06Z

‎Geographical Controller

Proj user5: /* Design & Implementation */

2017-12-15T23:19:41Z

‎Design & Implementation

Proj user10: /* Project Video */

2016-12-23T08:01:41Z

‎Project Video

Proj user10: /* Navigation mode */

2016-12-22T17:33:30Z

‎Navigation mode

Proj user10: /* Testing & Technical Challenges */

2016-12-20T23:58:32Z

‎Testing & Technical Challenges

Proj user10: /* Software Design and Implementation */

2016-12-20T23:51:15Z

‎Software Design and Implementation

Proj user10: /* Software Design and Implementation */

2016-12-20T23:50:57Z

‎Software Design and Implementation

Proj user10: /* Testing & Technical Challenges */

2016-12-20T23:46:48Z

‎Testing & Technical Challenges

Proj user10: /* Testing & Technical Challenges */

2016-12-20T23:05:01Z

‎Testing & Technical Challenges

← Older revision		Revision as of 23:21, 15 December 2017
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	*'''''[http://www.linkedin.com/in/shauryajai Shaurya Jain]<br> '''''		*'''''[http://www.linkedin.com/in/shauryajai Shaurya Jain]<br> '''''

−	~~=== Design & Implementation ===~~
	=== Design & Implementation ===		=== Design & Implementation ===

← Older revision		Revision as of 23:21, 15 December 2017
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	=== Design & Implementation ===		=== Design & Implementation ===
		+	=== Design & Implementation ===
		+
		+	Geographical Controller is responsible for commanding the Motor Controller on which direction the vehicle has to move. It consists of a Global Positional System (GPS) module to track the current location of the vehicle and a Compass (Magnetometer) to command the direction of steer to the motor with respect to its current direction and Bearing Angle of the GPS.
		+
		+	[[ File: CmpE243_Spartan_And_Furious_Block_Diagram.jpg\|800px\|thumb\|center\|\| Basic Geo Block Diagram]]
		+
		+	We have developed the algorithm based on the following parameters:
		+
		+	1. Bearing Angle
		+
		+	2. Heading Angle
		+
		+	'''1. Bearing Angle''': Bearing Angle is the Angle between two points with respect to the Geographical North. We can calculate this from the GPS module by using Haversine formula. Further details are discussed in the Software Design section.
		+
		+	[[ File: CmpE243_Spartan_And_Furious_Geo_Bearing_Angle.jpg\|600px\|thumb\|center\|\| Bearing Angle]]
		+
		+	As we can see in the picture, If we consider point A is the current location and point B as the destination, 𝚹 represents the Bearing angle between point A and point B with respect to its Geographical North.
		+
		+	'''2.Heading Angle:''' Heading Angle is the angle of the orientation of the vehicle(clockwise) with respect to the Geographical North. The output from the Compass (LSM303) will be from 0 to 360 degrees. However, due to the magnetic declination, the compass needs to be calibrated.
		+
		+	[[ File: CmpE243_Spartan_And_Furious_Geo_Compass_Heading.jpg\|600px\|thumb\|center\|\| Compass Heading]]
		+

	=== Hardware Design ===		=== Hardware Design ===

← Older revision		Revision as of 23:19, 15 December 2017
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	=== Design & Implementation ===		=== Design & Implementation ===
−
−	Geographical Controller is responsible for commanding the Motor Controller on which direction the vehicle has to move. It consists of a Global Positional System (GPS) module to track the current location of the vehicle and a Compass (Magnetometer) to command the direction of steer to the motor with respect to its current direction and Bearing Angle of the GPS.
−
−	~~[[ File: CmpE243_Spartan_And_Furious_Block_Diagram.jpg\|800px\|thumb\|center\|\| Basic Geo Block Diagram]]~~
−
−	~~We have developed the algorithm based on the following parameters:~~
−
−	~~1. Bearing Angle~~
−
−	~~2. Heading Angle~~
−
−	'''1. Bearing Angle''': Bearing Angle is the Angle between two points with respect to the Geographical North. We can calculate this from the GPS module by using Haversine formula. Further details are discussed in the Software Design section.
−
−	~~[[ File: CmpE243_Spartan_And_Furious_Geo_Bearing_Angle.jpg\|600px\|thumb\|center\|\| Bearing Angle]]~~
−
−	As we can see in the picture, If we consider point A is the current location and point B as the destination, 𝚹 represents the Bearing angle between point A and point B with respect to its Geographical North.
−
−	'''2.Heading Angle:''' Heading Angle is the angle of the orientation of the vehicle(clockwise) with respect to the Geographical North. The output from the Compass (LSM303) will be from 0 to 360 degrees. However, due to the magnetic declination, the compass needs to be calibrated.
−
−	~~[[ File: CmpE243_Spartan_And_Furious_Geo_Compass_Heading.jpg\|600px\|thumb\|center\|\| Compass Heading]]~~

	=== Hardware Design ===		=== Hardware Design ===

@@ Line 1,465: / Line 1,465: @@
 * Start with the implementation for the Geo module early.
 * Ensure that your Android App can communicate consistently with SJOne board.
-=== Project Video ===
+=== Project Videos ===
 [https://youtu.be/dsfW-ZqOqjA CMPE243_F16_Spartan_and_Furious]
 === Project Source Code ===

← Older revision		Revision as of 17:33, 22 December 2016
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−	[[File:CMPE_243_F16_SnF_Navigation_Mode_Flowchart.png\|thumb\|center\|1000px\|~~Free Run~~ Mode Flow Chart]]	+	[[File:CMPE_243_F16_SnF_Navigation_Mode_Flowchart.png\|thumb\|center\|1000px\|Navigation Mode Flow Chart]]

	== Common Technical Challenges ==		== Common Technical Challenges ==

@@ Line 659: / Line 659: @@
 === Testing & Technical Challenges ===
-While receiving data from android app, it was observed that there was loss of information due to the buffer size and the receive queue size. It was solved by increasing the buffer and queue size and also due to baudrate, decision was made to receive data in 10Hz and use the same in 1 Hz task.
+While receiving data from android app, it was observed that there was loss of information due to the buffer size and the receive queue size. It was solved by increasing the buffer and queue size and also due to baudrate, decision was made to receive data in 10Hz and use the same in 1 Hz task. Thus, by adjusting the transfer rates the data loss was reduced.
 ==Geographical Controller==

@@ Line 624: / Line 624: @@
 The Software design for the app is as follows:
 . The current location of the car is extracted through the GPS of the mobile.
 . As per location, a route is calculated by the app and checkpoints is sent to the BLE module(SJ-one board)
 . The Decoding of the received messages is implemented in 10Hz task.
 . Due to challenges faced to parse data in 10Hz, decision was made to shift parsing of data to 1Hz task.
 . After parsing the data, the checkpoints are then send over the CAN bus to Geo module for processing.

@@ Line 622: / Line 622: @@
 === Software Design and Implementation===
 [[File:CMPE243 F16 SnF BLE Software Implement.png|thumb|left|500px|BLE Module Software Implementation]]
 <br clear=all>

← Older revision		Revision as of 23:05, 20 December 2016
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	=== Testing & Technical Challenges ===		=== Testing & Technical Challenges ===
		+	As UART data was getting lost due to baudrate, decision was made to receive data in 10Hz and use the same in 1 Hz task.

	==Geographical Controller==		==Geographical Controller==