S14: Autonomous Control System - Revision history

Preet: /* Project Source Code */

2014-08-07T00:00:47Z

‎Project Source Code

Proj user8: /* References Used */

2014-05-24T22:54:15Z

‎References Used

Proj user8: /* Acknowledgement */

2014-05-24T22:49:49Z

‎Acknowledgement

Proj user20: /* Hardware Interface */

2014-05-23T07:38:55Z

‎Hardware Interface

Proj user20: /* Testing */

2014-05-23T07:36:45Z

‎Testing

Proj user20: /* Testing */

2014-05-23T07:33:09Z

‎Testing

Proj user20: /* Line Following */

2014-05-23T07:32:52Z

‎Line Following

Proj user20: /* Software Design */

2014-05-23T07:25:11Z

‎Software Design

Proj user20: /* Software Design */

2014-05-23T07:24:54Z

‎Software Design

Proj user20: /* Hardware Interface */

2014-05-23T07:23:54Z

‎Hardware Interface

@@ Line 481: / Line 481: @@
 === Project Source Code ===
-Send me your zipped source code and I will upload this to SourceForge and link it for you.
+*  [https://sourceforge.net/projects/sjsu/files/CmpE244_SJSU_S2014/ Sourceforge source code link]
 == References ==

@@ Line 495: / Line 495: @@
 === References Used ===
-*FreeRTOS website: [http://www.freertos.org/]
+*[1] '''FreeRTOS website''': [http://www.freertos.org/ FreeRTOS Homepage]
-*SNAP device Reference Manual: [http://forums.synapse-wireless.com/upload/SNAP%20Reference%20Manual.pdf]
+*[2] '''SNAP device Reference Manual''': [http://forums.synapse-wireless.com/upload/SNAP%20Reference%20Manual.pdf PDF link]
-*Portal Reference Manual: [http://forums.synapse-wireless.com/upload/Portal%20Reference%20Manual.pdf]
+*[3] '''Portal Reference Manual''': [http://forums.synapse-wireless.com/upload/Portal%20Reference%20Manual.pdf PDF link]

← Older revision		Revision as of 22:49, 24 May 2014
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	*'''Dr Furman''' (ME dept): For allowing us to join the Spartan Superway Project and guiding us throughout the process.		*'''Dr Furman''' (ME dept): For allowing us to join the Spartan Superway Project and guiding us throughout the process.
	*'''Ron Swenson, Bryan Burlingame, the rest of the Spartan Superway Team, and the various sponsors of our project, Thank You!'''		*'''Ron Swenson, Bryan Burlingame, the rest of the Spartan Superway Team, and the various sponsors of our project, Thank You!'''
		+
		+	=== References Used ===
		+	*FreeRTOS website: [http://www.freertos.org/]
		+	*SNAP device Reference Manual: [http://forums.synapse-wireless.com/upload/SNAP%20Reference%20Manual.pdf]
		+	*Portal Reference Manual: [http://forums.synapse-wireless.com/upload/Portal%20Reference%20Manual.pdf]

← Older revision		Revision as of 07:38, 23 May 2014
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−	Figure 1 shows the SJOne Board pinout and the connections between the SJOne board, multiplexer gate, and inverter gate. The SJOne board uses outputs a and b to select which direction the pod should perform when reaching a node; straight, right turn, or stop. Figure 2 and 3 show the logic of the mux. Left and Right IR LED output was inverted because with out the inverter the IR LED did not give HIGH and LOW logic within the voltage levels of the mux. LLeft, Middle, and RRight were not inverted because outputs gave correct voltage levels for HIGH and LOW to the SJOne board. The pins used in IR LEDs and mux are GPIO. If pin is an output, it can output a HIGH or LOW depending on the software. If pin is an input, it will sense a HIGH or LOW and use that input in the software.	+	Figure 15 shows the SJOne Board pinout and the connections between the SJOne board, multiplexer gate, and inverter gate. The SJOne board uses outputs a and b to select which direction the pod should perform when reaching a node; straight, right turn, or stop. Figure 2 and 3 show the logic of the mux. Left and Right IR LED output was inverted because with out the inverter the IR LED did not give HIGH and LOW logic within the voltage levels of the mux. LLeft, Middle, and RRight were not inverted because outputs gave correct voltage levels for HIGH and LOW to the SJOne board. The pins used in IR LEDs and mux are GPIO. If pin is an output, it can output a HIGH or LOW depending on the software. If pin is an input, it will sense a HIGH or LOW and use that input in the software.

	[[File:CmpE146_S14_T4_SJOne.JPG\|800px\|thumb\|center\|Figure 15: SJOne Board Pinout]]		[[File:CmpE146_S14_T4_SJOne.JPG\|800px\|thumb\|center\|Figure 15: SJOne Board Pinout]]

← Older revision		Revision as of 07:36, 23 May 2014
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	One of our major challenges was finding the right material to be used for our track. Early development saw the use of matte sheets with a glossy finish, but these proved difficult to work with because the material would wrinkle not unlike paper does when rolled up. Another variation saw the use of particle board with electric tape for the line. This implementation worked out well for the project because the infrared sensors reflected their light off the tape fairly well.		One of our major challenges was finding the right material to be used for our track. Early development saw the use of matte sheets with a glossy finish, but these proved difficult to work with because the material would wrinkle not unlike paper does when rolled up. Another variation saw the use of particle board with electric tape for the line. This implementation worked out well for the project because the infrared sensors reflected their light off the tape fairly well.
−	While the electric tape saw much success in our line follower implementation, our track design would still cause problems for the pods. It was discovered that merge points in the track needed to be 90-degree angles for the pods to accurately recognize that point as a node~~. Figure 4.11 demonstrated the design used for nodes and stations~~.	+
		+
		+	While the electric tape saw much success in our line follower implementation, our track design would still cause problems for the pods. It was discovered that merge points in the track needed to be 90-degree angles for the pods to accurately recognize that point as a node.

@@ Line 416: / Line 416: @@
 ==== Testing ====
 Problems came up while testing different designs. Starting with a simple design and making small progressions helped isolate problems. Using RC circuitry for following the line worked great. Since the pod needs to make decisions it will need a microprocessor. The logic to follow the line was moved to software control using Arduino. It was found the software logic was much slower than hardware controlled. Both technologies were combined; hardware to control the pod to follow the line and software to make decisions at merge, fork, and stations.
 Hardware problems occurred while the pod was following the line. Too fast of speed the pod will go off the line. Too slow of speed the pod could not make a turn with one wheel. The first design track used a flexible mat with electrical tape as the line. Over time the mat begun to ruffle and if pod was going to slow it would be challenging for the pod to drive over the ruffles. Another problem related to the tape. The electrical tape is black but can also reflect. If the tape is not flat, it is possible for the sensors see a reflection of the IR emitter and output it is seeing white.
 One of our major challenges was finding the right material to be used for our track. Early development saw the use of matte sheets with a glossy finish, but these proved difficult to work with because the material would wrinkle not unlike paper does when rolled up. Another variation saw the use of particle board with electric tape for the line. This implementation worked out well for the project because the infrared sensors reflected their light off the tape fairly well.
 While the electric tape saw much success in our line follower implementation, our track design would still cause problems for the pods. It was discovered that merge points in the track needed to be 90-degree angles for the pods to accurately recognize that point as a node. Figure 4.11 demonstrated the design used for nodes and stations.
 Yet another challenge that was encountered during the line follower implementation was with the placement of the tape. If ever the tape were to be wrinkled, the light reflected back to the IR sensors would occasionally be redirected to the wrong sensors causing the pod to misread the track and, as a result, leave the track altogether. The simple remedy to this issue is to cut smaller pieces of tape and overlay them such that the pieces remain straight and are not twisted. This is especially important during turns in the system, because the tape is twisted just enough to make it wrinkle. It was crucial that the tape slices remain flat.

@@ Line 415: / Line 415: @@
 The solution was to us the RC circuit to follow the track most of the time, and at intersections let the SJONE take over driving. This allowed for the pod to be responsive when traveling the track, and intelligent when navigating intersections.
 ==== Testing ====
-This was tested by running the pods using only RC, only software, and finally with both software and RC.
+Problems came up while testing different designs. Starting with a simple design and making small progressions helped isolate problems. Using RC circuitry for following the line worked great. Since the pod needs to make decisions it will need a microprocessor. The logic to follow the line was moved to software control using Arduino. It was found the software logic was much slower than hardware controlled. Both technologies were combined; hardware to control the pod to follow the line and software to make decisions at merge, fork, and stations.
 === Determining Location ===

← Older revision		Revision as of 07:25, 23 May 2014
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−	[[File:CmpE146_S14_T4_podstatemachine.JPG\|1000px\|thumb\|center\|~~Figure 11:~~ Pod State Machine]]	+	[[File:CmpE146_S14_T4_podstatemachine.JPG\|1000px\|thumb\|center\|Pod State Machine]]

	Code Function Description:		Code Function Description:

← Older revision		Revision as of 07:24, 23 May 2014
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	'''Line Follower Task'''		'''Line Follower Task'''
		+
	This task has the sole responsibility of controlling the motors and reading from the Infra-red sensors that keep the pod on the track. The task also communicates with the State Machine in order to receive the list of instructions that it must execute as it traverses the track. As a node is approached all five IR sensors are triggered, at this time the line follower task must read the next instruction in the list. These instructions will tell the line follower to go straight, make a turn, or stop at the given node. Once the destination is reached, denoted by a special character at the end of the list, the line follower task sends a signal to the state machine task. The pod will then wait for a new destination. Figure 11 shows the logic of the pod for one iteration.		This task has the sole responsibility of controlling the motors and reading from the Infra-red sensors that keep the pod on the track. The task also communicates with the State Machine in order to receive the list of instructions that it must execute as it traverses the track. As a node is approached all five IR sensors are triggered, at this time the line follower task must read the next instruction in the list. These instructions will tell the line follower to go straight, make a turn, or stop at the given node. Once the destination is reached, denoted by a special character at the end of the list, the line follower task sends a signal to the state machine task. The pod will then wait for a new destination. Figure 11 shows the logic of the pod for one iteration.

@@ Line 322: / Line 322: @@
 [[File:CmpE146_S14_T4_line.JPG|1200px|thumb|center|Figure 19: IR LED and Line]]
-The SNAP wireless connects the pod to the master controller. The state machine is the central server that has access to all pods and has the authority to override any current commands and other controllers. Figure 12 shows the communication between the master controller and pods.
+The SNAP wireless connects the pod to the master controller. The state machine is the central server that has access to all pods and has the authority to override any current commands and other controllers. Figure 20 shows the communication between the master controller and pods.
 [[File:CmpE146_S14_T4_wireless.JPG|600px|thumb|center|Figure 20: Wireless Communication]]